Fallschool multiverse demo + Minor Changes #227

AbdelrhmanBassiouny · 2024-11-25T20:11:14Z

This contains the multiverse fallschool demo. (NOTE: Depends on #226)

The changes in Action, Motion, and Location Designators are summarized as follows:

Added a try_motion and try_action with a specified exception and number of retries. (A temporary solution to better failure handling). + Added some new plan failures.
Added parameters like allow_gripper_collision, ignore_collision_with_objects, and prepose_distance.
In Cosmap check for collision at start pose not just reached pose.
In Placing ignore collision between robot and grasped object.
In Pickup check for contact between gripper and object after closing gripper as a feedback that the object has been gripped.

…he mesh.

…g box depending on the visual shape of the link. Corrected multiverse mesh visual shape parsing. Added methods to get mesh path and file name.

…_object

… ability for the used to specift the state id.

# Conflicts: # test/test_multiverse.py

# Conflicts: # src/pycram/worlds/multiverse.py

User save state

…_object # Conflicts: # src/pycram/worlds/multiverse.py # test/test_multiverse.py

# Conflicts: # src/pycram/datastructures/world.py

…pawning it again.

…lk surface such that the cup becomes staple and does not fall from the milk surface.

# Conflicts: # src/pycram/worlds/multiverse.py

…e is a default implementation for them now.

… pycram objects, closing and opening gripper works.

…ead of robot_description.

…veTCP. Navigate rotation then translation when transporting to avoid wierd arm pose.

…iverse_demo

…picked by robot.

…ple.

…aster.

…ol_multiverse_demo # Conflicts: # examples/cram_plan_tutorial.md # examples/location_designator.md # examples/ontology.md # src/pycram/datastructures/dataclasses.py # src/pycram/datastructures/world.py # src/pycram/designator.py # src/pycram/designators/action_designator.py # src/pycram/designators/location_designator.py # src/pycram/designators/motion_designator.py # src/pycram/process_modules/pr2_process_modules.py # src/pycram/ros/ros_tools.py # src/pycram/ros_utils/robot_state_updater.py # src/pycram/world_concepts/world_object.py # test/test_links.py # test/test_orm/test_orm.py

…dev.

# Conflicts: # src/pycram/world_concepts/world_object.py # test/test_links.py

…nding box for multi geometry links.

…_multiverse_demo # Conflicts: # src/pycram/costmaps.py # src/pycram/datastructures/dataclasses.py # src/pycram/world_concepts/world_object.py # src/pycram/worlds/multiverse.py # test/test_multiverse.py

… fallschool_multiverse_demo # Conflicts: # config/world_conf.py # examples/cram_plan_tutorial.md # src/pycram/datastructures/enums.py # src/pycram/designators/action_designator.py # src/pycram/designators/motion_designator.py # src/pycram/external_interfaces/giskard.py # src/pycram/orm/action_designator.py # src/pycram/orm/motion_designator.py # src/pycram/process_modules/pr2_process_modules.py # test/test_knowledge.py

AbdelrhmanBassiouny and others added 30 commits October 4, 2024 18:44

[WorldObject] Added callbacks for when objects are added or removed.

75c16a0

[MeshLoading] added the ability to add a transformation to apply to t…

b2564c9

…he mesh.

[MeshAndObject] Added methods that can directly calculate the boundin…

4fa042a

…g box depending on the visual shape of the link. Corrected multiverse mesh visual shape parsing. Added methods to get mesh path and file name.

Merge remote-tracking branch 'original_pycram_repo/dev' into mesh_and…

f4f8fbe

…_object

[MeshAndObject] Added new failures for wrong or no geometry for link.

fbd2134

[MeshAndObject] modified doc of method.

1093253

[MeshAndObject] Added rotated bounding box.

0db8e9d

[SaveWorldState] Corrected the save state functionality and added the…

27c557b

… ability for the used to specift the state id.

Merge remote-tracking branch 'pycram/dev' into user_save_state

1998bdb

# Conflicts: # test/test_multiverse.py

Merge branch 'mesh_and_object' into dev

976f799

# Conflicts: # test/test_multiverse.py

Merge remote-tracking branch 'origin/dev' into dev

81f262a

# Conflicts: # src/pycram/worlds/multiverse.py

Merge remote-tracking branch 'origin/world_sync_ci_bug_fix' into dev

4977e5d

Merge pull request #1 from mkhoshnam/user_save_state

8d3b528

User save state

[SaveState] Corrected arguments order in save simulator state.

