Multiverse goal validation #175
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…t_value_getter_input.
…t_value_getter_input.
…aviour of bowl object.
…ng the pose of the parent. Also added a reset for the goal validator and the error checker.
…eaning. set single joint position test is not passing because joints currently does not retain their positions, will be fixed soon.
…gle responsibility.
…lass definition, and defined a new exception for unsupported joint types, and defined a multiverse class variable as a tuple providing the supported joint types.
… not just for multiverse.py Added the use of validators to pybullet.
…verse_goal_validation
… on real robot and semi real robot
…d spawn generic objects for example the robokudo objects
[hsrb-processmodule] introducing hsrb process module that are working…
which is more related to SOMA ontology contents themselves instead
…arsingError to not interrupt the program, only error-log in case of loading from local iri test_ontology: defer to loading from local iri in case of failed loading from the remote
…to if not existing) closer to code
Added turtlebot3 (waffle_pi)
[generic object] for perceiving in real world and spawn/describe obbjects from type unkown
Catch remote ontology loading error by owlready2
[robokudo interface] new queries for the newest robokudo mainly suturo
# Conflicts: # src/pycram/datastructures/enums.py # src/pycram/world_concepts/world_object.py # src/pycram/worlds/bullet_world.py
…verse_goal_validation # Conflicts: # src/pycram/process_modules/hsrb_process_modules.py # src/pycram/world_concepts/world_object.py # src/pycram/worlds/bullet_world.py
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Tigul
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Aug 27, 2024
hawkina
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Oct 31, 2024
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NOTE: This pull request depends on: #189
This adds a goal validation feature for the setting of object pose and joint positions.
The use case is through the addition of the relevant decorators to the setter of the pose and joint positions.
This is now added to the abstract world and used by both bullet_world and multiverse.
Three main decorators are used:
@validate_object_pose
@validate_joint_position
@validate_multiple_joint_positions
Also contains some minor changes, cleaning, and added structures.