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Support including the names of other attached objects in touch_link#3276

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sea-bass merged 3 commits intomoveit:mainfrom
ANogin:allow_objects_in_touch_links
Jan 31, 2025
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Support including the names of other attached objects in touch_link#3276
sea-bass merged 3 commits intomoveit:mainfrom
ANogin:allow_objects_in_touch_links

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@ANogin ANogin commented Jan 27, 2025

Description

Fixes #3275. See that RFE for motivation and discussion of pros/cons and alternative approaches.

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  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

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sea-bass reviewed Jan 27, 2025
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Thank you! Just very minor suggestions from me.

Also, would you be willing to write a test for this?

@sea-bass sea-bass added backport-humble Mergify label that triggers a PR backport to Humble backport-jazzy Mergify label that triggers a PR backport to Jazzy labels Jan 27, 2025
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codecov-commenter commented Jan 27, 2025 •
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⚠️ Please install the 'codecov app svg image' to ensure uploads and comments are reliably processed by Codecov.

Codecov Report

Attention: Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.

Project coverage is 45.95%. Comparing base (870b23d) to head (64a6f1c).
Report is 2 commits behind head on main.

Files with missing lines Patch % Lines
...e/collision_detection_fcl/src/collision_common.cpp 0.00% 5 Missing ⚠️

❗ Your organization needs to install the Codecov GitHub app to enable full functionality.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #3276      +/-   ##
==========================================
+ Coverage   45.94%   45.95%   +0.02%     
==========================================
  Files         716      716              
  Lines       62393    62398       +5     
  Branches     7543     7544       +1     
==========================================
+ Hits        28659    28669      +10     
+ Misses      33568    33563       -5     
  Partials      166      166

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

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ANogin commented Jan 27, 2025

Also, would you be willing to write a test for this?

Willing - yes. Have bandwidth some time soon to figure out how tests are set up and how to do this properly - quite unlikely, unfortunately... :(

@sjahr sjahr enabled auto-merge January 29, 2025 16:12
@sjahr sjahr added this pull request to the merge queue Jan 30, 2025
@github-merge-queue github-merge-queue bot removed this pull request from the merge queue due to failed status checks Jan 30, 2025
@sea-bass sea-bass added this pull request to the merge queue Jan 31, 2025
Merged via the queue into moveit:main with commit 75fb28b Jan 31, 2025
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mergify bot pushed a commit that referenced this pull request Jan 31, 2025
@sjahr @mergify
Support including the names of other attached objects in touch_link (…
707104c 
…#3276)

* Support including the names of other attached objects in `touch_link`

Fixes #3275

* Add a comment; add {} for readability

---------

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit 75fb28b)
@mergify mergify bot mentioned this pull request Jan 31, 2025
Merged
6 tasks
mergify bot pushed a commit that referenced this pull request Jan 31, 2025
@sjahr @mergify
Support including the names of other attached objects in touch_link (…
8b3f895 
…#3276)

* Support including the names of other attached objects in `touch_link`

Fixes #3275

* Add a comment; add {} for readability

---------

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit 75fb28b)
@mergify mergify bot mentioned this pull request Jan 31, 2025
Merged
6 tasks
sea-bass pushed a commit that referenced this pull request Jan 31, 2025
@mergify
Support including the names of other attached objects in touch_link…
ce42d73 
… (backport #3276) (#3287)

Co-authored-by: Aleksey Nogin <aleksey@redballoonsecurity.com>
sea-bass pushed a commit that referenced this pull request Jan 31, 2025
@mergify
Support including the names of other attached objects in touch_link (…
007bcef 
…#3276) (#3288)

(cherry picked from commit 75fb28b)

Co-authored-by: Aleksey Nogin <aleksey@redballoonsecurity.com>
sussybot5258 pushed a commit to GreyCatAI/moveit2 that referenced this pull request Apr 19, 2025
@sjahr @sussybot5258
Support including the names of other attached objects in touch_link (…
db6f51c 
…moveit#3276)

* Support including the names of other attached objects in `touch_link`

Fixes moveit#3275

* Add a comment; add {} for readability

---------

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Markus-Simonsen pushed a commit to Markus-Simonsen/moveit2 that referenced this pull request Aug 12, 2025
@sjahr
Support including the names of other attached objects in touch_link (…
1276626 
…moveit#3276)

* Support including the names of other attached objects in `touch_link`

Fixes moveit#3275

* Add a comment; add {} for readability

---------

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
helen9975 pushed a commit to personalrobotics/moveit2 that referenced this pull request Feb 17, 2026
@sjahr
Support including the names of other attached objects in touch_link (…
f9d4ce3 
…moveit#3276)

* Support including the names of other attached objects in `touch_link`

Fixes moveit#3275

* Add a comment; add {} for readability

---------

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
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Should be possible to specify two attached objects as allowed to touch.

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