Даниил Грабарь
b26edc3cfc
- forbid the transport pose; recovery reconfigures through work only - mandatory axial lift after every contact (handoff, tighten, dock, pick) - untwist the flange after simulated tightening so joint 7 never winds up - attach carried tool/cap/screw to the MoveIt scene; explicit REMOVE diffs - add_world receives box-centre poses (placed_cap_pose, restore_world) - table top lowered below the base_link collision mesh bottom (1 mm gap bug) - 1 mm clearances for cap/screw boxes; thinner cap world box (cup clearance) - wait for a stationary arm before every planning attempt (rest-to-rest) - loosen stopped_velocity_tolerance to 0.08 for reference launches only - retry a rejected named move once after settling (startup telemetry race) - adapter logs the exact reason and max joint velocity on start-state rejects - verified: all 20 experiments completed in Webots execute mode (10.11.2026)
3.1 KiB
Repository Guidelines
Project Structure & Module Organization
Lightweight Cobot targets Ubuntu 24.04, ROS 2 Jazzy, and the KUKA LBR iiwa 7 R800.
src/iiwa_controller/: C++ FRI hardware interface; bundled SDK inexternal/libFRI/.src/iiwa_planning/andsrc/iiwa_msgs/: motion planning nodes and ROS actions/services.src/iiwa_bringup/,src/iiwa_config/, andsrc/iiwa_description/: launch files, configuration, URDF/Xacro, meshes, and Webots worlds.src/iiwa_utils/andsrc/iiwa_web/: Python utilities and REST/WebSocket/MCP interfaces.src/iiwa_sunrise/: controller-side Java applications, built separately in Sunrise Workbench.cobot/: Python CLI;scripts/anddocker/: environment setup.doc/lwc-doc/docs/: bilingual documentation (*.mdand*.en.md).
Build, Test, and Development Commands
Run commands from the repository root after installing prerequisites with cobot setup.
source /opt/ros/jazzy/setup.bash
colcon build --base-paths src --symlink-install
source install/setup.bash
colcon test --base-paths src
colcon test-result --verbose
These commands build the workspace, activate its packages, and run/report registered tests. Specify --base-paths src because the repository root contains COLCON_IGNORE.
cobot rebuild iiwa_controller --symlink-install: rebuild one package; build dependencies first.cobot run local: launch interactively; select Webots simulator for development.cobot doc-setup: serve documentation locally using Docker.cobot doc-setup build: generate the static documentation and PDF.
Coding Style & Naming Conventions
Use four-space indentation for Python and follow adjacent code for C++ formatting (the hardware interface uses two spaces). C++ targets C++17. Use snake_case for Python modules/functions, PascalCase for classes and ROS interface files, and *.launch.py for launch files. Preserve existing C++ API names. No repository-wide formatter configuration is present; avoid unrelated formatting and bundled SDK edits.
Testing Guidelines
Manifests declare pytest for Python packages and ament lint dependencies for several CMake packages, but no dedicated test suite or coverage threshold is established. Place new tests under the relevant package's test/ directory, using test_*.py for pytest, and register them with its build system. Record Webots smoke-test steps for motion or launch changes; distinguish simulation validation from physical-hardware validation.
Commit & Pull Request Guidelines
History mixes imperative summaries with feat:, fix:, docs:, and refactor: prefixes; prefer a concise prefixed summary. Keep commits focused. PRs should explain the behavior change, affected packages, validation commands/results, and related issues. Include screenshots for visual changes and update both documentation languages when applicable.
Configuration & Hardware Safety
Review cobot-setting.yaml before launching. Validate motion changes in simulation first. Physical runs require checking robot networking, joint limits, active tool/load data, control mode, and a clear work area with operator supervision.