Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add manipulator/grippername to XML reader #1311

Open
wants to merge 13 commits into
base: production
Choose a base branch
from
Open

Add manipulator/grippername to XML reader #1311

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
13 commits
Select commit Hold shift + click to select a range
c101722
Adds grippername tag under manipulator so manip's grippername can be …
Puttichai Sep 20, 2023
01d8db6
Bumps patch version and updates changelog
Puttichai Sep 20, 2023
0b03d9e
Merge remote-tracking branch 'origin/production' into update_xml_2023…
Puttichai Sep 26, 2023
b1ab3b0
Merge branch 'master' of https://github.com/rdiankov/openrave into up…
yoshikikanemoto Oct 3, 2023
6a5347a
Merge branch 'production' of https://github.com/rdiankov/openrave int…
yoshikikanemoto Oct 3, 2023
6cd97ad
Merge branch 'production' of https://github.com/rdiankov/openrave int…
yoshikikanemoto Oct 4, 2023
1046ea9
Merge branch 'production' of https://github.com/rdiankov/openrave int…
yoshikikanemoto Oct 10, 2023
09aae85
Merge branch 'production' of https://github.com/rdiankov/openrave int…
yoshikikanemoto Oct 13, 2023
b8b2e05
Merge branch 'production' of https://github.com/rdiankov/openrave int…
yoshikikanemoto Oct 17, 2023
6991dcc
bumping version since change is gone after merge commit
MiraiHattori Oct 17, 2023
9109ea0
Do not include virtual links (links with no geometries) in jittering …
Puttichai Oct 20, 2023
4ab294d
Merge branch 'production' of https://github.com/rdiankov/openrave int…
yoshikikanemoto Oct 23, 2023
cfdf549
Merge remote-tracking branch 'origin/production' into update_xml_2023…
Puttichai Jan 15, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
# Define here the needed parameters
set (OPENRAVE_VERSION_MAJOR 0)
set (OPENRAVE_VERSION_MINOR 136)
set (OPENRAVE_VERSION_PATCH 0)
set (OPENRAVE_VERSION_PATCH 1)
set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
message(STATUS "Compiling OpenRAVE Version ${OPENRAVE_VERSION}, soversion=${OPENRAVE_SOVERSION}")
Expand Down
5 changes: 5 additions & 0 deletions docs/source/changelog.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,11 @@ ChangeLog
Unreleased
==========

Version 0.136.1
===============

* Support reading of `grippername` under `manipulator` from XML files.

