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* use pytest instead * add pytest dependency * fail test on purpose * remove failing test
…pot_ros2 (rai-opensource#7) Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com>
* simple led brightness control, only able to set all leds to same value * Add power control, but unclear if it is actually possible to set power for aux and external mic * most basic functional image stream publisher with webrtc * add compositor to handle IR and webrtc stream selection with services Add timestamp for the webrtc images Add compressed version of the webrtc image stream * Add health wrapper, move body of robotToLocalTime out of spot wrapper object robotToLocalTime now takes the timestamp and a robot object, which allows it to be used by the spot cam wrapper as well. * add handler and wrapper for audio commands * update webrtc_client to 3.2 version * add stream quality wrapper and ros handler * initial implementation of ptz wrapper and handler, can list ptzs * ptz handler publishes position and velocity of ptzs, can set position and velocity * add egg info to gitignore
…of the timesync endpoint and end time
…se some of the same infrastructure
…image stuff in wrapper
heuristicus
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Jul 6, 2023
* refactored code into modules * refactored image service * cleanup imports * add unit tests for some graph_nav_util functions * pip install requirements * typing changes * absolute paths * clone to specific directory * check file structure for CI * check files * check files * add test script * install spot wrapper * install script * remove asyncimageservice * use robot_params to share state variables * Pytest replacement (#1) * use pytest instead * add pytest dependency * fail test on purpose * remove failing test * replace print() with self._logger.error() * image publishing works well * moved SPOT_CLIENT_NAME * static typing for claim() * black formatting * comments and passing error feedback * remove spot_config * use fstring for short code, move wrench from msg function to class body * Add changes from [SW-62] Elements for publishing the hand camera in spot_ros2 (rai-opensource#7) Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> * Wrapper for spot cam interaction (#4) * simple led brightness control, only able to set all leds to same value * Add power control, but unclear if it is actually possible to set power for aux and external mic * most basic functional image stream publisher with webrtc * add compositor to handle IR and webrtc stream selection with services Add timestamp for the webrtc images Add compressed version of the webrtc image stream * Add health wrapper, move body of robotToLocalTime out of spot wrapper object robotToLocalTime now takes the timestamp and a robot object, which allows it to be used by the spot cam wrapper as well. * add handler and wrapper for audio commands * update webrtc_client to 3.2 version * add stream quality wrapper and ros handler * initial implementation of ptz wrapper and handler, can list ptzs * ptz handler publishes position and velocity of ptzs, can set position and velocity * add egg info to gitignore * fix bad indent after cherry-pick * fix formatting * fix short code conversion * Always include exception message in response strings (rai-opensource#8) * fix trajectory status unknown not being reset in trajectory command and async idle (rai-opensource#10) * Add changes from [SW-127] Add function to get images by cameras (rai-opensource#11) Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> * fix dataclass typing issue for older python versions (20.04), check lease object is initialised in claim function (rai-opensource#14) * remove old camera task mapping introduced in merge * formatting * Add changes from [WUD-126] Add manipulation client (rai-opensource#13) Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> * Add changes for added support for the rgb_cameras parameter in spot_ros2 (rai-opensource#15) Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> * Add changes from [SW-141] Checking edge cases in upload_graph (rai-opensource#12) Co-authored-by: kzheng <125413689+kaiyu-zheng@users.noreply.github.com> * Updated bosdyn to 3.2.3 (rai-opensource#16) * [OC-4] Build a Spot Dance Interface (rai-opensource#17) * [OC-5] add method to upload hardcoded file * [OC-4] Code cleanup for PR * [OC-4] Create separate SpotDacing class * [OC-4] remove old execute_dance code * [OC-4] Fix authentication method for compatibility with WUD test * [OC-5] format files with black * [OC-4] Modify code based on PR comments * delete execute_dance from wrapper.py * [OC-4] Get lease from decorator * [OC-4] Remove print statements * [OC-4] Remove extra imports * [OC-4] Remove