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.
In Accessing added costmap modification for prismatic joint containers that removes the part of the map that the opened container occupies.

Tigul

As discussed we also need to think about a more unified interface to the beliefe state to avoid extra checks in the code which simulation we are running currently

demos/pycram_multiverse_demo/demo.py

demos/pycram_multiverse_demo/demo_euROBIN_industrial_robotics.py

demos/pycram_multiverse_demo/fallschool_demo.py

demos/pycram_multiverse_demo/testing_giskard.py

src/pycram/utils.py

src/pycram/world_concepts/world_object.py

src/pycram/world_reasoning.py

Tigul

Sorry missclicked, meant to request changes instead of approve

Tigul · 2024-12-09T11:32:04Z

looks good so far but this PR can't be merged at the moment

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

…e is a default implementation for them now.

…nc function is called directly from with UseProspectionWorld.

…iverse with pycram.

… pycram objects, closing and opening gripper works.

…ead of robot_description.

…andard is used instead (real, belief_state, and prospection) for the names.

Optimized setting joint states by using set_multiple joints instead of looping over all joints.

…aise a warning if so.

… the link as they are not the same.

…a link.

…t limits when setting joint positions.

…g the simulation.

…erse for real world simulation.

…picked by robot.

…ple.

…aster.

…e kept while navigating.

…o have a linear history.

…ocation. Check for continuous joint when clipping. Fixed multiverse demo. Don't set link_state as it is not settable/needed.

…s that cannot be accessed when drawer is open.

AbdelrhmanBassiouny · 2024-12-09T21:48:26Z

looks good so far but this PR can't be merged at the moment

I think it's ok now, hopefully no one merges again 😅

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

AbdelrhmanBassiouny mentioned this pull request Dec 2, 2024

Object dynamic state #234

Merged

AbdelrhmanBassiouny force-pushed the fallschool_multiverse_demo branch 2 times, most recently from 87fde07 to 0efb974 Compare December 4, 2024 08:35

Tigul approved these changes Dec 5, 2024

View reviewed changes

Tigul requested changes Dec 5, 2024

View reviewed changes

AbdelrhmanBassiouny force-pushed the fallschool_multiverse_demo branch from 600c802 to 9eaa647 Compare December 9, 2024 13:47

AbdelrhmanBassiouny added 21 commits December 9, 2024 22:21

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

b34c45d

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

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

497f84d

[MultiverseContact] Multiple contact points with normals now working.

0a56902

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

d441ac7

…e is a default implementation for them now.

[Multiverse] create object from generic_description.

c7472f5

[ObjectType] Added Imagined Surface as an object type.

20a31cb

[Multiverse] corrected multiple removal of same simulator state.

65ab190

[WorldSync] pause and resume world sync is not used anymore as the sy…

af8a51d

…nc function is called directly from with UseProspectionWorld.

[MultiverseFallschoolDemo] Created a demo for the fallschool for mult…

b78d078

…iverse with pycram.

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

065a93b

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

fc5f933

… pycram objects, closing and opening gripper works.

[euROBIN] changed gripper_name to be in end_effector_description inst…

80b5b2e

…ead of robot_description.

[Multiverse] No need for simulation name anymore for Multiverse, a st…

dc021f8

…andard is used instead (real, belief_state, and prospection) for the names.

[euROBIN] update belief state world with the real world info.

e15fc98

[ros] fixed issue with wait_for_message and create_timer methods.

65811e7

Optimized setting joint states by using set_multiple joints instead of looping over all joints.

[Costmaps] check if the maximum of the map is 0 before dividing and r…

2484cef

…aise a warning if so.

[ProcessModules] use camera link name not the frame name when getting…

39e8389

… the link as they are not the same.

[RobotDescription] some cleaning and added a method for getting camer…

43e4d51

…a link.

[JointLimits] added a check and clipping step to avoid exceeding join…

ab2caa8

…t limits when setting joint positions.

[Multiverse] can use controller in static mode as well when un pausin…

f0a775c

…g the simulation.

[MultiverseFallschoolDemo] updated the demo with the milk in the fridge.

2aed166

AbdelrhmanBassiouny added 25 commits December 9, 2024 22:29

[MultiverseBulletWorld] added an option in bullet_world to use multiv…

6bcd33e

…erse for real world simulation.

[BugFixes] Fixed issues after merge with dev, ORM is still not working.

119824c

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

e67e671

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

40d53cd

…picked by robot.

[JupyterTests] (WIP) cram_plan_tutorial has problems.

2a2676a

[JupyterTests] Fixed cram_plan_tutorial.md.

95ab050

[MultiverseBugFix] empty send data.

1e4f319

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

6b3d824

[MultiverseGetImages] plot is false by default

9e8a516

[MultiverseDemo] formatting

6a02a2f

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

6beac86

…ple.

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

216528c

…aster.

[JupyterTests] (WIP) location designator passes.

f087926

[JupyterTests] All tests passed.

8e15d46

[MultiversePycrap] used pycrap in multiverse.

a8dfa0a

[NavigateAction] Add an option that asks if the joint states should b…

b4b400d

…e kept while navigating.

[PR2ProcessModulesPyCRAP] used pycrap in pr2 process modules.

ed85920

[MultiverseFallschoolChanges] rebased on giskard_fallschool_changes t…

aef6b45

…o have a linear history.

[MultiverseFallSchoolDemo] fixed some multiverse bugs.

0097900

[MultiverseFallSchoolDemo] added optional argument grasps to CostmapL…

0f03bcd

…ocation. Check for continuous joint when clipping. Fixed multiverse demo. Don't set link_state as it is not settable/needed.

[VizMarkerPublisher] use scale values of geometry if exists.

7460f59

[MultiverseFallschoolDemo] making review changes.

74a19e0

[MultiverseFallschoolDemo] making review changes.

368e90e

[Accessing] Adjusted costmap of accessing location to remove location…

c0c5847

…s that cannot be accessed when drawer is open.

[Logging] Corrected logger name in logdebug.

8b471bb

AbdelrhmanBassiouny force-pushed the fallschool_multiverse_demo branch from 05953d9 to 8b471bb Compare December 9, 2024 21:39

[Accessing] use costmap resolution.

6fbff05

Tigul approved these changes Dec 11, 2024

View reviewed changes

Tigul merged commit 812988e into cram2:dev Dec 11, 2024
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Fallschool multiverse demo + Minor Changes #227

Fallschool multiverse demo + Minor Changes #227

AbdelrhmanBassiouny commented Nov 25, 2024 •

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Tigul commented Dec 9, 2024

AbdelrhmanBassiouny commented Dec 9, 2024

Fallschool multiverse demo + Minor Changes #227

Fallschool multiverse demo + Minor Changes #227

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Tigul commented Dec 9, 2024

AbdelrhmanBassiouny commented Dec 9, 2024

AbdelrhmanBassiouny commented Nov 25, 2024 •

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