Block sorting #189
Block sorting #189
Conversation
Added ComputeEnabledAABB function
…mpty list when service call fails. Fixing minor bug in adding blocks to block list.
…ng04/prpy into feature/perception_pipeline
…n_pipeline Conflicts: src/prpy/base/wam.py
…ne_merged Merged PrPy changes into feature/perception_pipeline I didn't read them all, I'm trusting you mike...
…ng04/prpy into feature/perception_pipeline
…ng04/prpy into feature/perception_pipeline
…ng04/prpy into feature/perception_pipeline
Conflicts: src/prpy/base/wam.py src/prpy/util.py
| @@ -236,6 +238,7 @@ def MoveUntilTouch(manipulator, direction, distance, max_distance=None, | |||
| @param max_force maximum force in Newtons | |||
| @param max_torque maximum torque in Newton-Meters | |||
| @param ignore_collisions collisions with these objects are ignored when planning the path, e.g. the object you think you will touch | |||
| @param velocity_limit_scale A multiplier to use to scale velocity limits when executing MoveUntilTouch ( < 1 in most cases). | |||
| @param **kw_args planner parameters | |||
There was a problem hiding this comment.
Please wrap these lines to 80 characters to be PEP-8 compliant.
| self.destination_frame = destination_frame | ||
|
|
||
| def __str__(self): | ||
| return 'RockModule' |
There was a problem hiding this comment.
I'd prefer return self.__class__.__name__ here, but this is just a nitpick.
| def DetectBlocks(self, robot, table, blocks=None,timeout=10, **kw_args): | ||
| """ | ||
| Place blocks on the table | ||
| """ |
There was a problem hiding this comment.
Please add documentation for the arguments and the return value (see above).
|
There are three minor issues remaining before we can merge this:
@Shushman Can you address these? |
|
Okay, @mkoval, I think we addressed all 3 above. After merging master into this branch I ran the unittests. The planning tests passed but the TSR test failed. Switching back to master I see it fails there too. So I think we should fix it under a different PR. |
| valid = False | ||
| while not valid: | ||
| rand_name = 'block' + `int(numpy.random.randint(1,10000))` | ||
| valid = env.GetKinBody(rand_name) is None |
There was a problem hiding this comment.
env.Add takes an optional second argument anonymous that will append an integer to the end of the KinBody's name to make it unique. Please replace this loop with that functionality.
Changes for the block sorting demo.
This pulls in the perception pipeline and a few other enhancements made during the block sorting demo.