Code

Object dynamic state#234

Code

Merged

Tigul merged 49 commits intocram2:devcram2/pycram:devfrom AbdelrhmanBassiouny:object_dynamic_stateAbdelrhmanBassiouny/pycram:object_dynamic_stateCopy head branch name to clipboardJan 16, 2025

+780-421

Commits

Commits on Dec 13, 2024

• [SaveWorldState] Corrected the save state functionality and added the ability for the used to specift the state id.

  

  mohammadkhoshnazarr

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• [SaveState] Corrected arguments order in save simulator state.

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• [MultiverseContact] (WIP) Adding support for multiple contact points.

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• [MultiverseContact] Multiple contact points with normals now working.

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• [euROBIN] Added ur5e description and a demo for using it in eurobin.

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• [euROBIN] new process_module for gripper, accept grippers as separate pycram objects, closing and opening gripper works.

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• [GiskardandRobokudo] Ignore virtual joints when setting joint goal in giskard.

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• [MultiverseFallschoolDemo] (WIP) Need to figure out why giskard state is not synced correctly.

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• [MultiverseFallschoolDemo] (WIP) Need to fix multiverse contact, and make a feedback loop on gripper closing.

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• [NavigateAction] Add an option that asks if the joint states should be kept while navigating.

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• [ActionDesignator] better prepose and approach technique for picking up milk.

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• [MultiverseFallschoolDemo] The demo works.

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• [MultiverseFallschoolDemo] try and redo actions

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• [FixORM] added new paramters to orm classes to match actions/motions.

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• [PhysicalObject] Added a physical object class.

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• [PhysicalObject] remove contacts, object state has a physical body state.

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• [PhysicalBody] (WIP) refactoring bullet world to conform with new/changed world methods.

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• [PhysicalBody] (WIP) most tests are passing, there's a problem with transport action.

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• [PhysicalBody] (WIP) fixed issue with high position tolerance.

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• [JupyterTests] (WIP) cram_plan_tutorial has problems.

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• [MultiverseGetImages] Made use of target pose to adjust camera pose.

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• [MultiverseFallschoolDemo] Merged with dev.

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• [MultiversePycrap] used pycrap in multiverse.

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• [NavigateAction] Add an option that asks if the joint states should be kept while navigating.

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• [PhysicalObject] Added a physical object class.

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• [PhysicalBody] (WIP) refactoring bullet world to conform with new/changed world methods.

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• [PhysicalBody] (WIP) most tests are passing, there's a problem with transport action.

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• [World] rename argument to is_prospection

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• [VirtualJoint] no need for object.

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• [Link] Implement name property as it exists in two parents.

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• [WorldObject] make color None by default instead of white.

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• [LocalTransformer] solved bug where world objects were used instead of prospection objects.

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• [Logging] added set log level.

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• [PhysicalBody] (WIP) Contact points return bodies not links.

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• [PhysicalBody] Everything is a WorldEntity, and they all have parent entities except for world.

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• [PhysicalBody] used pycrap in physical body instead of object.

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• [Giskard] removed duplicate set_joint_goal.

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• [PhysicalBody] fixed some multiverse bugs.

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• [MultiverseFallSchoolDemo] added optional argument grasps to CostmapLocation.

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• [PhysicalObject] corrections after rebasing on dev.

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• [Multiverse] Removed extra lock release in clients.

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• [HasConcept] added the has concept as parent to PhysicalBody

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• [MultiverseFallSchoolDemo] merged changes from dev.

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• [Multiverse] removed unused dataclasses.

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• [Giskard] removed unused import.

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• [PR2ProcessModules] removed dublicate import.

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Commits on Dec 15, 2024

• [PhysicalBody] removed duplicate method, added a normal property for contact points.

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Commits on Dec 16, 2024

• [PhysicalBody] Added Supporter type in pycrap.

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Commits on Dec 19, 2024

• [PhysicalBody] minor review changes.

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