Object dynamic state #234
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Object dynamic state #234
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AbdelrhmanBassiouny
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… ability for the used to specift the state id.
… pycram objects, closing and opening gripper works.
… giskard. Updated robot_description usage from old version to new version in Giskard. Added options for disabling monitors and allowing gripper collision in achieve_cartesian_goal in Giskard and added these options to the configurations of the world. Added a globale variable that indicates if robokudo was found or not to avoid using real detection processs module if Robokudo was not found.
… is not synced correctly. Fixed Goal Validator. robot_state_updater.py also updates states of objects. no need for original pose anymore to move mobile robot in multiverse.
…make a feedback loop on gripper closing.
…e kept while navigating.
Added mutex for multiverse writer client
…nged world methods.
…e kept while navigating.
…nged world methods.
…f prospection objects.
…entities except for world.
…ocation. Check for continuous joint when clipping. Fixed multiverse demo. Don't set link_state as it is not settable/needed.
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Tigul
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Dec 17, 2024
demos/pycram_multiverse_demo/demo_euROBIN_industrial_robotics.py
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| @@ -303,7 +294,7 @@ def get_mesh_filename(self, geometry: MeshVisualShape) -> str: | |||
| else: | |||
| raise LinkGeometryHasNoMesh(self.name, type(geometry).__name__) | |||
|
|
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| def set_pose(self, pose: Pose) -> None: | |||
| def set_object_pose_given_link_pose(self, pose: Pose) -> None: | |||
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hmm the thing is the link pose shouldn't be settable, but you can move the object such that the link has this given pose, and I would like users to know that what they are doing is actually moving the whole object when doing this
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so there is the usual set_pose of the link but what I did there was issue a warning that link poses are not settable.
| @@ -51,7 +51,7 @@ def set_child_link_pose(self): | |||
| """ | |||
| Set the target pose of the child object to the current pose of the child object in the parent object frame. | |||
| """ | |||
| self.child_link.set_pose(self.get_child_link_target_pose()) | |||
| self.child_link.set_object_pose_given_link_pose(self.get_child_link_target_pose()) | |||
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This depends on #227
Created a super class for Object and Link called PhysicalBody, this hast common attributes for any physical body like pose, velocity, contact points.
Also changed ContactPoint to use bodies instead of links as datatype for returned bodies.
Also Everything now is a WorldEntity including PhysicalBody, and Wolrd, this unified the methods eq and hash so they are only implemented in WorldEntity except for World which overwrites them.
Also every WorldEntity has a parent_entity, so Link has parent as Object and Object has parent as world, while World has None.
In addition the ontology_concept class variable was moved from Object class to PhysicalBody class because now it makes more sense there since any PhysicalBody is a PhysicalObject by Default.
Added attributes for PhysicalBody like velocity, is_translating, is_rotating, is_moving but currently they are not set by anything, one way could be through querying the simulation but one could also set them by performing their own calculation and according to their own thresholds for that, they just are helpful to be inside physical body if someone is interested in its dynamic state.
Also Added a PhysicalBodyState that includes pose, velocity, is_translating, and is_rotating.