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tesseract-robotics / tesseract_qt

Tesseract Qt Widgets and Applications
GNU Lesser General Public License v3.0
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Add Task Composer Widgets #128

Closed Levi-Armstrong closed 1 month ago

Levi-Armstrong commented 1 month ago

Tesseract task composer now has a TaskComposerLog which the user can use to capture the planning inputs and results. Then this widget allows you load your task composer config along with this log for introspection and re planning. Also the tree view widget has a context menu which allows you convert a composite instruction to a tool path or joint trajectory and send it to a designation scene/component_info for visualization.

rjoomen commented 1 month ago

This looks interesting, but there's no documentation regarding the purpose and usage of this new functionality. I does show up in the ROS workbench, I noticed. Would it be possible to add some documentation/explanation somewhere?

Levi-Armstrong commented 1 month ago

I plan to add documentation to the readme but I will update the description here.

Levi-Armstrong commented 1 month ago

For this to work seamlessly we need to get @marip8 profile dictionary work in and convert this to a plugin so everything needed to replan is provided through the task composer config.