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RSDK-5391 - Create distinct planning and execution frames for PTG KinematicWrapper #3876

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RSDK-5391 - Create distinct planning and execution frames for PTG KinematicWrapper #3876

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Commits on Apr 1, 2024

  1. initial add planning and execution frames for bases commit

    @nfranczak
    nfranczak committed Apr 1, 2024
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Commits on Apr 2, 2024

  1. continue with solverFrame - not the best idea

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Commits on Apr 5, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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  2. merge with main:

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  3. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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Commits on Apr 9, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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  2. initial commit - rework move_req to rely on fs for placing obstacles

    @nfranczak
    nfranczak committed Apr 9, 2024
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Commits on Apr 10, 2024

  1. have fs place objects into worldframe within getTransientDetections

    @nfranczak
    nfranczak committed Apr 10, 2024
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Commits on Apr 17, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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Commits on Apr 19, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed Apr 19, 2024
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  2. clean up + note about how to interpolate

    @nfranczak
    nfranczak committed Apr 19, 2024
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Commits on Apr 30, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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  2. remove '&' from orientation printout when doing plan.Path.String()

    @nfranczak
    nfranczak committed Apr 30, 2024
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Commits on May 1, 2024

  1. add ExecutionFrame function impl + correct references to transforming… 

    … off the planningFrame within execution.go
    @nfranczak
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  2. simplify how we create robot collision entities to only use frameInpu… 

    …ts and not transform off a pose if we are relative
    @nfranczak
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  3. fulfill placing obstacles into the world frame using only the newly i… 

    …ntroduced absolute frame system which houses the execution frame + planning frame
    @nfranczak
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  4. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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  5. clean up remove print statements

    @nfranczak
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  6. clean up remove print statements

    @nfranczak
    nfranczak committed May 1, 2024
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  7. clean up remove print statements

    @nfranczak
    nfranczak committed May 1, 2024
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  8. remove print stmts

    @nfranczak
    nfranczak committed May 1, 2024
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  9. remove note - clean up

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    nfranczak committed May 1, 2024
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  10. logic complete-ish, sans tests

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  11. fix segment logic

    @nfranczak
    nfranczak committed May 1, 2024
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  12. correct plannerSetUp inputs

    @nfranczak
    nfranczak committed May 1, 2024
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  13. lint + revert tpspace test - not finished yet

    @nfranczak
    nfranczak committed May 1, 2024
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  14. revert test file while updating TestGetTransientDetections

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    nfranczak committed May 1, 2024
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Commits on May 2, 2024

  1. motion builtin-tests are passinggit statusgit status lets gooooooooo

    @nfranczak
    nfranczak committed May 2, 2024
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  2. remove un-needed code commented out code

    @nfranczak
    nfranczak committed May 2, 2024
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Commits on May 3, 2024

  1. clean some print statements

    @nfranczak
    nfranczak committed May 3, 2024
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  2. remove un-needed changes

    @nfranczak
    nfranczak committed May 3, 2024
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  3. clean prints - TestPtgCheckPlan WIP

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  4. tpspace rrt test testptgcheckplan passes

    @nfranczak
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  5. tpspace rrt test testptgcheckplan passes

    @nfranczak
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  6. linted

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  7. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed May 3, 2024
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  8. singlar bone of AddFrameBetween + revert messages.go since we are not… 

    … touching that
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  9. wip change to pass lint

    @nfranczak
    nfranczak committed May 3, 2024
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  10. fix ptgkinematics no geom tests + add AddFrameBetween

    @nfranczak
    nfranczak committed May 3, 2024
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Commits on May 6, 2024

  1. fix TestMoveOnMapStaticObs

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  2. linted

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  3. add debug log to see where this test is failing on CI

    @nfranczak
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  4. remove print so we pass linter

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Commits on May 8, 2024

  1. remove need to check for 'ExecutionFrame' in solverFrame code

    @nfranczak
    nfranczak committed May 8, 2024
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  2. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed May 8, 2024
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  3. fix CheckPlan

    @nfranczak
    nfranczak committed May 8, 2024
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  4. sans fmt.Println in frame.go

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Commits on May 9, 2024

  1. remove un-needed changes

    @nfranczak
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  2. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed May 9, 2024
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Commits on May 10, 2024

  1. post merge + fixing checkPlanRelative functionality that was lost upo… 

    …n rebase
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Commits on May 13, 2024

  1. fixed TestPtgCheckPlan and accompanying relative plan checking code

    @nfranczak
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  2. fix test TestMoveOnMapStaticObs + move request set up nits for feedin… 

    …g into CheckPlan
    @nfranczak
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  3. move request nits + feed in proper framesystem for checking of plan

    @nfranczak
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  4. changes from linter

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    nfranczak committed May 13, 2024
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  5. nits

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  6. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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Commits on May 14, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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  2. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed May 14, 2024
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Commits on May 17, 2024

  1. fix explore err string check

    @nfranczak
    nfranczak committed May 17, 2024
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  2. remove prints

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    nfranczak committed May 17, 2024
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  3. add back space

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    nfranczak committed May 17, 2024
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  4. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed May 17, 2024
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Commits on May 20, 2024

  1. re-root FS in plan-manager

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    nfranczak committed May 20, 2024
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Commits on May 21, 2024

  1. replace ExecutionFrame with LocalizationFrame

    @nfranczak
    nfranczak committed May 21, 2024
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  2. introduce Simple6DModel

    @nfranczak
    nfranczak committed May 21, 2024
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  3. migrate simple6Dmodel to be a 7D model

