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Remove clamping of joint constraint in MoveRelative stage #665

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Merged
rhaschke merged 1 commit into from
Feb 25, 2025
Merged

Remove clamping of joint constraint in MoveRelative stage #665

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1 change: 0 additions & 1 deletion core/src/stages/move_relative.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,6 @@ static bool getJointStateFromOffset(const boost::any& direction, const Interface
throw std::runtime_error("Cannot plan for multi-variable joint '" + j.first + "'");
auto index = jm->getFirstVariableIndex();
robot_state.setVariablePosition(index, robot_state.getVariablePosition(index) + sign * j.second);
robot_state.enforceBounds(jm);
}
robot_state.update();
return true;
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25 changes: 25 additions & 0 deletions core/test/test_move_relative.cpp
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Expand Up @@ -4,6 +4,7 @@
#include <moveit/task_constructor/stages/move_relative.h>
#include <moveit/task_constructor/stages/fixed_state.h>
#include <moveit/task_constructor/solvers/cartesian_path.h>
#include <moveit/task_constructor/solvers/joint_interpolation.h>
#include <moveit/task_constructor/solvers/pipeline_planner.h>

#include <moveit/planning_scene/planning_scene.h>
Expand Down Expand Up @@ -32,6 +33,10 @@ solvers::CartesianPathPtr create<solvers::CartesianPath>() {
return std::make_shared<solvers::CartesianPath>();
}
template <>
solvers::JointInterpolationPlannerPtr create<solvers::JointInterpolationPlanner>() {
return std::make_shared<solvers::JointInterpolationPlanner>();
}
template <>
solvers::PipelinePlannerPtr create<solvers::PipelinePlanner>() {
auto p = std::make_shared<solvers::PipelinePlanner>("pilz_industrial_motion_planner");
p->setPlannerId("LIN");
Expand Down Expand Up @@ -68,6 +73,7 @@ struct PandaMoveRelative : public testing::Test
}
};
using PandaMoveRelativeCartesian = PandaMoveRelative<solvers::CartesianPath>;
using PandaMoveRelativeJoint = PandaMoveRelative<solvers::JointInterpolationPlanner>;

moveit_msgs::CollisionObject createObject(const std::string& id, const geometry_msgs::Pose& pose) {
moveit_msgs::CollisionObject co;
Expand Down Expand Up @@ -163,6 +169,25 @@ TEST_F(PandaMoveRelativeCartesian, cartesianRotateAttachedIKFrame) {
EXPECT_CONST_POSITION(move->solutions().front(), attached_object);
}

// https://github.com/moveit/moveit_task_constructor/issues/664
TEST_F(PandaMoveRelativeJoint, jointOutsideBound) {
// move joint inside limit
auto initial_jpos = scene->getCurrentState().getJointPositions("panda_joint7");
move->setDirection([initial_jpos] {
return std::map<std::string, double>{ { "panda_joint7", 2.0 - *initial_jpos } };
}());
EXPECT_TRUE(this->t.plan()) << "Plan should succeed, joint inside limit";

this->t.reset();

// move joint outside limit: 2.8973
move->setDirection([initial_jpos] {
return std::map<std::string, double>{ { "panda_joint7", 3.0 - *initial_jpos } };
}());

EXPECT_FALSE(this->t.plan()) << "Plan should fail, joint outside limit";
}

using PlannerTypes = ::testing::Types<solvers::CartesianPath, solvers::PipelinePlanner>;
TYPED_TEST_SUITE(PandaMoveRelative, PlannerTypes);
TYPED_TEST(PandaMoveRelative, cartesianCollisionMinMaxDistance) {
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