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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 20, 2023

• Merges origin:dev with local:dev

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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 2, 2024

• [intro-example] fixing typos, adding info

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Commits on Jan 5, 2024

• [designator] refactored action_designator

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• [orm] fixed orm querying

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• [tests] updated orm tests

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• Merge branch 'dev' into tests

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• [tests] fixed object designator test

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Commits on Jan 13, 2024

• [doc] added language example to doc

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Commits on Jan 17, 2024

• [examples] fixing typos

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• Add explanation to virtualenv and pycharm setup

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Commits on Jan 18, 2024

• Updates the reachability_validator to check all tool_frames for reachabilty, keeps the retrace pose in mind

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• Fixes an error where only the first test would be sucessful

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• [submodule] deleted submodule macropy, since it is no longer used due the new pycram language

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• Merge pull request #127 from hawkina/minor

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• [AbstractWorld]

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• [designator] removed MotionDesignatorDescription

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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

• Merge pull request #131 from sunava/deleted-macropy-sub

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• Merge branch 'dev' into tests

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• merge dev into tests

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• Update README.md, deleted Authors

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• [bullet reasoning] Fixed wrong robot usage

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• [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 22, 2024

• Merge pull request #130 from Leusmann/bugfix-database-merger

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• [Bullet World] Increse world sync frequency

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• [general] maintenance

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• [ci] fixed failing ci

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• [test] updated orm querying; added docstrings to actions and motions

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• [test] fixed an issue where the orm session was not properly clossed after test

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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

• The IK Server seems to have troubles if the retract_target_pose is not in map frame + bug fixing

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• Merge branch 'dev' of github.com:cram2/pycram into bugfix-retractPose

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• [doc] Remove ipython install

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• [test] fixed orm test inheritance pattern

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• Merge pull request #128 from artnie/doc-pycharm-setup

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

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Commits on Jan 29, 2024

• [designator] removed deprecated motions

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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

• [doc] updated orm querying, motions and actions in documentation

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• [orm] fixed sqlalchemy deprecation warnings

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• [Abstract World] all change requests completed

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Commits on Feb 3, 2024

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Commits on Feb 5, 2024

• Merge pull request #123 from davidprueser/tests

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• [doc] fixed failing doc

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• [tests] fixed deprecation warnings

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Commits on Feb 7, 2024

• [process_module] added type hint

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• [examples] added local transfomer to sphinx and new sym link

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• [doc] actually added new sym link

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Commits on Feb 9, 2024

• [AbstractWorld]

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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

• [designator] added auto inserts to action designators

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

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Commits on Feb 23, 2024

• Merge branch 'cram2:dev' into tests

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• [resolver] fixed querying from occupancy costmap

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• [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

• [AbstractWorld]

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• [pms] Added new Process modules for HSR

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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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• [AbstractWorld]

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Commits on Mar 3, 2024

• [resolver] fixed querying from occupancy costmap II

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• [resolver] updated DatabaseCostmapLocation documentation

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Commits on Mar 5, 2024

• [ROS] fixed bullet world reference in VizMarkerPublisher

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• Merge branch 'tests' of github.com:davidprueser/pycram into costmaps

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• [Costmaps] Started to refactor JPT and Database costmaps.

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Commits on Mar 6, 2024

• [Costmap] Refactored JPT Costmap Locations

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• [Costmap] More tests for JPT Costmap locations.

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• [designator] updated action designator documentation

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Commits on Mar 7, 2024

• [Task] Refactored task.py and remove the useless Code class.

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• [Task] Updated custom resolver tutorial code

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• [Costmap] Updated custom resolver tutorial text

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Commits on Mar 11, 2024

• [Costmap] Added gaussian costmap

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Commits on Mar 12, 2024

• [Costmap] New pickup is working, yeeehaaaw

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Commits on Mar 13, 2024

• [Resolver] Refactored Resolvers and wrote tutorial.

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• [ci] updated ci

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• [ci] updating ci

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• [ci] updating ci

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Commits on Mar 15, 2024

• [ci] removed uncessary lines

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• [ci] updated workflow condition for building docker image

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Commits on Mar 18, 2024

• [resoures] Added stretch urdf

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• [pick-up plan] Some quick fixes

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Commits on Mar 19, 2024

• [AbstractWorld] restructured folders and files.

