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Add live ik solutions to cbirrt #5385

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Add live ik solutions to cbirrt #5385

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8cf9c77
Feed live IK solutions to cbirrt. Add request file that does not prod…
dgottlieb Oct 16, 2025
57f0a96
Clean up rudimentary working algorithm.
dgottlieb Oct 17, 2025
cfb4b52
revert noisy debugging
dgottlieb Oct 17, 2025
073b392
fix log line
dgottlieb Oct 17, 2025
cfe0bd5
merge in main
dgottlieb Nov 9, 2025
3197835
update scene with Inputs API change
dgottlieb Nov 9, 2025
0ea3e16
Merge remote-tracking branch 'origin/main' into live-ik-solutions-to-…
dgottlieb Nov 10, 2025
6f3579b
delete scene that is no longer relevant
dgottlieb Nov 10, 2025
111bba2
remove node names
dgottlieb Nov 11, 2025
48c50ef
lint
dgottlieb Nov 11, 2025
4ff7b6f
Revert "remove node names"
dgottlieb Nov 12, 2025
dedf5c2
merge in main
dgottlieb Nov 12, 2025
b9c464c
to match default performance, change plan max IK solutions to 10
dgottlieb Nov 12, 2025
aa739b8
More efficient waiting
dgottlieb Nov 12, 2025
80cd13f
further optimize IK cleanup waiting. batch at the end of plan manager…
dgottlieb Nov 12, 2025
4b22174
lint
dgottlieb Nov 12, 2025
49aa7f6
move debug output execution such that it waits for dependent input to…
dgottlieb Nov 12, 2025
55074ae
lint
dgottlieb Nov 12, 2025
1374f4b
lint
dgottlieb Nov 12, 2025
2f1937c
check channel close
dgottlieb Nov 12, 2025
1248e93
I was wrong, needed a copy
dgottlieb Nov 13, 2025
f48a693
move to safe spot
dgottlieb Nov 13, 2025
5e3793c
actually have "not mine" be true
dgottlieb Nov 13, 2025
c05f441
lint
dgottlieb Nov 13, 2025
d218331
Test joint to joint code paths.
dgottlieb Nov 13, 2025
d7a8613
and...add the test file
dgottlieb Nov 13, 2025
c5d8f8d
feedback
dgottlieb Nov 17, 2025
5c53c1c
remove max solutions
dgottlieb Nov 17, 2025
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fix log line
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@dgottlieb
dgottlieb committed Oct 17, 2025
commit 073b392772fcedbcea0489105c6ae2a0ea266eb2
4 changes: 2 additions & 2 deletions motionplan/armplanning/cBiRRT.go
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Original file line number Diff line number Diff line change
Expand Up @@ -109,8 +109,8 @@ func (mp *cBiRRTMotionPlanner) rrtRunner(
}
}

mp.pc.logger.CDebug(ctx, "start node: %v goal node: %v DOF: %v",
seed, rrtMaps.optNode.inputs, rrtMaps.optNode.name, rrtMaps.optNode.goalNode, mp.pc.lfs.dof)
mp.pc.logger.CDebugf(ctx, "start node: %v goal node name: %v inputs: %v DOF: %v",
seed, rrtMaps.optNode.name, rrtMaps.optNode.inputs, mp.pc.lfs.dof)
interpConfig, err := referenceframe.InterpolateFS(mp.pc.fs, seed, rrtMaps.optNode.inputs, 0.5)
if err != nil {
return nil, err
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