Changelog

Add `reference_point` config to the planar multi-pick planner for prioritizing groups based on distance to a 3d reference point.

Make sure that grouping behavior is deterministic by removing HashMap of contact surfaces.

Add `fizyr_layer_only` flag to the multi pick planner config for ignoring groups on lower layers.

Add `mask_match_score_thresholds` config fields to the multi pick planner for converting mask match scores to pick plan qualities.

Bump to `fizyr-vision-utils` `v0.28.1` to fix NaN handling in `ObjectDetection3d`.

Bump to `fizyr-point-cloud` `v0.6.6` to fix voxel grid parameters.

Log group priority along with group members in the cycle logs.

Refactor mask-match standalone.

Fix multi-pick planner group density-based sorting.

Implement `list_pick_cycles()` service.

Add optional `CollisionCheckConfig::parallel_collision_check_buffer_size` parameter to control the buffer size of the collision check priority queue.

Add `list_pick_cycles()` request.

Ensure the planar-multi-pick planner's group sorting is based on the centroid of the extracted contact surfaces and not on the centroid of the full detection.

Update API to v2.99.5

Change the priority queue to use `buffered` for collision checks rather than spawning them all at once.

Renumber and re-order services: cycle management services from ID `1000`, services to get processing results from ID `1020`.

Log `get_object_info3` response.

Ignore NaN points in PCA-based pose estimation of detections.

Add `rotation_format` field to `get_object_info3` request.

Update API to v2.99.4

Bump API version to 2.99.4.

Implement the `get_object_info3` service.

Support interface 2.99.5.

Support interface 2.99.3.

Improve detection latency by reordering camera client requests.

Add `get_object_info3` service.

Add `class_scores_by_id` to `get_object_info2` service.

Add `class_scores_by_name` to `get_object_info2` service.

Rename `get_objects` service to `get_object_info2`.

Rename `check_empty_container` service to `check_container_empty`.

Rename the response field of `check_container_empty` from `empty` to `is_empty`.

Adjust service IDs.

Update API to v2.99.3

Significantly improve collision check times.

Significantly improve collision check speed by remove an unused variable.

Speed up collision check by moving computation of `target_indices_downsampled` from `CollisionBody` to `CollisionModel` and use better structure to query relevant indices.

Consider the pick layer when prioritizing multipick groups.

Fix collision check performance issue.

Standardize tag requirements for user input.

Include `object-density` as a metric for prioritizing groups for `mask-match`.

Implement `From<()> for Empty`.

Correctly filter out pick planners that use the wrong gripper (if the user sent a `gripper_id`).

Add validation step for `MaskMatchConfig` which normalizes `PerObjectScoreWeights`.

Add `gripper_powerset_batch_size` to mask match config.

Make `max_pick_direction_adjustment` an `f32` instead of an `Option<f32>` (defaulting to 0.0).

Use euclidean distance(s) for scoring (mask-match).

Batch the gripper's powerset computations of Mask Match.

Apply pick direction adjustment to multipick groups.

Raise an error if the user sends an invalid region of interest id.

Use `u32` instead of `f32` for regions of interest.

Change multi-pick group filtering and remove subsets from consideration.

Additional logging.

Bump `fizyr-kinematics` to `v0.2.1`.

Fix gripper collision model.

Fix unit test.

Remove incorrect `CollisionModel::from_kinematic_chain`.

Warn users that don't enable gripper representation caching.

Add `service_name` to the config to support the `server_info` service.

Implement `Eq` and `Ord` for `Feedback`.

Bump `fizyr-kinematics` and `fizyr-collision` to `v0.2.0`.

Allow for negative values in `2d-reference-point`.

Bump `fizyr-kinematics` to `v0.2.0`.

rename `box3` to `box` in serde serialization of `Shape` enum.

Fix height adjustment of combined bounded plane.

Fix closed pick plan queue bug.

Add missing request handlers to `fizyr-rpc` interface.

Cache `mask-match` gripper representation tensors.

Filter detections that contain less than 4 non-NAN points.

Make powerset property computation optional in `mask-match`.

Fix logging of configuration files in the cycle logs.

Reverse ordering of `DetectionPriority` so that best detections are at the end of the list.

Include plane ids in the cycle logs for the multi-pick planner.

Log camera parameters and wall clouds in the root cycle log directory.

Initial implementation.

Initial implementation.

Inital implementation.