79142d8

Merge remote-tracking branch 'original_pycram_repo/dev' into mesh_and…

41ad375

…_object # Conflicts: # src/pycram/worlds/multiverse.py # test/test_multiverse.py

[MeshAndObject] correcting the requested changes in review.

b6bb696

[MeshAndObject] corrected method names.

cf019f2

Merge branch 'save_world_state' into dev

97169d0

# Conflicts: # src/pycram/datastructures/world.py

[MultiverseTest] added check for if apartment already exists before s…

2b8f0fc

…pawning it again.

Merge branch 'save_world_state' into dev

3366721

[MultiverseTest] changed cup spawn position to a bit nearer to the mi…

2dcd47f

…lk surface such that the cup becomes staple and does not fall from the milk surface.

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

9a859f6

[MultiverseContact] Multiple contact points with normals now working.

547826d

Merge branch 'multiverse_multiple_contact' into dev

146d214

# Conflicts: # src/pycram/worlds/multiverse.py

[World] Changed bounding box methods to not being abstract since ther…

6dd29e7

…e is a default implementation for them now.

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

4e3743f

[World] Changed bounding box methods to not being abstract since ther…

749dc59

…e is a default implementation for them now.

[euROBIN] new process_module for gripper, accept grippers as separate…

c899a0f

… pycram objects, closing and opening gripper works.

[euROBIN] changed gripper_name to be in end_effector_description inst…

57776a9

…ead of robot_description.

[Multiverse] create object from generic_description.

f45909d

AbdelrhmanBassiouny and others added 5 commits November 25, 2024 13:49

[ActionMotionDesignation] An option to specify movement types with Mo…

0999bbd

…veTCP. Navigate rotation then translation when transporting to avoid wierd arm pose.

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

ad1618a

[ORMFix] update ORM with new added parameters in action designator.

c5274bf

[ORMFix] update ORM with new added parameters in action designator.

964a283

Merge remote-tracking branch 'original_repo/dev' into fallschool_mult…

88061ba

…iverse_demo

AbdelrhmanBassiouny requested review from Tigul and sunava November 25, 2024 20:11

AbdelrhmanBassiouny added 23 commits November 26, 2024 18:12

[FallSchoolNotebookFixes] Moved milk_box to not be in collision.

9f36ef5

[FallSchoolNotebookFixes] DIRECT instead of GUI.

f672611

[CheckforPickedObject] a function to check if an object is currently …

699bc22

…picked by robot.

[JupyterTests] (WIP) cram_plan_tutorial has problems.

d794740

[JupyterTests] Fixed cram_plan_tutorial.md.

f33a6cf

[MultiverseBugFix] empty send data.

7857178

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

0fb5226

[MultiverseGetImages] plot is false by default

2adc736

[MultiverseDemo] formatting

aeddb2a

[JupyterExamples] correcting link name in multiverse case of the exam…

6676b40

…ple.

[AccessingLocation] check for collision at the start to make search f…

56fd6b0

…aster.

[JupyterTests] (WIP) location designator passes.

c765176

[JupyterTests] All tests passed.

d6e9821

[MultiverseFallschoolDemo] Merged with dev.

1c1b6c0

[GiskardFullschoolChanges] apllied requested changes and merged with …

09e4233

…dev.

[GiskardFullschoolChanges] updated cram_plan_tutorial.

5a81be5

Merge remote-tracking branch 'original_repo/dev' into mesh_and_object

a35fb0d

# Conflicts: # src/pycram/world_concepts/world_object.py # test/test_links.py

[MeshAndObject] performed review changes and added ability to get bou…

e70b7e2

…nding box for multi geometry links.

Merge remote-tracking branch 'origin/mesh_and_object' into fallschool…

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…_multiverse_demo # Conflicts: # src/pycram/costmaps.py # src/pycram/datastructures/dataclasses.py # src/pycram/world_concepts/world_object.py # src/pycram/worlds/multiverse.py # test/test_multiverse.py

[MultiversePycrap] used pycrap in multiverse.

b1a795b

[PR2ProcessModulesPyCRAP] used pycrap in pr2 process modules.

75ba1e8

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Fallschool multiverse demo + Minor Changes #227

Fallschool multiverse demo + Minor Changes #227

AbdelrhmanBassiouny commented Nov 25, 2024

Fallschool multiverse demo + Minor Changes #227

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Fallschool multiverse demo + Minor Changes #227

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AbdelrhmanBassiouny commented Nov 25, 2024