feat(arcor2_ur): extend ros_worker for collision primitives and basic tests by SimonKadnar · Pull Request #891 · robofit/arcor2

SimonKadnar · 2026-02-01T22:30:18Z

Extended arcor2_ur ros_worker to support collision primitives (Box / Cylinder / Sphere)

Added basic collision-aware planning tests for box/cylinder/sphere obstacles.
Ensures the planner detours around obstacles when the direct path is blocked.

…asic tests

ZdenekM · 2026-02-02T07:31:48Z

@SimonKadnar U těchto balíčků bude potřeba aktualizovat verzi, bohužel to nelze pinnout nějak rozumně.

E: Version '0.11.0-1noble.20251108.003726' for 'ros-jazzy-ros-base' was not found
E: Version '3.6.0-1noble.20251114.095610' for 'ros-jazzy-ur' was not found
E: Version '2.12.3-1noble.20251108.011222' for 'ros-jazzy-moveit-py' was not found

ZdenekM · 2026-03-06T07:14:21Z

src/python/arcor2_object_types/abstract.py

    set_enabled.__action__ = ActionMetadata()  # type: ignore


+class GraspableState(str, Enum):


Tady to určitě bude chtít docstring/komentáře s vysvětlením.

A v rámci arcor2 máme definovaný Arcor2StrEnum.

ZdenekM · 2026-03-06T07:15:17Z

src/python/arcor2_object_types/abstract.py

+    LOST = "LOST"
+
+
+class GraspableSource(str, Enum):


Tady taky doplnit docstring s vysvětlením k čemu je to celkově a k čemu jsou jednotlivé položky.

ZdenekM · 2026-03-06T07:17:29Z

src/python/arcor2_scene_data/scene_service.py

+    source: str | None = None,
+    stamp: str | None = None,
+) -> None:
+    params = model.to_dict()


Proč dataclass převádíte na dict?

ZdenekM · 2026-03-06T07:18:07Z

src/python/arcor2_ur/scripts/ros_worker.py

    pose: common.Pose


+class GraspableObjectTuple(NamedTuple):


To už tady myslím vidím podruhé...

ZdenekM · 2026-03-06T07:20:25Z

src/python/arcor2_ur/scripts/ur.py

+
+
+@app.route("/graspables/sphere", methods=["PUT"])
+def put_graspable_sphere() -> RespT:


Je tady docela velká duplikace s původními metodami... Nemohlo by být static/graspable rozlišené jen nějaký parametrem?

ZdenekM · 2026-03-06T07:21:03Z

src/python/arcor2_ur/tests/test_grasapble_collizion_object.py

@@ -0,0 +1,62 @@
+import math


překlep v názvu souboru

ZdenekM · 2026-03-06T07:21:32Z

src/python/arcor2_ur/tests/test_grasapble_collizion_object.py

+from arcor2_ur.tests.conftest import Urls
+
+
+def _dist(a: Pose, b: Pose) -> float:


Tohle už pose/position z arcor2 umí samo o sobě, mrkněte na to...

ZdenekM · 2026-03-06T07:21:47Z

src/python/arcor2_ur/tests/test_sphere_in_path.py

+from arcor2_ur.tests.conftest import Urls
+
+
+def _dist(a: Pose, b: Pose) -> float:


Duplikace...

ZdenekM · 2026-03-06T07:22:01Z

src/python/arcor2_ur/tests/test_sphere_up.py

+from arcor2_ur.tests.conftest import Urls
+
+
+def _dist(a: Pose, b: Pose) -> float:


Kolikrát ještě? :-D

ZdenekM · 2026-03-06T07:24:32Z

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chatgpt-codex-connector · 2026-03-06T07:29:25Z

src/python/arcor2_scene_data/scene_service.py

+    for cid in collision_ids():
+        delete_collision_id(cid)


Iterate graspable IDs when deleting all graspables

delete_all_graspable() currently iterates collision_ids() and calls delete_collision_id(), so invoking it removes collisions but leaves graspables behind. Any cleanup path that relies on this helper will retain stale graspable objects and can pollute later planning/state checks; it should iterate graspable_ids() and call delete_graspable_id() instead.

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chatgpt-codex-connector · 2026-03-06T07:29:25Z

src/python/arcor2_ur/scripts/ros_worker.py

+    # elif isinstance(obj.model, object_type.Mesh):
+
+    collision_object.primitives.append(prim)
+    collision_object.primitive_poses.append(obj_pose)


Guard unsupported mesh models in collision conversion

create_collision_object() appends a SolidPrimitive even when the model is a mesh, because only box/sphere/cylinder initialize prim.type and dimensions. Since apply_collision_objects() now feeds all collisions/graspables through this path, requests to /collisions/mesh or /graspables/mesh can push an invalid primitive into MoveIt and break scene updates/planning; mesh objects need explicit mesh handling or must be skipped.

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feat(arcor2_ur): extend ros_worker for collision primitives and add b…

b3021d8

…asic tests

SimonKadnar force-pushed the master branch from f6314fc to b3021d8 Compare March 5, 2026 20:37

SimonKadnar added 4 commits March 5, 2026 22:19

feat(arcor2_ur): graspable obj representation, basic functionality tests

3261214

fix(arcor_ur): debug build

88d7dc4

chore(arcor2_ur): update pinned ROS Jazzy dependency versions

c34760e

chore(ci): free disk space before installing ROS dependencies

70cae31

ZdenekM requested changes Mar 6, 2026

View reviewed changes

chatgpt-codex-connector bot reviewed Mar 6, 2026

View reviewed changes

		set_enabled.__action__ = ActionMetadata() # type: ignore


		class GraspableState(str, Enum):



		@app.route("/graspables/sphere", methods=["PUT"])
		def put_graspable_sphere() -> RespT:

		from arcor2_ur.tests.conftest import Urls


		def _dist(a: Pose, b: Pose) -> float:

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SimonKadnar commented Feb 1, 2026

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ZdenekM commented Mar 6, 2026

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