It also integrates TUB's corner grasp into the merged system.
In addition, it integrates TUB's feasibility check and the additional pile-heuristic. There are now 4 supported heuristic types:
tub-separated (TUB's feasibilty checker for separated objects is used)
ocado (Ocado's reachability checker is used)
basic-separated (no feasibilty checker is used, only black listing of walls etc; for separated objects)
basic-pile (no feasibilty checker is used, only black listing of walls etc; for pile of objects)
It also includes some further refactorings to nicely integrate TUB's feasibility checker. For example moving it from multi_object_heuristic.py to its own file tub_feasibility_check_interface.py or the introduction of a recipe (GraspFrameRecipes.py) and utility functions (planner_utils.py) for general calculations, which can then be used at multiple positions in the code to lessen a lot of code redundancy!
IMPORTANT: Has to be merged together with the latest PR in soma_utils (https://github.com/SoMa-Project/soma_utils/pull/163)
This PR includes all changes introduced by the two ocado PRs https://github.com/SoMa-Project/ec_grasp_planner/pull/47 and https://github.com/SoMa-Project/ec_grasp_planner/pull/48
It also integrates TUB's corner grasp into the merged system.
In addition, it integrates TUB's feasibility check and the additional pile-heuristic. There are now 4 supported heuristic types:
It also includes some further refactorings to nicely integrate TUB's feasibility checker. For example moving it from
multi_object_heuristic.pyto its own filetub_feasibility_check_interface.pyor the introduction of a recipe (GraspFrameRecipes.py) and utility functions (planner_utils.py) for general calculations, which can then be used at multiple positions in the code to lessen a lot of code redundancy!It also fixes the following issues:
This system was tested on the WAM