extra argument * formatting * fix startup issues when choreography or arm is not present * small changes to choreo check and output when services are not available * better choreo ordering * message when choreo module is missing * cleanup unused spot_image and renamed graphnav private methods * update graph_nav private methods * custom arm not found Exception * _get_lease private method in graphNav * fix black * import ordering and removal of unused imports * wait for arm commands to complete rather than sleeping, using block_until_arm_arrives SDK function * no longer use convenience dict to access robot params in wrapper class * missed some robot params usages in wrapper * add block_until_manipulation_completes method * improve arm module comments, manipulation request actually makes use of the timesync endpoint and end time * restore wrapper to main branch state * restore cam wrapper to main * restore graph nav util to main * remove unrelated modules * unnecessary change * type hinting and explicit arguments to module init * formatting * fill in comment * missed removing some stuff from the wrapper * remove moved import * update pointcloud property * Fix type hints and make checks explicit --------- Co-authored-by: jeremysee2 <32976023+jeremysee2@users.noreply.github.com> Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> Co-authored-by: David Watkins <129521611+davidwatkins-bdai@users.noreply.github.com> Co-authored-by: Vedant Gupta <134331854+Guptabot@users.noreply.github.com> Co-authored-by: Ming Jie See <jeremysee_2@hotmail.com>
amessing-bdai
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* refactored code into modules * refactored image service * cleanup imports * add unit tests for some graph_nav_util functions * pip install requirements * typing changes * absolute paths * clone to specific directory * check file structure for CI * check files * check files * add test script * install spot wrapper * install script * remove asyncimageservice * use robot_params to share state variables * Pytest replacement (#1) * use pytest instead * add pytest dependency * fail test on purpose * remove failing test * replace print() with self._logger.error() * image publishing works well * moved SPOT_CLIENT_NAME * static typing for claim() * black formatting * comments and passing error feedback * remove spot_config * use fstring for short code, move wrench from msg function to class body * Add changes from [SW-62] Elements for publishing the hand camera in spot_ros2 (rai-opensource#7) Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> * Wrapper for spot cam interaction (#4) * simple led brightness control, only able to set all leds to same value * Add power control, but unclear if it is actually possible to set power for aux and external mic * most basic functional image stream publisher with webrtc * add compositor to handle IR and webrtc stream selection with services Add timestamp for the webrtc images Add compressed version of the webrtc image stream * Add health wrapper, move body of robotToLocalTime out of spot wrapper object robotToLocalTime now takes the timestamp and a robot object, which allows it to be used by the spot cam wrapper as well. * add handler and wrapper for audio commands * update webrtc_client to 3.2 version * add stream quality wrapper and ros handler * initial implementation of ptz wrapper and handler, can list ptzs * ptz handler publishes position and velocity of ptzs, can set position and velocity * add egg info to gitignore * fix bad indent after cherry-pick * fix formatting * fix short code conversion * Always include exception message in response strings (rai-opensource#8) * fix trajectory status unknown not being reset in trajectory command and async idle (rai-opensource#10) * Add changes from [SW-127] Add function to get images by cameras (rai-opensource#11) Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> * fix dataclass typing issue for older python versions (20.04), check lease object is initialised in claim function (rai-opensource#14) * remove old camera task mapping introduced in merge * formatting * Add changes from [WUD-126] Add manipulation client (rai-opensource#13) Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> * Add changes for added support for the rgb_cameras parameter in spot_ros2 (rai-opensource#15) Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> * Add changes from [SW-141] Checking edge cases in upload_graph (rai-opensource#12) Co-authored-by: kzheng <125413689+kaiyu-zheng@users.noreply.github.com> * Updated bosdyn to 3.2.3 (rai-opensource#16) * [OC-4] Build a Spot Dance Interface (rai-opensource#17) * [OC-5] add method to upload hardcoded file * [OC-4] Code cleanup for PR * [OC-4] Create separate