Fix: Sort Blocks re-grasps removed blocks and fails when the table is cleared (v8.10 backport)#742
Merged
Merged
Conversation
|
No actionable comments were generated in the recent review. 🎉 ℹ️ Recent review info⚙️ Run configurationConfiguration used: Organization UI Review profile: CHILL Plan: Pro Plus Run ID: 📒 Files selected for processing (2)
✅ Files skipped from review due to trivial changes (1)
🚧 Files skipped from review as they are similar to previous changes (1)
📝 WalkthroughSummary by CodeRabbit
WalkthroughOne objective tree now resets ChangesPoint Cloud Reset Target
Sort Blocks Description
Possibly related PRs
🚥 Pre-merge checks | ✅ 4✅ Passed checks (4 passed)
Comment |
![coderabbitai[bot]](https://avatars.githubusercontent.com/in/347564?s=60&v=4){kind=small}
There was a problem hiding this comment.
Actionable comments posted: 1
🤖 Prompt for all review comments with AI agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
Inline comments:
In `@src/moveit_pro_franka_configs/dual_arm_sim/objectives/sort_blocks.xml`:
- Around line 3-7: The Sort Blocks objective is missing the required metadata
description entry, so `validate_objectives` will still reject it despite the
`_description` attribute on `BehaviorTree`. Update the `sort_blocks.xml`
objective to include a `<Metadata description="...">` entry consistent with the
tree’s current description, and make sure the `TreeNodesModel` metadata
requirements remain satisfied alongside `subcategory` in the objective
definition.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: Organization UI
Review profile: CHILL
Plan: Pro Plus
Run ID: bfc265f8-c6b8-4f7c-96f6-745905e527d9
📒 Files selected for processing (2)
src/moveit_pro_franka_configs/dual_arm_sim/objectives/create_point_cloud_vector_from_masks.xmlsrc/moveit_pro_franka_configs/dual_arm_sim/objectives/sort_blocks.xml
…tor From Masks Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
… completion Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
fdavulcu
force-pushed
the
backport/sort-blocks-fixes-v8.10
branch
from
4543585 to
2fe3f11
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Backports two merged fixes for the
dual_arm_simSort Blocks objective tov8.10.Stale point-cloud vector (backport of #647):
Create Point Cloud Vector From Masksreset{pose_stamped_vector}, but theForEachbuilds{point_cloud_vector}— detections accumulated, soFind with prompt'sGetElementOfVector index="0"always returned the stalest detection (a removed block). Now resets{point_cloud_vector}viaResetVector.Graceful completion (backport of #738): wraps the
KeepRunningUntilFailureloop inForceSuccessso a cleared table reports success; the trailing CLIPSeg "no masks" message is the expected end-of-run signal (noted in the tree description).The
sort_blocks.xmldiff is whitespace-dominated: prettier reindents the loop body when it's wrapped inForceSuccess. The semantic change is just theForceSuccessdecorator and the tree description — view with?w=1/ "Hide whitespace."