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Abstract world#133

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AbdelrhmanBassiouny wants to merge 70 commits intocram2:devcram2/pycram:devfrom AbdelrhmanBassiouny:abstract_worldAbdelrhmanBassiouny/pycram:abstract_worldCopy head branch name to clipboard

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Commits on Nov 29, 2023

• [RemovingPybulletFromObjectClass] removed all usages of pybullet from the object class; needs tests to verify functionality.

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Commits on Nov 30, 2023

• [RefactoringObjectClass] Now object class is independent of pybullet, and the tests are passing

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• [RefactoringObjectClass] Now object class is independent of pybullet, and the tests are passing

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• [WorldAbstractClass] InProgress , currently in add_constraint method

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Commits on Dec 5, 2023

• [WorldAbstractClass] InProgress , refactoring transform_pose, _calculate_transform, and attach.

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Commits on Dec 6, 2023

• [WorldAbstractClass] InProgress , currently in _set_attached_objects method, and defining the Attachment class and making the necessary changes for that, also add_constraint is still in progress.

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Commits on Dec 7, 2023

• [WorldAbstractClass] InProgress , currently in refactoring attachments.

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Commits on Dec 8, 2023

• [WorldAbstractClass] Updated local transformer class to not depend on Object Class (still need to remove world dependency if needed), The attachment refactoring still needs to be completed.

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Commits on Dec 9, 2023

• [RefactoringAttachments] Improved attachment class to handle bidirectional and unidirectional attachments.

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• [RefactoringAttachments] Improved attachment class, needs to better implement the inverse attachment (changes are not synced)

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Commits on Dec 10, 2023

• [AbstractWorld] Added a WorldState dataclass, Implemented saving and resotring of state, Implemented exiting the world and other methods.

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Commits on Dec 11, 2023

• [AbstractWorld] Finished defining AbstractWorld, and correcting all classes defined in the world.py file.

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• [AbstractWorld] Completed world.py refactoring, tests are passing except test_attachment_exclusion in test_costmap.py.

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• [AbstractWorld] some cleaning up.

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• [AbstractWorld] Moved BulletWorld and GUI classes to bullet_world.py, removed pybullet dependency from world.py, tests are running except test_attachment_exclusion in test_costmaps.py

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Commits on Dec 12, 2023

• [WorldAbstractClass] Tests are running after using object.tf_frame instead of root link tf frame.

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• [WorldAbstractClass] Added Color and AxisAlignedBoundingBox datalcasses and used them instead of Lists (changed function signatures to use them).

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Commits on Dec 13, 2023

• [WorldAbstractClass] Some cleaning up and refactoring of method names.

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Commits on Dec 14, 2023

• [ClassForLinks] Created Link class.

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Commits on Dec 15, 2023

• [WorldAbstractClass] Created links dictionary inside Object class to point to link objects.

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• [WorldAbstractClass] removed all link related functionality from Object class to Link class.

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Commits on Dec 22, 2023

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Commits on Dec 24, 2023

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Commits on Dec 28, 2023

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Commits on Jan 1, 2024

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Commits on Jan 18, 2024

• [AbstractWorld]

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• [WorldAbstractClass] Reseting the world now also has the option to remove all saved sates.

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Commits on Jan 19, 2024

• [WorldAbstractClass] World reasoning is refactored to depend on abstract class. Not passing tests yet.

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Commits on Jan 21, 2024

• [AbstractWorld]

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Commits on Jan 23, 2024

• [WorldAbstractClass] world_reasoning.py is not a class anymore.

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• [WorldAbstractClass] (in progress) implementing abstract shape creation and visualization for usage in costmap for example.

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Commits on Jan 24, 2024

• Merge branch 'dev' of https://github.com/cram2/pycram into abstract_world

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• Merge branch 'dev' of github.com:cram2/pycram into abstract_world

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• Merge branch 'dev' of github.com:cram2/pycram into abstract_world (fixed missing import and use of World instead of BulletWorld in test_database_resolver.py)

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• [Abstract World] (check TODOs) Costmaps now is independent of pybullet, HSR module is improved but still dependent on pybullet, designators are independent of pybullet.

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Commits on Jan 25, 2024

• [Abstract World] Corrected setting position of object to allow lists.

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• [Abstract World] Corrected setting position of object to allow lists and points.

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• [Abstract World] updated method names in bullet_world.ipynb

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• [Abstract World] applying code review edits, stopped at get_link_color in world.py

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Commits on Jan 26, 2024

• [Abstract World] documenting Object class and cleaning it.

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Commits on Jan 30, 2024

• [Abstract World] Cleaned Object constructor, added more internal methods to Object class.

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Commits on Jan 31, 2024

• [Abstract World] Documented internal functions.

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• [Abstract World] Removed all mentions and dependencies of bullet world and pybullet from all places except bullet_world.py

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Commits on Feb 1, 2024

• [Abstract World] all change requests completed

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Commits on Feb 3, 2024

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Commits on Feb 9, 2024

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• [Abstract World] Abstracted URDF dependency.

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Commits on Feb 13, 2024

• [AbstractWorld]

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• [Abstract World] Fixing tests (test_detect)

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• [Abstract World] Fixing tests (test_detect)

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Commits on Feb 14, 2024

• [Abstract World] Tests are running.

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• [Abstract World] Refactored File structure (Moved Classes to separate Files).

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Commits on Feb 15, 2024

• [Abstract World] Added more tests for bullet world, Tests are running.

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• [Abstract World] Added more tests for bullet world, Tests are running.

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• [Abstract World] Added more tests for bullet world, Tests are running.

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Commits on Feb 16, 2024

• [Abstract World] Added more tests for bullet world, Tests are running.

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• [Abstract World] Added more tests for bullet world, Tests are running.

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Commits on Feb 20, 2024

• [Abstract World] Tried importing annotations from __future__ but Fails due to circular imports.

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Commits on Feb 23, 2024

• [Abstract World] Solved cyclic imports problem.

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• [Abstract World] Resolved requested changes.

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Commits on Feb 25, 2024

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Commits on Feb 27, 2024

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• [Abstract World] solved cache search problem, tests are passing.

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• [Abstract World] Defualted description type to URDF as it as it is currently the only used/implement description.

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Commits on Mar 19, 2024

• [AbstractWorld] restructured folders and files.

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Commits on Mar 21, 2024

• [AbstractWorld] Fixed viz_marker_publisher.py to use VisualShape for geometry.

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Commits on Apr 4, 2024

• [AbstractWorld] Add dae to possible mesh types.

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• [AbstractWorld] added dae to possible meshes and updated cache file write to ensure file is wrote.

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