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

src/python/arcor2_object_types/abstract.py

src/python/arcor2_scene_data/scene_service.py

src/python/arcor2_ur/scripts/ros_worker.py

src/python/arcor2_ur/scripts/ur.py

src/python/arcor2_ur/tests/test_grasapble_collizion_object.py

src/python/arcor2_ur/tests/test_sphere_in_path.py

src/python/arcor2_ur/tests/test_sphere_up.py

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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src/python/arcor2_ur/scripts/ros_worker.py

…bject_to_pose skeleton

ZdenekM · 2026-03-24T07:15:33Z

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src/python/arcor2_scene/scripts/scene.py

src/python/arcor2_ur/scripts/ros_worker.py

ZdenekM · 2026-03-31T18:24:15Z

@codex review

ZdenekM · 2026-03-31T18:24:58Z

src/python/arcor2_ur/data/urdf/ur5e.urdf

      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
      <geometry>
-        <mesh filename="package://meshes/ur5e/collision/wrist1.stl"/>
+        <mesh filename="file:///mnt/c/Users/Office/Desktop/diplomka/kod/arcor2-ur5e/src/python/arcor2_ur/data/urdf/meshes/ur5e/collision/wrist1.stl"/>


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chatgpt-codex-connector · 2026-03-31T18:29:15Z

src/python/arcor2_ur/data/urdf/ur5e.urdf

      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
-        <mesh filename="package://meshes/ur5e/visual/base.dae"/>
+        <mesh filename="file:///mnt/c/Users/Office/Desktop/diplomka/kod/arcor2-ur5e/src/python/arcor2_ur/data/urdf/meshes/ur5e/visual/base.dae"/>


Restore portable mesh URIs in UR5e URDF

The URDF now hard-codes mesh filenames to a developer-specific Windows path (file:///mnt/c/Users/Office/...), so any environment that does not have that exact path (CI, containers, other developers, production hosts) cannot resolve robot meshes. This makes URDF consumers fail to load collision/visual geometry and breaks robot simulation/planning outside the author’s machine; these entries should stay portable (e.g., package://... or repository-relative references).

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chatgpt-codex-connector · 2026-03-31T18:29:15Z

src/python/arcor2_scene/scripts/scene.py

-
-
-collision_objects: dict[str, CollisionObject] = {}
+collision_objects: dict[str, CollisionSceneObject] = {}


Keep line-safe iteration compatible with new object type

This change switches collision_objects values to CollisionSceneObject, but put_line_safe still iterates them as tuple pairs (for obj_id, (model, pose) in collision_objects.items()), which now raises a TypeError once any collision object exists. In practice, /utils/line-safe becomes unusable after adding a collision object, because the endpoint can no longer unpack scene entries.

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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

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SimonKadnar and others added 2 commits March 23, 2026 21:38

feat(graspable): update grasp metadata, refactor tests and add move_o…

762e2c6

…bject_to_pose skeleton

Merge branch 'master' into master

4e7e7af

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src/python/arcor2_scene/scripts/scene.py Outdated Show resolved Hide resolved

src/python/arcor2_ur/scripts/ros_worker.py Outdated Show resolved Hide resolved

feat(graspable): add basic object transfer (move_object_to_pose)

fc03ad5

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		collision_objects: dict[str, CollisionObject] = {}
		collision_objects: dict[str, CollisionSceneObject] = {}

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