tesseract

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There are cmake variable which can be added to help profile the build. At the end of the discussion in the link below describes the variables to add to the...

Levi-Armstrong

Why does the tesseract_geometry::mesh constructor take an Eigen::VectorXi for the triangles?

4

The mesh constructor takes an integer vector of variable length (`triangles`) to represent the mesh's triangles. The [constructor](https://github.com/tesseract-robotics/tesseract/blob/master/tesseract_geometry/include/tesseract_geometry/impl/mesh.h) describes this as > A vector of face indices where the first...

AlexGisi

Draft: Add basic planar joint support in the urdf parser

1

Levi and I discussed how to implement this. The better solution would probably be to implement planar joints in the state solver. However, that would touch a lot of things....

mpowelson

It would be nice in a few instances within Tesseract to provide different serialization options. For example, include meshes or just resource location. [Here](https://stackoverflow.com/questions/14060640/extending-boost-serialization) is a discussion on how this...

Levi-Armstrong

URDF Parsing colon character Issue

6

I ran into [this](https://github.com/DavidSpielman/robotiq_85_gripper/pull/1) weird issue when parsing a xacro that included a gazebo tag and then a comment. I narrowed it down to the fact that there is an...

marrts

Any plan to implement mujoco for collision checking?

2

msnh2012

The ContactResultsMap results in a significant amount of heap allocations during motion planning.

3

This data structure should be updated to leverage Pool library to avoid this. Links to documentation of available options: [Boost Pool Library](https://www.boost.org/doc/libs/1_39_0/libs/pool/doc/index.html) [Boost Pool Library Examples](https://www.boost.org/doc/libs/1_39_0/libs/pool/doc/interfaces.html)

Levi-Armstrong

Add the ability to change KDL parameters from kinematics configuration

1

seanmc602

Add ToolPath and ToolPathSegment class

5

This adds two classes ToolPath and ToolPathSegment. These two classes provided additional information for traceability during filtering operations and integration into tesseract_qt rendering. @marip8 Would you have time to take...

Levi-Armstrong

These are taken from Ignition repository. Remaining Tasks: - [ ] Port unit tests - [ ] Port PBR material - [ ] Finish out material class

Levi-Armstrong