Use pro rrt mtc behaviors #9
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git-subtree-dir: src/fanuc_sim git-subtree-split: 0b1e054ccb6a4fa20b2658ad318ebc1acfd64bb6
git-subtree-dir: src/lab_sim git-subtree-split: 2ee0461a27dc2165441ce9362a81db44303177d4
git-subtree-dir: src/moveit_pro_kinova_configs git-subtree-split: 178a37c6d6bfd703ea6018266aa79872802f31b9
…t_pro_kinova_configs'
…367b7 git-subtree-dir: src/moveit_pro_mobile_manipulation git-subtree-split: e5367b79e08113218f72804beda69ebe94a2b175
…t_pro_mobile_manipulation'
git-subtree-dir: src/moveit_pro_ur_configs git-subtree-split: fe3c9a7f6f0a27cf881a34aa551ed6b2b876c8af
…t_pro_ur_configs'
… commit 3db6acb git-subtree-dir: src/moveit_pro_mobile_manipulation/ridgeback git-subtree-split: 3db6acb098765ff28952642fbab6dc3261efe973
…t_pro_mobile_manipulation/ridgeback'
git-subtree-dir: src/ros2_robotiq_gripper git-subtree-split: 77e60927cd5cdcc7c75b8837ac3104b826a4bb99
…nal_dependencies/ros2_robotiq_gripper'
…om commit 77e6092 git-subtree-dir: src/external_dependencies/ros2_robotiq_gripper git-subtree-split: 77e60927cd5cdcc7c75b8837ac3104b826a4bb99
…db6acb git-subtree-dir: src/external_dependencies/ridgeback git-subtree-split: 3db6acb098765ff28952642fbab6dc3261efe973
…nal_dependencies/ridgeback'
git-subtree-dir: src/external_dependencies/serial git-subtree-split: d8d160678aa0b31cdf467c052b954fa287cc6cdf
…nal_dependencies/serial'
…om 77e6092..2ff8545 2ff8545 update urdf mesh filenames to use package path (#50) (#68) 93ecde7 Replace fake_sensor_commands with 'mock_sensor_commands (#62) REVERT: 77e6092 update urdf mesh filenames to use package path (#50) REVERT: 27ecc36 Replace fake_sensor_commands with 'mock_sensor_commands (#61) REVERT: 5f0c39a Remove mimic tags and rename `sim_ignition` to `sim_gazebo` (#54) git-subtree-dir: src/external_dependencies/ros2_robotiq_gripper git-subtree-split: 2ff85455d4b9f973c4b0bab1ce95fb09367f0d26
git-subtree-dir: src/picknik_registration git-subtree-split: 220e5c96aac04bf4879b4106f16238fee2a46825
git-subtree-dir: src/example_behaviors git-subtree-split: d1451e331ba27aee0af9bbaafaefc8bf37a48aca
Reduce the poses used in PlanAndSaveTrajectory
Sync upstream empty_ws
Apriltag update
Updating objectives with comments for the record and playback objective
Improve lab sim example objectives with story telling
Update docker compose for GPU
bumping picknik_accessories
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The MTC plan's computational complexity increases exponentially when several MoveToPose stages, each with multiple solutions are stacked on top of each other. Using PlanCartesianPath with a validation step to ensure no collisions is a much less computationally complex way to navigate through poses.
Correct typo in scan scene description
…lay-motion Don't use MTC in Plan and Save Trajectory objective
These new behaviors expose more planning parameters for the Pro RRT Connect planner. Replace: * `SetupMTCMoveToPose` -> `SetupMTCPlanToPose` * `SetupMTCMoveToJointState` -> `SetupMTCPlanToJointState` Update planning configuration ports: * Remove deprecated `planner_interface` port. * use `keep_orientation` and `keep_orientation_tolerance` ports instead of `constraints` port * Lower `link_padding` where it causes self collisions
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Use new SetupMTCMoveTo_ProRRT behaviors
Will convert from draft once https://github.com/PickNikRobotics/moveit_studio/pull/10001, which adds the new behaviors in core goes in