Lrainb/articutool spoon resting #217
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…ic. We will use this to read the Articutool joint states and pass them as a constraint during motion planning. This is a WIP change because we still need to manage the node that subscribes to /joint_states. Simply creating a node without interacting with the executor in create_action_servers.py will not suffice
…s behavior to correctly terminate when all desired joint states have been found
…d joint_positions, also adhere to BlackboardBehavior style for passing input and output behavior keys
…re elegantly in the future by adding these joints only conditionally when the user has specified that they are using the Articutool
… that the error message actually tells you which argument was missing
…or tree for now. I left a commented out block for reference once I've figured out a simpler joint constraint when moving to a pre-defined configuration
…ion. This should be applied to all other motion plans once it behaves as desired, i.e. the contraint is correctly applied to the plan
…nfigurations. For those that desire a pose determined at runtime, e.g. move above food, we'll need to be more clever since simply constraining the Articutool joints to not move during the planned trajectory causes the planner to fail to find valid solutions
…que blackboard key will be used depending on the planning group so there is no chance to overwrite existing keys
…viors, as well as the compute action constraint behavior.
…e jaco_arm planning group instead of constraining the Articutool joints to be static when planning with the full jaco_arm_with_articutool planning group
…t constraints for Jaco arm and Articutool separately. Currently, we only constrain and execute the plan for the Jaco arm and disable all further behaviors to observe the desired motion. TODO: Implement Articutool motion by sending trajectory
…ormance metrics and scene parameters, breaking them down for both successful and failed trials.
…ctories were planned
…al, improving robustness and memory efficiency. The analysis script has also been updated to correctly parse this new format.
…mitive, then sampling a task specific orientation
…e collision detection
…ualizations of key scene frames for different stages of the feeding cycle, and whether they resulted in success or failure
…e when visualizing
…, rather than trying to trigger a control action in the code
…ion before motion to Resting stage
…probabilistic planning failures
…t any configuration
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Description
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pre-commit run --all-filespylint --recursive=y --rcfile=.pylintrc .. All warnings butfixmemust be addressed.Before Merging
Squash & Merge