SpotDacing class * [OC-4] remove old execute_dance code * [OC-4] Fix authentication method for compatibility with WUD test * [OC-5] format files with black * [OC-4] Modify code based on PR comments * delete execute_dance from wrapper.py * [OC-4] Get lease from decorator * [OC-4] Remove print statements * [OC-4] Remove extra imports * [OC-4] Remove extra argument * formatting * fix startup issues when choreography or arm is not present * small changes to choreo check and output when services are not available * better choreo ordering * message when choreo module is missing * cleanup unused spot_image and renamed graphnav private methods * update graph_nav private methods * custom arm not found Exception * _get_lease private method in graphNav * fix black * import ordering and removal of unused imports * wait for arm commands to complete rather than sleeping, using block_until_arm_arrives SDK function * no longer use convenience dict to access robot params in wrapper class * missed some robot params usages in wrapper * add block_until_manipulation_completes method * improve arm module comments, manipulation request actually makes use of the timesync endpoint and end time * restore wrapper to main branch state * restore cam wrapper to main * restore graph nav util to main * unnecessary change * remove unrelated modules * specific command clients passed to init, wrapper additions and deletions * docking init receives and uses state object for is standing * use command data for dock id storage * move robot command and state classes into a helper file to avoid circular imports in modules * import robot state and command data from wrapper helpers, missing command data in docking object creation --------- Co-authored-by: jeremysee2 <32976023+jeremysee2@users.noreply.github.com> Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> Co-authored-by: David Watkins <129521611+davidwatkins-bdai@users.noreply.github.com> Co-authored-by: Vedant Gupta <134331854+Guptabot@users.noreply.github.com> Co-authored-by: Ming Jie See <jeremysee_2@hotmail.com> Co-authored-by: mpickett-bdai <137197909+mpickett-bdai@users.noreply.github.com>
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Verified the images are working on Rviz. I was unable to test the point clouds though, which had been modified in spot_wrapper as per my push which imported the necessary function.
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* refactored code into modules * refactored image service * cleanup imports * add unit tests for some graph_nav_util functions * pip install requirements * typing changes * absolute paths * clone to specific directory * check file structure for CI * check files * check files * add test script * install spot wrapper * install script * remove asyncimageservice * use robot_params to share state variables * Pytest replacement (#1) * use pytest instead * add pytest dependency * fail test on purpose * remove failing test * replace print() with self._logger.error() * image publishing works well * moved SPOT_CLIENT_NAME * static typing for claim() * black formatting * comments and passing error feedback * remove spot_config * use fstring for short code, move wrench from msg function to class body * Add changes from [SW-62] Elements for publishing the hand camera in spot_ros2 (rai-opensource#7) Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> * Wrapper for spot cam interaction (#4) * simple led brightness control, only able to set all leds to same value * Add power control, but unclear if it is actually possible to set power for aux and external mic * most basic functional image stream publisher with webrtc * add compositor to handle IR and webrtc stream selection with services Add timestamp for the webrtc images Add compressed version of the webrtc image stream * Add health wrapper, move body of robotToLocalTime out of spot wrapper object robotToLocalTime now takes the timestamp and a robot object, which allows it to be used by the spot cam wrapper as well. * add handler and wrapper for audio commands * update webrtc_client to 3.2 version * add stream quality wrapper and ros handler * initial implementation of ptz wrapper and handler, can list ptzs * ptz handler publishes position and velocity of ptzs, can set position and velocity * add egg info to gitignore * fix bad indent after cherry-pick * fix formatting * fix short code conversion * Always include exception message in response strings (rai-opensource#8) * fix trajectory status unknown not being reset in trajectory command and async idle (rai-opensource#10) * Add changes from [SW-127] Add function to get images by cameras (rai-opensource#11) Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> * fix dataclass typing issue for older python