Theseus project #456
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Theseus project #456
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… collision checking, no defaults
…sm of PointAxisTarget
…lclose for frame comparisons
…o target.target_scale
Ensures that the correct physics client is used when resetting joint states and retrieving link states in the inverse kinematics calculation, which is crucial for multi-client setups.
Adds a `verbose` parameter to the `PyBulletClient.connect()` and `PyBulletClient.disconnect()` methods, allowing users to control the verbosity of the PyBullet connection. This helps in debugging and avoids potential errors related to stdout redirection. Changes the `PyBulletClient._handle_concavity()` to avoid the `redirect_stdout` context manager to avoid the mysterious `WinError 6: The handle is invalid.` error.
…l state This facilitates more accurate simulation of robot cell states, particularly when dealing with tools that have configurable joints.
Introduces an `enable_debug_gui` parameter to the `PyBulletBase.connect()` method, allowing users to enable or disable the GUI sidebar and parameter views. This update improves the flexibility of the PyBullet client for debugging and visualization purposes.
Corrects an index error in the inverse kinematics calculation that occurred when resetting joint states after each iteration. The loop variable `i` was incorrectly reused from the outer loop, leading to out-of-bounds access when `len(joint_ids_sorted)` differed from `max_iter`. This change ensures correct joint state updates during inverse kinematics solving.
… configuration Replaces assignment of joint values with a merge operation to incorporate all data from the trajectory point, ensuring that the robot configuration is fully updated with the latest state.
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Stoked to see this commit, many issues I ran into were resolved in this branch. Many thanks for your efforts @yck011522 and thanks for taking initiative to merge this @gonzalocasas If there's a way to help in this effort eager to help out. |
Contributor
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Thanks @gonzalocasas for moving this forward. |
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the interestingly, now that 
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Contributor
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Hi @yck011522 yeah with such a large merge QA is more challenging. So some scrutiny on the examples is probably a good idea. |
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This very large Pull Request contains the work of @yck011522 during the Theseus project, which replaced large parts of
compas_faband introduced significant architectural changes. The work has been reviewed at different stages with different intensities, and now we're ready to merge to main.What type of change is this?
Checklist
Put an
xin the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.CHANGELOG.mdfile in theUnreleasedsection under the most fitting heading (e.g.Added,Changed,Removed).invoke test).invoke lint).compas_fab.robots.CollisionMesh.