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Remove manip_info as option task input
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@Levi-Armstrong
Levi-Armstrong committed Jan 13, 2025
1 parent 09175fe commit c62589c
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73 changes: 0 additions & 73 deletions tesseract_task_composer/README.rst
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Expand Up @@ -61,7 +61,6 @@ This file allows you define Excutors and Tasks (aka Nodes).
program: input_data
environment: environment
profiles: profiles
composite_profile_remapping: composite_profile_remapping
outputs:
program: output_data
DescartesMotionPlannerTask:
Expand All @@ -72,9 +71,6 @@ This file allows you define Excutors and Tasks (aka Nodes).
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: false
Expand All @@ -86,8 +82,6 @@ This file allows you define Excutors and Tasks (aka Nodes).
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
IterativeSplineParameterizationTask:
class: IterativeSplineParameterizationTaskFactory
config:
Expand All @@ -96,9 +90,6 @@ This file allows you define Excutors and Tasks (aka Nodes).
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
edges:
Expand Down Expand Up @@ -183,7 +174,6 @@ Define the graph nodes and edges as shown in the config below.
program: input_data
environment: environment
profiles: profiles
composite_profile_remapping: composite_profile_remapping
outputs:
program: output_data
DescartesMotionPlannerTask:
Expand All @@ -194,9 +184,6 @@ Define the graph nodes and edges as shown in the config below.
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: true
Expand All @@ -208,9 +195,6 @@ Define the graph nodes and edges as shown in the config below.
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: false
Expand All @@ -222,8 +206,6 @@ Define the graph nodes and edges as shown in the config below.
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
IterativeSplineParameterizationTask:
class: IterativeSplineParameterizationTaskFactory
config:
Expand All @@ -232,9 +214,6 @@ Define the graph nodes and edges as shown in the config below.
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
edges:
Expand Down Expand Up @@ -277,7 +256,6 @@ Also you can indicate that it should abort if a terminal is reached by specifyin
program: input_data
environment: environment
profiles: profiles
composite_profile_remapping: composite_profile_remapping
outputs:
program: output_data
CartesianTask:
Expand Down Expand Up @@ -340,7 +318,6 @@ Here is an example where the namespace field is used to reuse a contact check co
program: input_data
environment: environment
profiles: profiles
composite_profile_remapping: composite_profile_remapping
outputs:
program: output_data
TrajOptMotionPlannerTask:
Expand All @@ -351,9 +328,6 @@ Here is an example where the namespace field is used to reuse a contact check co
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: false
Expand All @@ -366,8 +340,6 @@ Here is an example where the namespace field is used to reuse a contact check co
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
OMPLMotionPlannerTask:
class: OMPLMotionPlannerTaskFactory
config:
Expand All @@ -384,8 +356,6 @@ Here is an example where the namespace field is used to reuse a contact check co
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
IterativeSplineParameterizationTask:
class: IterativeSplineParameterizationTaskFactory
config:
Expand All @@ -394,9 +364,6 @@ Here is an example where the namespace field is used to reuse a contact check co
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
edges:
Expand Down Expand Up @@ -432,9 +399,6 @@ Task for running Descartes motion planner
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: false
Expand All @@ -453,9 +417,6 @@ Task for running Descartes motion planner
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: false
Expand All @@ -476,9 +437,6 @@ Task for running OMPL motion planner
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: false
Expand All @@ -499,9 +457,6 @@ Task for running TrajOpt motion planner
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: false
Expand All @@ -522,9 +477,6 @@ Task for running TrajOpt Ifopt motion planner
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: false
Expand All @@ -545,9 +497,6 @@ Task for running Simple motion planner
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
format_result_as_input: true
Expand All @@ -568,9 +517,6 @@ Perform iterative spline time parameterization
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
add_points: true # optional
Expand All @@ -591,9 +537,6 @@ Perform time optimal time parameterization
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
Expand All @@ -613,9 +556,6 @@ Perform trajectory smoothing leveraging Ruckig. Time parameterization must be ra
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
move_profile_remapping: move_profile_remapping
outputs:
program: output_data
Expand All @@ -631,7 +571,6 @@ Raster Motion Task
inputs:
program: output_data
environment: environment
manip_info: manip_info
outputs:
program: output_data
freespace:
Expand Down Expand Up @@ -665,7 +604,6 @@ Raster Only Motion Task
inputs:
program: output_data
environment: environment
manip_info: manip_info
outputs:
program: output_data
raster:
Expand Down Expand Up @@ -698,8 +636,6 @@ Continuous collision check trajectory task
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
Discrete Contact Check Task
^^^^^^^^^^^^^^^^^^^^^^^^^^^
Expand All @@ -717,8 +653,6 @@ Discrete collision check trajectory task
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
Done Task
^^^^^^^^^
Expand Down Expand Up @@ -788,8 +722,6 @@ This task modifies the input instructions in order to push waypoints that are ou
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
outputs:
program: output_data
Expand All @@ -812,8 +744,6 @@ This task modifies the input instructions in order to push waypoints that are in
program: output_data
environment: environment
profiles: profiles
manip_info: manip_info
composite_profile_remapping: composite_profile_remapping
outputs:
program: output_data
Expand All @@ -833,7 +763,6 @@ Task for processing the input data so it meets a minimum length. Planners like t
program: input_data
environment: environment
profiles: profiles
composite_profile_remapping: composite_profile_remapping
outputs:
program: output_data
Expand All @@ -852,7 +781,6 @@ This task simply returns a value specified in the composite profile. This can be
inputs:
program: input_data
profiles: profiles
composite_profile_remapping: composite_profile_remapping
Upsample Trajectory Task
^^^^^^^^^^^^^^^^^^^^^^^^
Expand All @@ -872,7 +800,6 @@ This is used to upsample the results trajectory based on the longest valid segme
inputs:
program: input_data
profiles: profiles
composite_profile_remapping: composite_profile_remapping
outputs:
program: output_data
Expand Down
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