Code

Giskard fallschool changes#226

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Tigul merged 14 commits intocram2:devcram2/pycram:devfrom AbdelrhmanBassiouny:giskard_fallschool_changesAbdelrhmanBassiouny/pycram:giskard_fallschool_changesCopy head branch name to clipboardDec 4, 2024

+260-98

Commits

Commits on Dec 3, 2024

• [GiskardandRobokudo] Ignore virtual joints when setting joint goal in giskard.

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• [Giskard] allow all gripper collisions in cartesian goal.

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• [NavigateAction] Add an option that asks if the joint states should be kept while navigating.

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• [Giskard] support setting joint goal with cartesian goal.

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• [Giskard] avoid all collisions in straign cartesian goal.

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• [Giskard] Move straight caretesian can allow gripper colllision.

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• [Giskard] Move straight caretesian can allow gripper colllision.

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• [ActionMotionDesignation] An option to specify movement types with MoveTCP.

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• [FixORM] added new paramters to orm classes to match actions/motions.

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• [ORMFix] update ORM with new added parameters in action designator.

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• [ORMFix] update ORM with new added parameters in action designator.

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• [GiskardFullschoolChanges] updated cram_plan_tutorial.

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• [Giskard] no need for extra argument joint_goal in achieve_cartesian_goal.

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• [GiskardFallschoolChanges] rebased on dev to have a linear history.

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