Abstract world #133
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Abstract world #133
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… the object class; needs tests to verify functionality.
… and the tests are passing
… and the tests are passing
…ate_transform, and attach.
…method, and defining the Attachment class and making the necessary changes for that, also add_constraint is still in progress.
… Object Class (still need to remove world dependency if needed), The attachment refactoring still needs to be completed.
…ional and unidirectional attachments.
…mplement the inverse attachment (changes are not synced)
…resotring of state, Implemented exiting the world and other methods.
…lasses defined in the world.py file.
…ept test_attachment_exclusion in test_costmap.py.
… removed pybullet dependency from world.py, tests are running except test_attachment_exclusion in test_costmaps.py
…stead of root link tf frame.
…es and used them instead of Lists (changed function signatures to use them).
…point to link objects. Removed _current_link_poses and _current_link_transforms
…ct class to Link class.
Refactoring of link related methods. Removal of redundant methods and/or properties
Objects are responsible for attachments not World. Links are responsible for constraints.
_set_attached_objects_poses implementation moved to the Object class instead of World. Cleaned World init method. Added optional argument in set_pose method of the Object class to exclude moving attached objects.
Implemented a CollisionsCallbacks dataclass and used it to define the self.coll_callbacks attribute.
Object Class does not manage constraints, they are managed by the Link Class instead.
Implemented save and restore state for World, Object, and Link classes. Added tests for Object, Attachment, and Link Classes.
…move all saved sates. world saved states is a list of int state ids WorldState data class moved to world_dataclasses.py added the method to remove physics simulator state add reset object method in the Object class.
…act class. Not passing tests yet.
WorldReasoning is now abstracted from pybullet tests are passing created two methods _try_to_reach, try_to_reach_with_grasp in the ik.py
Fixing tests for Description Abstraction
… Files). Tests are running.
Made 'WorldSync' sync objects by equating their current state/
tomsch420
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Feb 20, 2024
src/pycram/designator.py
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i think this file is deprecated ngl
…s due to circular imports.
refactored joint position getting and setting to use joint class.
allowing not object description for initializing objects. still in development.
…rrently the only used/implement description.
Restructured files.
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…rite to ensure file is wrote.
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With 85eddde this PR is merged. I don't know why GitHub does not recognize it but I will close this PR with this comment. |
mkhoshnam
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Nov 26, 2024
Urdf refactoring
mkhoshnam
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Nov 26, 2024
Urdf refactoring
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Abstracting the world class from pybullet to have a flexible simulator backend for pycram