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Duplicate planning scene msgs in solution #638

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captain-yoshi opened this issue Dec 13, 2024 · 1 comment · May be fixed by #639
Open

Duplicate planning scene msgs in solution #638

captain-yoshi opened this issue Dec 13, 2024 · 1 comment · May be fixed by #639

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@captain-yoshi
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I think part of #432 introduced the redundant msgs.

Setting a planning scene in the FixedState stage results in having identical scene msgs when filling the solution :

# Solution.msg
task_id
start_scene                           # identical
sub_trajectory[0]: scene_diff         # identical (should be empty because the FixedState scene is stored in the start_scene ?)
sub_trajectory[1]: scene_diff         # OK real diff
captain-yoshi added a commit to captain-yoshi/moveit_task_constructor that referenced this issue Dec 14, 2024
@captain-yoshi
[fix] duplicate scenes in Solution.msg (moveit#638)
8721bbe
@captain-yoshi captain-yoshi linked a pull request Dec 14, 2024 that will close this issue
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@captain-yoshi
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Example with an object in the scene, the start scene world is the same as the first diff scene from the first sub trajectory.

Also should the sub trajectories scene_diff parameters be all real diff's ?

Start scene

name: (noname)
robot_state: ...
world: 
  collision_objects[]
    collision_objects[0]: 
        header: 
        seq: 0
        stamp: 0.000000000
        frame_id: base
      pose: 
        position: 
          x: 0
          y: 0
          z: 0
        orientation: 
          x: 0
          y: 0
          z: 0
          w: 1
      id: sphere
      type: 
        key: 
        db: 
      primitives[]
        primitives[0]: 
                type: 2
          dimensions[]
            dimensions[0]: 0.01
      primitive_poses[]
        primitive_poses[0]: 
                position: 
            x: 0
            y: 0
            z: 0
          orientation: 
            x: 0
            y: 0
            z: 0
            w: 1
      meshes[]
      mesh_poses[]
      planes[]
      plane_poses[]
      subframe_names[]
      subframe_poses[]
      operation: 0
  octomap: ...

is_diff: 0

Scene Diff of first sub trajectory

name: (noname)
robot_state: ...
world: 
  collision_objects[]
    collision_objects[0]: 
        header: 
        seq: 0
        stamp: 0.000000000
        frame_id: base
      pose: 
        position: 
          x: 0
          y: 0
          z: 0
        orientation: 
          x: 0
          y: 0
          z: 0
          w: 1
      id: sphere
      type: 
        key: 
        db: 
      primitives[]
        primitives[0]: 
                type: 2
          dimensions[]
            dimensions[0]: 0.01
      primitive_poses[]
        primitive_poses[0]: 
                position: 
            x: 0
            y: 0
            z: 0
          orientation: 
            x: 0
            y: 0
            z: 0
            w: 1
  octomap: ...
is_diff: 0

captain-yoshi added a commit to captain-yoshi/moveit_task_constructor that referenced this issue Dec 16, 2024
@captain-yoshi
[fix] duplicate scenes in Solution.msg (moveit#638)
1c65110
captain-yoshi added a commit to captain-yoshi/moveit_task_constructor that referenced this issue Dec 16, 2024
@captain-yoshi
[fix] duplicate scenes in Solution.msg (moveit#638)
6330768
captain-yoshi added a commit to captain-yoshi/moveit_task_constructor that referenced this issue Dec 20, 2024
@captain-yoshi
[fix] duplicate scenes in Solution.msg (moveit#638)
cbe2c77
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[wip] Fix duplicate scenes in Solution.msg in forward planning captain-yoshi/moveit_task_constructor
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@captain-yoshi