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Commits on Mar 20, 2024

• [ci] update ci pipeline

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• Merge pull request #137 from leonyi4/testing

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• Merge pull request #134 from davidprueser/tests

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

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• [process modules] Added stretch PMS

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• [robot-descriptions] Added stretch description

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• [process-module] Deactivated delay for real_robot

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• [launch] Added stretch to launch file

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• [Resolver] Integrated resolvers with new versions

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• [PyCRAMNEEMInterface] search online repository for meshes.

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• [Requirements] Requirements are now less explicit.

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• Added typing_extension with correct verison

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• [general] Fixed type in requirements

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• [Test] Tests are now runnable from command line.

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• Merge remote-tracking branch 'pycram/dev' into costmaps

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• [CI] Merged CI Changes.

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• [CI] Updated CI requirements.

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• [Test] Fixed bug in tests resource pathing.

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• [orm] improved orm insert performance

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• Merge branch 'cram2:dev' into tests

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• [orm] updated orm tests

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• [pose-gen] New class for pose generator and global orientation gen

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• [robot-description] Added orientation generator to description

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• [robot-desc] New logging

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• [stretch-description] Finished stretch description

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• [stretch-description] Last fixes for arm name

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• [stretch-pms] Finished process modules for stretch simulated

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• [launch] Changed default robot back to pr2

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• [pose-gen] removed old code

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• Merge pull request #139 from Tigul/stretch

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• Merge branch 'cram2:dev' into tests

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• [Misc] added docstring, removed an unnecessary print, replaced function call.

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• Merge pull request #135 from tomsch420/costmaps

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• Merges local with orgin branch dev

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• [demos] Small fixes to make demo work everywhere

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

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• Merge branch 'bugfix-retractPose' of github.com:Leusmann/pycram into dev

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• solved merge-conflict with upstream branch dev

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• Merge pull request #138 from davidprueser/tests

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• Merge branch 'dev' of github.com:cram2/pycram into bugfix-retractPose

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• Adds documentation strings for new functions

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• [stretch-desc] New and correct stretch urdf and description

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• Merge pull request #129 from Leusmann/bugfix-retractPose

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• [bullet-world] Change initial cam pose

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• [PoseGen] Added override orientation generator to PoseGenerator

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• [stretch] Process moduiles for open and close

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• [stretch-pms] Added process modules for the real stretch

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• [stretch] Chanegs from comment in PR

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• Merge pull request #140 from Tigul/stretch

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• Merge remote-tracking branch 'bass/abstract_world' into dev

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• [general] Fixed imports after merge

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• [tets] fixed test imports

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• [general] fixing everything else

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• [general] Fixed Documentation

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• [tests] Fixed tests with independend paths

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• [world] reset_current_world now has the correct behaviour

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• [refactor] moved local_transformer and costmaps to top-level

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• [orm] created database views

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• [world] Fixed camera control for the BulletWorld

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• solved merge conflicts with upstream branch dev

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• [resolver][orm] fixed issues after merge

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• Merge pull request #143 from davidprueser/tests

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• [giskard_interface] Update giskard fail import msg

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• Added devcontainer

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• added README.md

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• added binder config

  

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• binder: removed neem interface as module

  

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• [virtual building] Create README.md

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• virtual building: added method to launch PR2 by script

  

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• Merge pull request #146 from K3cks/binder_config_update

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• Added more info to docstring

  

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• Merge pull request #147 from K3cks/virtual-building-setup

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• [enums]: added additional ObjectTypes

  

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• Merge pull request #149 from K3cks/enums

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• Merge pull request #145 from leonyi4/dev

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• [hsrb] changed naming and some description parts

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• [hsrb] added left mani again

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• [hsrb] neck forward

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• [move_base] added move_base interface to external interface hsrb for example is moved in real with move_base

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• [binder]: added specific requirements for launch

  

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• Merge pull request #154 from K3cks/binder-requirements

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• Merge pull request #150 from sunava/hsrb_update

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• Merge pull request #153 from sunava/move_base

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• [binder]: removed uninstallation of numpy

  

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• Merge pull request #156 from K3cks/binder-requirements

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• [AbstractWorld] Attachments are recreated in the prospection world instead of being copied.

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• [AbstractWorld] change name of milk_2 and cereal_2

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• [AbstractWorld] added list hinting for set_position

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• Bump tqdm from 4.66.1 to 4.66.3

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• Bump tqdm from 4.66.1 to 4.66.3 in /binder

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• Merge pull request #159 from cram2/dependabot/pip/binder/tqdm-4.66.3

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• Merge pull request #158 from cram2/dependabot/pip/tqdm-4.66.3

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• Merge pull request #157 from AbdelrhmanBassiouny/fix_attachment_problem

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