yexiaozhou
00bdf9b822
feat(layout_optimizer): add angle-first hybrid discrete-theta mode
2026-04-03 01:09:00 +08:00
yexiaozhou
306b787aa7
fix(layout_optimizer): update arm_slider reach value and improve scene poll version handling
2026-04-03 00:43:40 +08:00
yexiaozhou
5b3f317867
Merge branch 'rescue-layout-opt-detached' into feat/3d_layout_and_visualize
2026-04-02 16:32:27 +08:00
yexiaozhou
b0e98ccf2b
docs(layout_optimizer): deprecate align_weight in demo_agent.md
...
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com >
2026-04-02 13:52:18 +08:00
yexiaozhou
b04dc8dd4a
feat(layout_optimizer): default cardinal snap and alignment to off
...
align_weight defaults to 0 (was DEFAULT_WEIGHT_ANGLE=60).
snap_theta_safe is opt-in via snap_cardinal=True (was always-on).
Both remain available when explicitly requested.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com >
2026-04-02 13:48:34 +08:00
yexiaozhou
f4c0e40a25
feat(layout_optimizer): crossing penalty weighted by intersection length
...
Replace _line_of_sight_penalty (flat per-blocker) with _crossing_penalty
(DEFAULT_WEIGHT_DISTANCE * crossing_length). Uses opening→arm-OBB
endpoints. Applied regardless of reachability pass/fail.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com >
2026-04-02 13:33:38 +08:00
yexiaozhou
569ac4a931
feat(layout_optimizer): add segment_obb_intersection_length (Cyrus-Beck clipping)
...
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com >
2026-04-02 13:24:45 +08:00
yexiaozhou
31e79e9aff
chore(DE): add debug mode and detailed log regarding cost changes
2026-04-02 12:52:44 +08:00
yexiaozhou
6e1b26a754
fix(server): update path configuration for asset directories
2026-04-01 22:07:44 +08:00
yexiaozhou
9ef24b7768
feat(layout_optimizer): DE optimizer V2 — custom loop, graduated hard constraints, broad phase
...
Replace scipy differential_evolution with custom DE loop for per-device
crossover, circular θ wrapping, and configurable mutation strategy
(currenttobest1bin default, best1bin as turbo mode).
Key improvements:
- Graduate ALL hard constraints during DE (proportional penalty instead of
flat inf), giving DE smooth gradient for reachability, min_spacing, etc.
Binary inf preserved for final pass/fail reporting.
- 2-axis sweep-and-prune AABB broad phase for collision pair pruning
- Multi-seed injection from multiple seeder presets + Gaussian variants
- snap_theta_safe: collision-check after angle snapping, revert on violation
- Weight normalization (100 distance / 60 angle / 5× hard multiplier)
- Constraint priority field (critical/high/normal/low → weight multiplier)
with LLM intent interpreter setting priority per constraint type
- Final success field now checks user hard constraints in binary mode
- arm_slider added to mock checker reach table (1.07m)
Tests: 202 passed, 24 new tests added (optimizer 7, constraints 6, broad_phase 11)
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com >
2026-04-01 00:32:34 +08:00
yexiaozhou
64eeed56a1
feat: add layout_optimizer package for automatic layout of devices
...
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com >
2026-03-31 09:30:40 +08:00
yexiaozhou
3f75ca4ea3
feat: add generated asset_models registry
2026-03-31 09:30:40 +08:00
Xuwznln
ee63e95f50
update skill
2026-03-25 23:20:13 +08:00
Xuwznln
dbf5df6e4d
add placeholder keys
2026-03-25 12:11:10 +08:00
Xuwznln
f10c0343ce
add placeholder keys
2026-03-25 11:56:40 +08:00
Xuwznln
8b6553bdd9
always free
2026-03-25 11:24:19 +08:00
Xuwznln
e7a4afd6b5
提交实验技能
2026-03-25 00:42:28 +08:00
Xuwznln
f18f6d82fc
disable samples
2026-03-24 23:45:50 +08:00
Xuwznln
b7c726635c
correct sample demo ret value
2026-03-24 23:24:12 +08:00
Xuwznln
c809912fd3
新增试剂reagent
2026-03-24 23:22:45 +08:00
Xuwznln
d956b27e9f
update registry
2026-03-24 23:10:57 +08:00
Xuwznln
ff1e21fcd8
新增manual_confirm
2026-03-24 23:04:00 +08:00
Xuwznln
b9d9666003
add workstation creation skill
2026-03-24 23:03:49 +08:00
Junhan Chang
d776550a4b
add virtual_sample_demo 样品追踪测试设备
2026-03-23 16:43:20 +08:00
Xuwznln
3d8123849a
add external devices param
...
fix registry upload missing type
2026-03-23 15:01:16 +08:00
Xuwznln
d2f204c5b0
bump to 0.10.19
2026-03-22 04:17:21 +08:00
Xuwznln
d8922884b1
fast registry load
2026-03-22 04:14:47 +08:00
Xuwznln
427afe83d4
minor fix on skill & registry
2026-03-22 03:36:28 +08:00
Xuwznln
23c2e3b2f7
stripe ros2 schema desc
...
add create-device-skill
2026-03-22 03:21:13 +08:00
Xuwznln
59c26265e9
new registry system backwards to yaml
2026-03-22 02:19:54 +08:00
Xuwznln
4c2adea55a
remove not exist resource
2026-03-21 23:35:51 +08:00
Xuwznln
0f6264503a
new registry sys
...
exp. support with add device
2026-03-21 19:26:24 +08:00
Junhan Chang
2c554182d3
add ai conventions
2026-03-19 14:14:40 +08:00
Xuwznln
6d319d91ff
correct raise create resource error
2026-03-10 16:26:37 +08:00
Xuwznln
3155b2f97e
ret info fix revert
2026-03-10 16:04:27 +08:00
Xuwznln
e5e30a1c7d
ret info fix
2026-03-10 16:00:24 +08:00
Xuwznln
4e82f62327
fix prcxi check
2026-03-10 15:57:27 +08:00
Xuwznln
95d3456214
add create_resource schema
2026-03-10 15:27:39 +08:00
Xuwznln
38bf95b13c
re signal host ready event
2026-03-10 14:13:06 +08:00
Xuwznln
f2c0bec02c
add websocket connection timeout and improve reconnection logic
...
add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow
2026-03-07 04:40:56 +08:00
Xuwznln
e0394bf414
Merge remote-tracking branch 'origin/dev' into dev
2026-03-04 19:18:55 +08:00
Xuwznln
975a56415a
import gzip
2026-03-04 19:18:36 +08:00
Xuwznln
cadbe87e3f
add gzip
2026-03-04 19:18:19 +08:00
Xuwznln
b993c1f590
add gzip
2026-03-04 19:18:09 +08:00
Xuwznln
e0fae94c10
change pose extra to any
2026-03-04 19:06:58 +08:00
Xuwznln
b5cd181ac1
add isFlapY
2026-03-04 18:59:45 +08:00
Xuwznln
5c047beb83
support container as example
...
add z index
(cherry picked from commit 145fcaae65
2026-03-03 18:04:13 +08:00
Xuwznln
b40c087143
fix container volume
2026-03-03 17:13:32 +08:00
Xuwznln
7f1cc3b2a5
update materials
2026-03-03 11:43:52 +08:00
Xuwznln
3f160c2049
更新prcxi deck & 新增 unilabos_resource_slot
2026-03-03 11:40:23 +08:00
