Releases: cpaxton/costar_stack
New Motion Operations
Support for Sequential Scene Parsing and new segmenter
Fixes build issues, enables more support for scene parser and other tools.
Scene parser and UI improvements
This includes a large number of feature changes, bug fixes, and improvements, including a new scene parser from @fjonath1 that improves manipulation performance.
SP Segmenter fixes
SP segmenter now builds as a part of Travis CI, and is properly configured by default.
Gripper and behavior tree functionality
This adds many improvements and small changes to the advanced CoSTAR functionality:
- Parallel-all nodes. These execute all children in parallel and succeed when all children succeed.
- Repeat nodes. They now fail properly if a child inside fails as well.
- Robotiq gripper predicates.
- Working predicate tests for object class information.
Preliminary DMP integration
Also includes a bunch of updates to the DVRK sim, with the goal being eventual integration of the Da Vinci console with CoSTAR. Video here.
Preemption Fixes
Fixed a few minor UI and preemption bugs to improve system stability.
UI and System Updates
We made a large number of fixes and updates to this version of CoSTAR.
- Components are now expressed as instances of the
CostarComponentclass - Gripper has been refactored; we now have a gripper parent class that all grippers can inherit from.
- The UI now reports error messages that previously were just going to the console.
- Many improvements to MoveIt, SmartMove, and execution.
- UI provides more feedback on what nodes are and what they mean.
All old trees should still work, so no problem there.
Gripper and component refactor
In preparation for larger changes to interface
Preemption and Smooth Motions
Improving quality of motions, fixing some lingering issues with preemption, and making sure stop execution works well.