[armar6] reintegrated armar into pycram#144

Merged

sunava merged 30 commits intosunava:binder-all-robotsfrom

LucaKro:luca_master_thesis

Nov 26, 2024

Commits on Sep 13, 2024

Commits on Oct 17, 2024

Merge remote-tracking branch 'upstream/binder-all-robots' into costmap_master_stuff
LucaKro
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Commits on Oct 18, 2024

Commits on Oct 19, 2024

Commits on Oct 30, 2024

Commits on Oct 31, 2024

[helper] added functions to calculate object side facing the robot, calculate the grasp offset for objects, and to adjust the grasp quaternion of the robot depending on the rotation of the object a…
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[utils] added function that allows relative translation of a pose away from a given object. also adds a function that silences warnings when loading urdfs by overriding the on_error function of the…
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[BulletWorld] added bool parameter allow_publish_debug_poses to bulletworld
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[CostmapPublisher] Costmap now publishes weight as z value, and also colours each voxel based on its weight
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[binder] reverted curl link, and added iCub to the 01-import file
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[iCub] added iCub to the binder setup
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[RobotDescriptions] added utility functions
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[Tiago] minimized process module
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[DonBot] MoveHead now calls IK solver
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[DefaultProcessModule] DefaultOpen/Close now also check for Revolute Joints, not just prismatic, and may move base instead of arm for opening. MoveHead now accesses links/joints differently
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[RobotDescriptions] updated robot descriptions to use the Robot Description utility functions added earlier
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[urdf] now uses new silenced function
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[motions] added new optional goal location parameter to Open and Close
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[costmaps] costmaps may now be published including their weights. Costmaps weights may now be prioritized by using the new '*=' operation. gaussian costmaps now also receive a 'distance' parameter,…
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[CostmapPoses] pose generator now randomly samples based on weights. reachability validator now correctly validates retract poses as well
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[Locations] CostmapLocation and AccessingLocation now correctly calculate reaching poses no matter the object orientation, used grasp, or robot toolframe orientation
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[ActionDesignators] Pickup and Placing now calculate all poses correctly, no matter the object orientation, used grasp, or robot toolframe orientation. now also generalized the pre-pose/retracting-…
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[binder-demo] updated the binder demo accordingly
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[CollisionAvoidance] fixed faultly collision check
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