… 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

…on and visualization for usage in costmap for example.

…orld

# Conflicts:
#	src/pycram/bullet_world.py
#	src/pycram/bullet_world_reasoning.py
#	src/pycram/designators/action_designator.py
#	src/pycram/enums.py
#	src/pycram/external_interfaces/giskard.py
#	src/pycram/helper.py
#	src/pycram/process_modules/boxy_process_modules.py
#	src/pycram/process_modules/donbot_process_modules.py
#	src/pycram/resolver/location/database_location.py
#	src/pycram/ros/tf_broadcaster.py
#	src/pycram/task.py
#	test/test_bullet_world.py
#	test/test_bullet_world_reasoning.py
#	test/test_database_resolver.py
#	test/test_local_transformer.py

…xed missing import and use of World instead of BulletWorld in test_database_resolver.py)

…t, HSR module is improved but still dependent on pybullet, designators are independent of pybullet.

…and points.

…r in world.py

…ods to Object class.

…d and pybullet from all places except bullet_world.py

Applied some cleaning and removed duplications.

Added extra functionallity to World class like force torque sensor.

Update positions of objects when simulating
Increasing code coverage by tests (reached 55% for bullet_world.py) (77% world.py)

Added joint class to handle joint related things.
Object, Link, and Joint all have cached poses.
Cached poses update when World.simulate() is called.
Or when the poses are set manually.

Abstracting URDF dependency to be any type of description.
Cleaning.
In progress, tests are not passing.

Added a SateEntity for abstract state preserving classes.
Cleaned code.
Still needs to run tests.

Fixing tests for Description Abstraction

… Files).

Tests are running.

Made 'WorldSync' sync objects by equating their current state/

…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.

…geometry.

…rite to ensure file is wrote.