wtf

.github/workflows/reusable-sphinx-build.yml

@@ -3,11 +3,15 @@ name: Build Sphinx documentation 📖
 on:
   push:
     branches:
+<<<<<<< HEAD
       - dev
   pull_request:
     branches:
       - master
       - dev
+=======
+      - MS2
+>>>>>>> a27749b26775a067b9d2b550387c2c08c00dadfa
 
 # ----------------------------------------------------------------------------------------------------------------------
 
@@ -44,4 +48,4 @@ jobs:
         working-directory: ./doc
         run: |
           sudo apt install pandoc
-          make html
+          make html

.gitignore

@@ -33,7 +33,7 @@ var/
 pip-log.txt
 pip-delete-this-directory.txt
 
-# Unit test / coverage reports
+# Unit pp.py / coverage reports
 htmlcov/
 .tox/
 .coverage

demos/__init__.py

@@ -0,0 +1,11 @@
+import builtins
+
+try:
+    builtins.profile  # type: ignore
+except AttributeError:
+    # No line profiler, provide a pass-through version
+    def profile(func):
+        return func
+
+
+    builtins.profile = profile  # type: ignore

demos/pycram_bullet_world_demo/demo.py

@@ -9,7 +9,16 @@
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.dataclasses import Color
 
+<<<<<<< HEAD
 extension = ObjectDescription.get_file_extension()
+=======
+from pycram.ros.viz_marker_publisher import VizMarkerPublisher
+
+world = BulletWorld("DIRECT")
+v = VizMarkerPublisher()
+robot = Object("hsrb", ObjectType.ROBOT, "hsrb.urdf", pose=Pose([1, 2, 0]))
+apartment = Object("apartment", ObjectType.ENVIRONMENT, "apartment.urdf")
+>>>>>>> a27749b26775a067b9d2b550387c2c08c00dadfa
 
 world = BulletWorld()
 robot = Object("pr2", ObjectType.ROBOT, f"pr2{extension}", pose=Pose([1, 2, 0]))
@@ -43,7 +52,7 @@ def move_and_detect(obj_type):
 
 
 with simulated_robot:
-    ParkArmsAction([Arms.BOTH]).resolve().perform()
+    ParkArmsAction([Arms.LEFT]).resolve().perform()
 
     MoveTorsoAction([0.25]).resolve().perform()
 

demos/pycram_bullet_world_demo/hsrbtest.py

@@ -0,0 +1,31 @@
+import pycram.external_interfaces.giskard_new as giskardpy
+from pycram.designators.action_designator import *
+from pycram.designators.location_designator import *
+from pycram.designators.object_designator import *
+from pycram.external_interfaces.navigate import PoseNavigator
+from pycram.pose import Pose
+from pycram.bullet_world import BulletWorld, Object
+from pycram.process_module import simulated_robot, with_simulated_robot
+from pycram.enums import ObjectType
+from pycram.ros.robot_state_updater import RobotStateUpdater, KitchenStateUpdater
+
+from pycram.ros.viz_marker_publisher import VizMarkerPublisher
+from pycram.utilities.robocup_utils import TextToSpeechPublisher, ImageSwitchPublisher, StartSignalWaiter
+
+world = BulletWorld()
+v = VizMarkerPublisher()
+kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "suturo_lab_version_15.urdf")
+kitchen_desig = ObjectDesignatorDescription(names=["kitchen"])
+
+talk = TextToSpeechPublisher()
+img_swap = ImageSwitchPublisher()
+start_signal_waiter = StartSignalWaiter()
+move = PoseNavigator()
+
+robot = Object("hsrb", "robot", "../../resources/" + "hsrb" + ".urdf", pose=Pose([1, 1, 0]))
+robot.set_color([0.5, 0.5, 0.9, 1])
+robot_desig = ObjectDesignatorDescription(names=["hsrb"])
+RobotStateUpdater("/tf", "/hsrb/robot_state/joint_states")
+KitchenStateUpdater("/tf", "/iai_kitchen/joint_states")
+
+giskardpy.init_giskard_interface()

demos/pycram_clean_the_table_demo/README

@@ -0,0 +1,24 @@
+# Start the bringup
+roslaunch suturo_bringup envi_bringup
+
+# Start giskard
+roslaunch giskardpy giskardpy_hsr_real_vel.launch
+
+# Start robokudo
+robokudo_venv
+rosrun robokudo main.py _ae=clean_table _ros_pkg=milestone1
+
+# It is also possible to start a specific roslaunch, to launch everything
+roslaunch pycram clean_the_table.launch
+
+# Start the demo file clean_table_demo_ms3.py
+
+# After demo don't forget to restart at least giskard before relaunching the demo!
+
+
+# In case where not all objects should be perceived, picked up and placed:
+change values in wished_sorted_obj_list = ["Metalplate", "Metalbowl", "Metalmug", "Fork", "Spoon"]
+you find this value at the beginning of the demo file
+
+# When opening the dishwasher fails because of wrist_flex_joint or arm_flex_joint:
+change goal_state_half_open in OpenDishwasherAction(handle_name, door_name, goal_state_half_open = 0.6, goal_state_full_open = 1.4, ["left"]).resolve().perform()