versions (20.04), check lease object is initialised in claim function (rai-opensource#14) * remove old camera task mapping introduced in merge * formatting * Add changes from [WUD-126] Add manipulation client (rai-opensource#13) Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> * Add changes for added support for the rgb_cameras parameter in spot_ros2 (rai-opensource#15) Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> * Add changes from [SW-141] Checking edge cases in upload_graph (rai-opensource#12) Co-authored-by: kzheng <125413689+kaiyu-zheng@users.noreply.github.com> * Updated bosdyn to 3.2.3 (rai-opensource#16) * [OC-4] Build a Spot Dance Interface (rai-opensource#17) * [OC-5] add method to upload hardcoded file * [OC-4] Code cleanup for PR * [OC-4] Create separate SpotDacing class * [OC-4] remove old execute_dance code * [OC-4] Fix authentication method for compatibility with WUD test * [OC-5] format files with black * [OC-4] Modify code based on PR comments * delete execute_dance from wrapper.py * [OC-4] Get lease from decorator * [OC-4] Remove print statements * [OC-4] Remove extra imports * [OC-4] Remove extra argument * formatting * fix startup issues when choreography or arm is not present * small changes to choreo check and output when services are not available * better choreo ordering * message when choreo module is missing * cleanup unused spot_image and renamed graphnav private methods * update graph_nav private methods * custom arm not found Exception * _get_lease private method in graphNav * fix black * import ordering and removal of unused imports * wait for arm commands to complete rather than sleeping, using block_until_arm_arrives SDK function * no longer use convenience dict to access robot params in wrapper class * missed some robot params usages in wrapper * add block_until_manipulation_completes method * improve arm module comments, manipulation request actually makes use of the timesync endpoint and end time * restore wrapper to main branch state * restore cam wrapper to main * restore graph nav util to main * unnecessary change * remove unrelated modules * preliminary image stuff, harder to separate because arm hand images use some of the same infrastructure * actually hand image stuff is also in the images module so remove all image stuff in wrapper * specify which client image module takes * does not require robot params * fix some imports * Added the import for dataclass * reduce code duplication in get_*_rgb_image, make image quality configurable with an object, add comments * Added a necessary import for the LiDAR point clouds --------- Co-authored-by: jeremysee2 <32976023+jeremysee2@users.noreply.github.com> Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> Co-authored-by: David Watkins <129521611+davidwatkins-bdai@users.noreply.github.com> Co-authored-by: Vedant Gupta <134331854+Guptabot@users.noreply.github.com> Co-authored-by: Ming Jie See <jeremysee_2@hotmail.com> Co-authored-by: Brandon Hung <bhung@theaiinstitute.com>
amessing-bdai
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Jul 24, 2023
* refactored code into modules * refactored image service * cleanup imports * add unit tests for some graph_nav_util functions * pip install requirements * typing changes * absolute paths * clone to specific directory * check file structure for CI * check files * check files * add test script * install spot wrapper * install script * remove asyncimageservice * use robot_params to share state variables * Pytest replacement (#1) * use pytest instead * add pytest dependency * fail test on purpose * remove failing test * replace print() with self._logger.error() * image publishing works well * moved SPOT_CLIENT_NAME * static typing for claim() * black formatting * comments and passing error feedback * remove spot_config * use fstring for short code, move wrench from msg function to class body * Add changes from [SW-62] Elements for publishing the hand camera in spot_ros2 (rai-opensource#7) Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> * Wrapper for spot cam interaction (#4) * simple led brightness control, only able to set all leds to same value * Add power control, but unclear if it is actually possible to set power for aux and external mic * most basic functional image stream publisher with webrtc * add compositor to handle IR and webrtc stream selection with services Add timestamp for the webrtc images Add compressed version of the webrtc image stream * Add health wrapper, move body of robotToLocalTime out of spot wrapper object robotToLocalTime now takes the timestamp and a robot object, which allows it to be used by the spot cam wrapper as well. * add handler and wrapper for audio commands * update webrtc_client to 3.2 version * add stream quality wrapper and ros handler * initial implementation of ptz wrapper and handler, can list ptzs * ptz handler publishes position and velocity of ptzs, can set position and velocity * add egg info to gitignore * fix bad indent after cherry-pick * fix formatting * fix short code conversion * Always include exception message in response strings (rai-opensource#8) * fix trajectory status unknown not being reset in trajectory command and async idle (rai-opensource#10) * Add changes from [SW-127] Add function to get images by cameras (rai-opensource#11) Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> * fix dataclass typing issue for older python versions (20.04), check lease object is initialised in claim function (rai-opensource#14) * remove old camera task mapping introduced in merge * formatting * Add changes from [WUD-126] Add manipulation client (rai-opensource#13) Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> * Add changes for added support for the rgb_cameras parameter in spot_ros2 (rai-opensource#15) Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> * Add changes from [SW-141] Checking edge cases in upload_graph (rai-opensource#12) Co-authored-by: kzheng <125413689+kaiyu-zheng@users.noreply.github.com> * Updated bosdyn to 3.2.3 (rai-opensource#16) * [OC-4] Build a Spot Dance Interface (rai-opensource#17) * [OC-5] add method to upload hardcoded file * [OC-4] Code cleanup for PR * [OC-4] Create separate SpotDacing class * [OC-4] remove old execute_dance code * [OC-4] Fix authentication method for compatibility with WUD test * [OC-5] format files with black * [OC-4] Modify code based on PR comments * delete execute_dance from wrapper.py * [OC-4] Get lease from decorator * [OC-4] Remove print statements * [OC-4] Remove extra imports * [OC-4] Remove extra argument * formatting * fix startup issues when choreography or arm is not present * small changes to choreo check and output when services are not available * better choreo ordering * message when choreo module is missing * cleanup unused spot_image and renamed graphnav private methods * update graph_nav private methods * custom arm not found Exception * _get_lease private method in graphNav * fix black * import ordering and removal of unused imports * wait for arm commands to complete rather than sleeping, using block_until_arm_arrives SDK function * no longer use convenience dict to access robot params in wrapper class * missed some robot params usages in wrapper * add block_until_manipulation_completes method * improve arm module comments, manipulation request actually makes use of the timesync endpoint and end time * restore wrapper to main branch state * restore cam wrapper to main * restore graph nav util to main * unnecessary change * remove unrelated module code * wrapper changes, explicit clients, add todo notes * missed image client * remove hand image task, use robot state * formatting * blocking stand sets the is_standing state, fix construction of arm cartesian command frame * move robot command and state classes into a helper file to avoid circular imports in modules * import from wrapper helpers * function to properly block on gripper commands --------- Co-authored-by: jeremysee2 <32976023+jeremysee2@users.noreply.github.com> Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> Co-authored-by: David Watkins <129521611+davidwatkins-bdai@users.noreply.github.com> Co-authored-by: Vedant Gupta <134331854+Guptabot@users.noreply.github.com> Co-authored-by: Ming Jie See <jeremysee_2@hotmail.com>
heuristicus
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Jul 26, 2023
* refactored code into modules * refactored image service * cleanup imports * add unit tests for some graph_nav_util functions * pip install requirements * typing changes * absolute paths * clone to specific directory * check file structure for CI * check files * check files * add test script * install spot wrapper * install script * remove asyncimageservice * use robot_params to share state variables * Pytest replacement (#1) * use pytest instead * add pytest dependency * fail test on purpose * remove failing test * replace print() with self._logger.error() * image publishing works well * moved SPOT_CLIENT_NAME * static typing for claim() * black formatting * comments and passing error feedback * remove spot_config * use fstring for short code, move wrench from msg function to class body * Add changes from [SW-62] Elements for publishing the hand camera in spot_ros2 (rai-opensource#7) Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> * Wrapper for spot cam interaction (#4) * simple led brightness control, only able to set all leds to same value * Add power control, but unclear if it is actually possible to set power