Version 0.136.0
===============

Expand Down
28 changes: 25 additions & 3 deletions plugins/configurationcache/configurationjitterer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,8 +75,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
_vActiveIndices = _probot->GetActiveDOFIndices();
_nActiveAffineDOFs = _probot->GetAffineDOF();
_vActiveAffineAxis = _probot->GetAffineRotationAxis();
_vLinks.reserve(_probot->GetLinks().size());
if( _nActiveAffineDOFs == 0 ) {
for (size_t ilink = 0; ilink < _probot->GetLinks().size(); ++ilink) {
if( _probot->GetLinks()[ilink]->GetGeometries().empty() ) {
// Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
continue;
}
for (int dofindex : _vActiveIndices) {
if( _probot->DoesAffect(_probot->GetJointFromDOFIndex(dofindex)->GetJointIndex(), ilink)) {
_vLinks.push_back(_probot->GetLinks()[ilink]);
Expand All @@ -86,7 +91,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
}
}
else {
_vLinks = _probot->GetLinks();
for (const KinBody::LinkPtr& plink: _probot->GetLinks()) {
if( plink->GetGeometries().empty() ) {
// Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
continue;
}
_vLinks.push_back(plink);
}
}
_vLinkAABBs.resize(_vLinks.size());
for(size_t i = 0; i < _vLinks.size(); ++i) {
Expand Down Expand Up @@ -970,9 +981,14 @@ By default will sample the robot's active DOFs. Parameters part of the interface
vector<KinBodyPtr> vgrabbedbodies;
_probot->GetGrabbed(vgrabbedbodies);
// robot itself might have changed?
_vLinks.resize(0);
_vLinks.reserve(_probot->GetLinks().size());
if( _nActiveAffineDOFs == 0 ) {
_vLinks.clear();
for (size_t ilink = 0; ilink < _probot->GetLinks().size(); ++ilink) {
if( _probot->GetLinks()[ilink]->GetGeometries().empty() ) {
// Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
continue;
}
for (int dofindex : _vActiveIndices) {
if( _probot->DoesAffect(_probot->GetJointFromDOFIndex(dofindex)->GetJointIndex(), ilink)) {
_vLinks.push_back(_probot->GetLinks()[ilink]);
Expand All @@ -982,7 +998,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
}
}
else {
_vLinks = _probot->GetLinks();
for (const KinBody::LinkPtr& plink: _probot->GetLinks()) {
if( plink->GetGeometries().empty() ) {
// Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
continue;
}
_vLinks.push_back(plink);
}
}
FOREACHC(itgrabbed, vgrabbedbodies) {
FOREACHC(itlink2, (*itgrabbed)->GetLinks()) {
Expand Down
28 changes: 25 additions & 3 deletions plugins/configurationcache/workspaceconfigurationjitterer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,8 +75,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
_vActiveIndices = _probot->GetActiveDOFIndices();
_nActiveAffineDOFs = _probot->GetAffineDOF();
_vActiveAffineAxis = _probot->GetAffineRotationAxis();
_vLinks.reserve(_probot->GetLinks().size());
if( _nActiveAffineDOFs == 0 ) {
for (size_t ilink = 0; ilink < _probot->GetLinks().size(); ++ilink) {
if( _probot->GetLinks()[ilink]->GetGeometries().empty() ) {
// Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
continue;
}
for (int dofindex : _vActiveIndices) {
if( _probot->DoesAffect(_probot->GetJointFromDOFIndex(dofindex)->GetJointIndex(), ilink)) {
_vLinks.push_back(_probot->GetLinks()[ilink]);
Expand All @@ -86,7 +91,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
}
}
else {
_vLinks = _probot->GetLinks();
for (const KinBody::LinkPtr& plink: _probot->GetLinks()) {
if( plink->GetGeometries().empty() ) {
// Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
continue;
}
_vLinks.push_back(plink);
}
}
_vLinkAABBs.resize(_vLinks.size());
for(size_t i = 0; i < _vLinks.size(); ++i) {
Expand Down Expand Up @@ -939,9 +950,14 @@ By default will sample the robot's active DOFs. Parameters part of the interface
vector<KinBodyPtr> vgrabbedbodies;
_probot->GetGrabbed(vgrabbedbodies);
// robot itself might have changed?
_vLinks.resize(0);
_vLinks.reserve(_probot->GetLinks().size());
if( _nActiveAffineDOFs == 0 ) {
_vLinks.clear();
for (size_t ilink = 0; ilink < _probot->GetLinks().size(); ++ilink) {
if( _probot->GetLinks()[ilink]->GetGeometries().empty() ) {
// Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
continue;
}
for(int dofindex : _vActiveIndices) {
if( _probot->DoesAffect(_probot->GetJointFromDOFIndex(dofindex)->GetJointIndex(), ilink)) {
_vLinks.push_back(_probot->GetLinks()[ilink]);
Expand All @@ -951,7 +967,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
}
}
else {
_vLinks = _probot->GetLinks();
for (const KinBody::LinkPtr& plink: _probot->GetLinks()) {
if( plink->GetGeometries().empty() ) {
// Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
continue;
}
_vLinks.push_back(plink);
}
}
FOREACHC(itgrabbed, vgrabbedbodies) {
FOREACHC(itlink2, (*itgrabbed)->GetLinks()) {
Expand Down
7 changes: 5 additions & 2 deletions src/libopenrave-core/xmlreaders-core.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2542,7 +2542,7 @@ class ManipulatorXMLReader : public StreamXMLReader
if( _processingtag.size() > 0 ) {
return PE_Ignore;
}
if (( xmlname == "effector") ||( xmlname == "gripperjoints") ||( xmlname == "joints") ||( xmlname == "armjoints") ||( xmlname == "base") ||( xmlname == "iksolver") ||( xmlname == "closingdir") ||( xmlname == "palmdirection") ||( xmlname=="direction") ||( xmlname == "closingdirection") ||( xmlname == "translation") ||( xmlname == "quat") ||( xmlname == "rotationaxis") ||( xmlname == "rotationmat") || xmlname == "chuckingdirection") {
if (( xmlname == "effector") ||( xmlname == "gripperjoints") ||( xmlname == "joints") ||( xmlname == "armjoints") ||( xmlname == "base") ||( xmlname == "iksolver") ||( xmlname == "closingdir") ||( xmlname == "palmdirection") ||( xmlname=="direction") ||( xmlname == "closingdirection") ||( xmlname == "translation") ||( xmlname == "quat") ||( xmlname == "rotationaxis") ||( xmlname == "rotationmat") || xmlname == "chuckingdirection" || (xmlname == "grippername") ) {
_processingtag = xmlname;
return PE_Support;
}
Expand Down Expand Up @@ -2583,6 +2583,9 @@ class ManipulatorXMLReader : public StreamXMLReader
else if((xmlname == "joints")||(xmlname == "gripperjoints")) {
_manipinfo._vGripperJointNames = vector<string>((istream_iterator<string>(_ss)), istream_iterator<string>());
}
else if( xmlname == "grippername" ) {
_ss >> _manipinfo._grippername;
}
else if( xmlname == "armjoints" ) {
RAVELOG_WARN("<armjoints> for <manipulator> tag is not used anymore\n");
}
Expand Down Expand Up @@ -3504,7 +3507,7 @@ class EnvironmentXMLReader : public StreamXMLReader
_ss >> pluginname;
RaveLoadPlugin(pluginname);
}
else if(xmlname == "unit"){
else if(xmlname == "unit") {
std::pair<std::string, dReal> unit;
_ss >> unit.first >> unit.second;
UnitInfo unitInfo = _penv->GetUnitInfo();
Expand Down