    @nfranczak
    nfranczak committed May 21, 2024
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  4. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed May 21, 2024
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  5. change functionaluty of bases to use 7Dof frame - partway through pro… 

    …gress
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Commits on May 23, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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  2. battle-testing use of 7DoF frame for checking plan - tests still failing

    @nfranczak
    nfranczak committed May 23, 2024
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  3. tests passing for 7DoF frame

    @nfranczak
    nfranczak committed May 23, 2024
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  4. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed May 23, 2024
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Commits on May 24, 2024

  1. over-write inputs to correct first place frame but have original info… 

    … intact to interpolate properly
    @nfranczak
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  2. overwrite inputs for placing detection properly

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Commits on May 28, 2024

  1. rays comments sans interpolateInputs requested change

    @nfranczak
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  2. hoppefully fixed TestObstacleReplanningGlobe

    @nfranczak
    nfranczak committed May 28, 2024
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  3. fix TestPtgCheckPlan

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    nfranczak committed May 28, 2024
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Commits on Jun 5, 2024

  1. move anyNonZero check from solverFrame into planManager, as it was or… 

    …iginally there
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  2. add localizationFrame as argument to CheckPlan + update tests

    @nfranczak
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  3. add missing arguments to test files

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Commits on Jun 6, 2024

  1. add comment

    @nfranczak
    nfranczak committed Jun 6, 2024
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  2. add back state.Position case in switch stmt for NewCollisionConstraint

    @nfranczak
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  3. add comment to fake_kinematics about why we have chosen the given lim… 

    …its for OX, OY, OZ, Theta
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  4. remove comment

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  5. update poseFrame interpolate method to use spatial.Interpolate

    @nfranczak
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  6. update testptgcheckplan to have correct starting inputs

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Commits on Jun 7, 2024

  1. debugging TestObstacleReplanningGlobe

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  2. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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  3. fixed TestObstacleReplanningGlobe

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Commits on Jun 12, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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  2. rename absoluteFS to localizingFS

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    nfranczak committed Jun 12, 2024
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  3. update naming

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Commits on Jun 14, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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Commits on Jun 17, 2024

  1. generate seed map with all input-enabled components

    @nfranczak
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  2. use zeroth index of plan to construct our zeroCG

    @nfranczak
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  3. noramlize the orientation vector limits when set to infinity

    @nfranczak
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  4. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
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Commits on Jun 18, 2024

  1. introduce helper methods PoseToInputs and InputsToPose

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Commits on Jun 20, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391-wra… 

    …pperFrame
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    nfranczak committed Jun 20, 2024
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Commits on Jun 25, 2024

  1. finished wrapperFrame impl with passing motion service tests

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    nfranczak committed Jun 25, 2024
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  2. linted

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    nfranczak committed Jun 25, 2024
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  3. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed Jun 25, 2024
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Commits on Jul 3, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed Jul 3, 2024
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  2. merge with main

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    nfranczak committed Jul 3, 2024
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  3. remove fake_kinematics - somehow not caught when I merged with main

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    nfranczak committed Jul 3, 2024
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  4. make TestObstacleReplanningGlobe/ensure_replan_due_to_obstacle_collis… 

    …ion NOT FLAKY
    @nfranczak
    nfranczak committed Jul 3, 2024
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Commits on Jul 10, 2024

  1. changes requested from Peter part1

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    nfranczak committed Jul 10, 2024
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  2. changes requested from Peter part2

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    nfranczak committed Jul 10, 2024
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  3. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed Jul 10, 2024
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  4. remove old commented out code

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    nfranczak committed Jul 10, 2024
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  5. revert sensor code

    @nfranczak
    nfranczak committed Jul 10, 2024
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  6. fix CalculateFrameErrorState

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    nfranczak committed Jul 10, 2024
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Commits on Jul 11, 2024

  1. add comments to wrapperFrame interpolate function and update variable… 

    … names
    @nfranczak
    nfranczak committed Jul 11, 2024
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  2. simplify the wrapper frame struct to remove seedmap + fs

    @nfranczak
    nfranczak committed Jul 11, 2024
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  3. uncomment sub-test of TestPositionalReplanning

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    nfranczak committed Jul 11, 2024
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  4. make inputsToPose private

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    nfranczak committed Jul 11, 2024
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  5. set theta to inf opposed to pi as conversion to quat will normalize it

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    nfranczak committed Jul 11, 2024
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  6. Trigger Build

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    nfranczak committed Jul 11, 2024
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  7. update TestObstacleReplanningSlam

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    nfranczak committed Jul 11, 2024
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  8. make error message correct

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    nfranczak committed Jul 11, 2024
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Commits on Jul 12, 2024

  1. remove ptgDoFLenght var from check.go thus removing special casing fo… 

    …r plans
    @nfranczak
    nfranczak committed Jul 12, 2024
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  2. revert TestObstacleReplanningSlam

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    nfranczak committed Jul 12, 2024
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Commits on Jul 18, 2024

  1. Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-5391

    @nfranczak
    nfranczak committed Jul 18, 2024
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  2. peter's requested changes, i.e. have next inputs not match startingin… 

    …puts, make augmentBaseExecutionState robust again remaining plans, update wrapperFrame interpolation logic to only use 'to' values
    @nfranczak
    nfranczak committed Jul 18, 2024
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  3. add comment to explicitly state that the order of inputs for the pose… 

    …Frame matters in code for augmentBaseExecutionState
    @nfranczak
    nfranczak committed Jul 18, 2024
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  4. remove validateRelPiF from check.go + have wrapper frames gifs be in … 

    …their name instead of in world
    @nfranczak
    nfranczak committed Jul 18, 2024
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