for aux and external mic * most basic functional image stream publisher with webrtc * add compositor to handle IR and webrtc stream selection with services Add timestamp for the webrtc images Add compressed version of the webrtc image stream * Add health wrapper, move body of robotToLocalTime out of spot wrapper object robotToLocalTime now takes the timestamp and a robot object, which allows it to be used by the spot cam wrapper as well. * add handler and wrapper for audio commands * update webrtc_client to 3.2 version * add stream quality wrapper and ros handler * initial implementation of ptz wrapper and handler, can list ptzs * ptz handler publishes position and velocity of ptzs, can set position and velocity * add egg info to gitignore * fix bad indent after cherry-pick * fix formatting * fix short code conversion * Always include exception message in response strings (rai-opensource#8) * fix trajectory status unknown not being reset in trajectory command and async idle (rai-opensource#10) * Add changes from [SW-127] Add function to get images by cameras (rai-opensource#11) Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> * fix dataclass typing issue for older python versions (20.04), check lease object is initialised in claim function (rai-opensource#14) * remove old camera task mapping introduced in merge * formatting * Add changes from [WUD-126] Add manipulation client (rai-opensource#13) Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> * Add changes for added support for the rgb_cameras parameter in spot_ros2 (rai-opensource#15) Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> * Add changes from [SW-141] Checking edge cases in upload_graph (rai-opensource#12) Co-authored-by: kzheng <125413689+kaiyu-zheng@users.noreply.github.com> * Updated bosdyn to 3.2.3 (rai-opensource#16) * [OC-4] Build a Spot Dance Interface (rai-opensource#17) * [OC-5] add method to upload hardcoded file * [OC-4] Code cleanup for PR * [OC-4] Create separate SpotDacing class * [OC-4] remove old execute_dance code * [OC-4] Fix authentication method for compatibility with WUD test * [OC-5] format files with black * [OC-4] Modify code based on PR comments * delete execute_dance from wrapper.py * [OC-4] Get lease from decorator * [OC-4] Remove print statements * [OC-4] Remove extra imports * [OC-4] Remove extra argument * formatting * fix startup issues when choreography or arm is not present * small changes to choreo check and output when services are not available * better choreo ordering * message when choreo module is missing * cleanup unused spot_image and renamed graphnav private methods * update graph_nav private methods * custom arm not found Exception * _get_lease private method in graphNav * fix black * import ordering and removal of unused imports * wait for arm commands to complete rather than sleeping, using block_until_arm_arrives SDK function * no longer use convenience dict to access robot params in wrapper class * missed some robot params usages in wrapper * add block_until_manipulation_completes method * improve arm module comments, manipulation request actually makes use of the timesync endpoint and end time * restore wrapper to main branch state * restore cam wrapper to main * restore graph nav util to main * remove unrelated modules * more minor fixes to remove unrelated stuff * wrapper bits for spot check, explicit clients to init function of module * make use of new robot state to check the is_sitting state * import ordering * formating * more formatting --------- Co-authored-by: jeremysee2 <32976023+jeremysee2@users.noreply.github.com> Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> Co-authored-by: David Watkins <129521611+davidwatkins-bdai@users.noreply.github.com> Co-authored-by: Vedant Gupta <134331854+Guptabot@users.noreply.github.com> Co-authored-by: Ming Jie See <jeremysee_2@hotmail.com> Co-authored-by: Andrew Messing <amessing@theaiinstitute.com>
heuristicus
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this pull request
Aug 5, 2023
* refactored code into modules * refactored image service * cleanup imports * add unit tests for some graph_nav_util functions * pip install requirements * typing changes * absolute paths * clone to specific directory * check file structure for CI * check files * check files * add test script * install spot wrapper * install script * remove asyncimageservice * use robot_params to share state variables * Pytest replacement (#1) * use pytest instead * add pytest dependency * fail test on purpose * remove failing test * replace print() with self._logger.error() * image publishing works well * moved SPOT_CLIENT_NAME * static typing for claim() * black formatting * comments and passing error feedback * remove spot_config * use fstring for short code, move wrench from msg function to class body * Add changes from [SW-62] Elements for publishing the hand camera in spot_ros2 (rai-opensource#7) Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> * Wrapper for spot cam interaction (#4) * simple led brightness control, only able to set all leds to same value * Add power control, but unclear if it is actually possible to set power for aux and external mic * most basic functional image stream publisher with webrtc * add compositor to handle IR and webrtc stream selection with services Add timestamp for the webrtc images Add compressed version of the webrtc image stream * Add health wrapper, move body of robotToLocalTime out of spot wrapper object robotToLocalTime now takes the timestamp and a robot object, which allows it to be used by the spot cam wrapper as well. * add handler and wrapper for audio commands * update webrtc_client to 3.2 version * add stream quality wrapper and ros handler * initial implementation of ptz wrapper and handler, can list ptzs * ptz handler publishes position and velocity of ptzs, can set position and velocity * add egg info to gitignore * fix bad indent after cherry-pick * fix formatting * fix short code conversion * Always include exception message in response strings (rai-opensource#8) * fix trajectory status unknown not being reset in trajectory command and async idle (rai-opensource#10) * Add changes from [SW-127] Add function to get images by cameras (rai-opensource#11) Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> * fix dataclass typing issue for older python versions (20.04), check lease object is initialised in claim function (rai-opensource#14) * remove old camera task mapping introduced in merge * formatting * Add changes from [WUD-126] Add manipulation client (rai-opensource#13) Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> * Add changes for added support for the rgb_cameras parameter in spot_ros2 (rai-opensource#15) Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> * Add changes from [SW-141] Checking edge cases in upload_graph (rai-opensource#12) Co-authored-by: kzheng <125413689+kaiyu-zheng@users.noreply.github.com> * Updated bosdyn to 3.2.3 (rai-opensource#16) * [OC-4] Build a Spot Dance Interface (rai-opensource#17) * [OC-5] add method to upload hardcoded file * [OC-4] Code cleanup for PR * [OC-4] Create separate SpotDacing class * [OC-4] remove old execute_dance code * [OC-4] Fix authentication method for compatibility with WUD test * [OC-5] format files with black * [OC-4] Modify code based on PR comments * delete execute_dance from wrapper.py * [OC-4] Get lease from decorator * [OC-4] Remove print statements * [OC-4] Remove extra imports * [OC-4] Remove extra argument * formatting * fix startup issues when choreography or arm is not present * small changes to choreo check and output when services are not available * better choreo ordering * message when choreo module is missing * cleanup unused spot_image and renamed graphnav private methods * update graph_nav private methods * custom arm not found Exception * _get_lease private method in graphNav * fix black * import ordering and removal of unused imports * wait for arm commands to complete rather than sleeping, using block_until_arm_arrives SDK function * no longer use convenience dict to access robot params in wrapper class * missed some robot params usages in wrapper * add block_until_manipulation_completes method * improve arm module comments, manipulation request actually makes use of the timesync endpoint and end time * restore wrapper to main branch state * restore cam wrapper to main * restore graph nav util to main * unnecessary change * remove other modules and old graph nav util * wrapper changes and explicit clients * doesn't actually need robot_params * Remove import of graph nav utils * Commented out some decorator functions which are no longer in the wrapper.py. Will get rid of these comments upon final revision * Updated some minor bug fixes with modular-graphnav and tested on hardware * formatting --------- Co-authored-by: jeremysee2 <32976023+jeremysee2@users.noreply.github.com> Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com> Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com> Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com> Co-authored-by: Philip Keller <keller@fzi.de> Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com> Co-authored-by: David Watkins <129521611+davidwatkins-bdai@users.noreply.github.com> Co-authored-by: Vedant Gupta <134331854+Guptabot@users.noreply.github.com> Co-authored-by: Ming Jie See <jeremysee_2@hotmail.com> Co-authored-by: Brandon Hung <bhung@theaiinstitute.com>
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