Tags: KavrakiLab/vamp
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Add the FCIT* asymptotically optimal motion planner (#35) * doc: note about incremental rebuilds * feat: initial implementation * feat: Python RNG functions * fix: Halton sequence blows up after around 1.5M iters - restart and rotate bases after 1M * wip: refactor names, remove old RNG code * feat: added xorshift * fix/feat: xorshift mapping fixed + sampling feature on other scripts * feat: final script fix + documentation * format: applied clang-format * Update LLVM version * goof, update format version * yapf format * Added fcit.hh * Got rid of unecessary left over function * Brought in support for fcit* * format * RNG refactor for FCIT * use pdqsort_branchless for a modest perf improvement * Add batch size and ASAO mode to settings for FCIT * Minor readability updates * changed simplification semantics so will work with FCIT paths * reducing uncessary scopes * Fixes after merge * format * Added paper link to README * Added other paper link to README * Addressing suggestions for PR: - Fixed "simplificiation" typo in README + Also changed "simplification_interpolation" in README to "simplification_interpolate" to reflect correct argument + Arguments not beginning in "simplification_" were being skipped in configure_robot_and_planner_with_kwargs -- fixed by changing a "continue" into an if statement - Changed "fcit_single"/"fcit" to "fcit"/"fcit_multi_goal" - Moved "QueueEdge" out of utils.hh and into fcit.hh + Should we also move "FCITRoadmapNode" out of roadmap.hh as well? It's only used by FCIT* - Changed "(*it)." to "it->" - Changed invalidList to an unordered_set (best results) * Moved FCITRoadmapNode out of roadmap.hh to fcit.hh * Update README.md Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * fix for yapf format check * Added FCIT arXiv information --------- Co-authored-by: twill777 <tbone123@rogers.com> Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com>
Add support to add custom end-effector attachments for Panda, UR5, an… …d Fetch (#18) * Added Panda Attachments initial implementation * Adding attachment to cmake * hax for running attachment fk * Regenerate for correct Panda * Regenerate attached to panda_hand link * Experiment: see if using raw pointers for attachments decreases overhead * Experiment: std::optional instead of std::unique_ptr for attachments * Experiment: remove useless conditional around attachment posing * attachment test code * attachment python interface * Experiment: eefk function for attachment debugging * working! * UR5 attachment FK (tool0 frame) * Fetch attachment FK (gripper_link) * fusing attachment code * remove hack * API QoL changes for attachments * made default params a bit bigger * started readme docs * small docs * Regenerate UR5 attachment with robotiq_85_base_link EE frame * Regenerate all attached FK with new function call style * Fixed FK functions * fix: formatting * Update scripts/README.md Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Update scripts/README.md Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Update src/vamp/pybullet_interface.py Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Update src/vamp/__init__.py Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Update scripts/attachments.py Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Update scripts/attachments.py Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Update src/impl/vamp/bindings/common.hh Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Update src/impl/vamp/robots/baxter.hh Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * fix: nits from PR * Adding documentation, detach method * EE frames in docs * updates to docker * added default constructor in to_array * chore: run clang-format on environment.cc * fix: Make attachments compile with old GCC I had no idea noexcept could make an explicitly defaulted function become implicitly deleted... * fix: format * Update scripts/README.md Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Update scripts/README.md Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> * Array should be default initialized * list of robots --------- Co-authored-by: Wil Thomason <wil.thomason@gmail.com> Co-authored-by: Wil Thomason <wbthomason@users.noreply.github.com> Co-authored-by: Zachary Kingston <zak@xiphos.attlocal.net>
Initial CAPT release (#11) * Initial CAPT release Co-authored-by: Clayton Ramsey <claytonwramsey@gmail.com> Co-authored-by: Wil Thomason <wil.thomason@gmail.com> * fix: formatting of ur5 fk * fix: environment formatting --------- Co-authored-by: Clayton Ramsey <claytonwramsey@gmail.com> Co-authored-by: Wil Thomason <wil.thomason@gmail.com>