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* First shot at converting Pose class to 3d * Allow both Euler angles and quaternions * Convert ROS pose conversions to use full 3D orientation * Fix fill_path_yaws function * Update more usage of deprecated Pose.yaw attribute * Update YAML loading of poses to use [x, y, z, yaw] Co-authored-by: Sebastian Castro <sebas.a.castro@gmail.com>
* Document reference frame and rotation conventions. * Address comments * Link fixup
* Add max attempts to PDDLStream planning * Small fix
* Use a multi-threaded executor * Add number of threads as parameter + callback groups * Small documentation improvement * Default number of threads to number of system CPUs Co-authored-by: Sebastian Castro <sebas.a.castro@gmail.com>
* Fix PDDLStream retry logic * Unpack the solution and check the internal plan
* Use ROS_DISTRO environment variable to unify Docker/CI * ROS2 -> ROS 2
* Use dict get() method in YAML loading utilities * Fix numpy datatype
* Basic grasp generator skeleton + visualization * Visualize generated grasps * Add grasp direction enum and docstrings + cleanup * Filter grasps by gripper dimensions and clearances * Generate grasps from arbitrary robot orientations * Switch to using robot and object poses individually * Add grasp direction information * Add grasp generation unit tests * Add cuboid fitting from object footprint * Create grasp cuboid from object constructor * Fix small typo * Fix collision logic on place * PR comments
* Add grasp generation to pick_object robot action + fix display bugs * Load grasp generation parameters from YAML * Update YAML schema docs * Remove extra YAML params * Switch to new gen_grap_cuboid_pose() method * Add missing grasp pose when a GUI is active * Add properties to placeholder grasp creation * PR comments
* Add grasp generation to pick_object robot action + fix display bugs * Load grasp generation parameters from YAML * Update YAML schema docs * Remove extra YAML params * Switch to new gen_grap_cuboid_pose() method * Add missing grasp pose when a GUI is active * Add properties to placeholder grasp creation * PR comments * Add grasp sampling to PDDLStream * Add grasp specific cost function * Change grasp pose logic in converting PDDLStream plan * Expand unit tests to include new domain * Alphabetize test imports * Increase max gripper opening width for demos * Minor PR comments * Switch grasps to world coordinates and eager sample nav poses * Change test parameters and starting pose * Fix logic of print statement * More planner param tuning
* Switch to docker compose * Update docs * Fix bad variable * Fix mounting and dependencies * Switch from docker compose up to run so input works
* add pytest condition skip * add tests for world creation tools * Revert "add pytest condition skip" This reverts commit 20bb089. * Update with review changes. * Fix typo * Add test dependencies * Temporarily move test to examples * Group tests into class * Fix spellings and remove comment * Modify rooms configs to match demo example * add tests for location * Fix doc string for add_object * Add test for objects * Add docstring for object test * Add remove_X tests * Cleanup * Fix imports for entities Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Improve type check using isinstance() Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Add spacing and get_obj_by_name() test * Remove extra blank line at EOF * Add test for hierarchial cleanup * Add objects cleanup on location removal * Expand hierarchial test * Add automatic cleanup for room removal * Fix typos and add dependencies * Remove white space at EOF Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
* Add pre-commit config * github black actions * Fix format * Add show diff output * Change actions to use pre-commit * Fix missing job name * Fix yaml error * Formatting changes and black version update * Formatting updates by Black * Post-merge formatting changes * Add shebangs to bash scripts Co-authored-by: Sebastian Castro <sebas.a.castro@gmail.com>
* Short distance connect * cleaner implementation * add unit test for short distance connect * rename rrt and prm examples to demo_* * Fix formatting * revert poses in demo to original * docstring update Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * comment update Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * remove unused statements and add timer * Update CMakeLists to reflect example rename Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
* PDDLStream tuning * Pre-commit changes * Make formatting workflow triggers match tests * Pass arbitrary stream dictionaries and planner args to PDDLStream planner * Move stream functions from plan() to constructor * Ignore .git folder in .dockerignore * Try changing default working directory for GitHub actions * Revert working directory changes * Name Docker image from ROS distro * Add docker buildx * Fix docstring typo * Add concurrency to test workflow * Try using docker GitHub action * Revert "Add docker buildx" This reverts commit 0e8ebf4. * Revert "Try using docker GitHub action" This reverts commit 22f0748. * Temp test * Do not build Docker image in CI * Re-add PDDLStream install in Dockerfile * Clean up Python CI job
* Remove Descartes dependency, use Shapely plotting functionality * Additional cleanup and fix install to require Shapely 2.0.1 or greater
* Enable Ctrl+C to stop the GUI * Add catkin-pkg comment --------- Co-authored-by: AndyZe <andyz@utexas.edu>
* Use a timer for ROS planner updates * Better comment on catkin-pkg
…nvalid categories (#162) * Fix warnings when creating entities with invalid categories * Pin pytest to below 8.1
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