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Refactoring code to be more modular#6

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jeremysee2 wants to merge 62 commits intobdaiinstitute:mainbdaiinstitute/spot_wrapper:mainfrom jeremysee2:mainjeremysee2/spot_wrapper:mainCopy head branch name to clipboard

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Commits on Apr 18, 2023

• refactored code into modules

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• refactored image service

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• cleanup imports

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• add unit tests for some graph_nav_util functions

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• pip install requirements

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• typing changes

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• absolute paths

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• clone to specific directory

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• check file structure for CI

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• check files

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• check files

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• add test script

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• install spot wrapper

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• install script

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• remove asyncimageservice

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Commits on Apr 19, 2023

• use robot_params to share state variables

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• Pytest replacement (#1)

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Commits on Apr 20, 2023

• replace print() with self._logger.error()

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Commits on Apr 21, 2023

• image publishing works well

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• moved SPOT_CLIENT_NAME

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• static typing for claim()

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• Merge branch 'main' of https://github.com/jeremysee2/spot_wrapper into main

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• black formatting

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Commits on Apr 22, 2023

• comments and passing error feedback

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• remove spot_config

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Commits on May 30, 2023

• use fstring for short code, move wrench from msg function to class body

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• Add changes from [SW-62] Elements for publishing the hand camera in spot_ros2 (bdaiinstitute#7)

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  amessing-bdai

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Commits on Jun 3, 2023

• Wrapper for spot cam interaction (bdaiinstitute#4)

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• fix bad indent after cherry-pick

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• fix formatting

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• fix short code conversion

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• Always include exception message in response strings (bdaiinstitute#8)

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• fix trajectory status unknown not being reset in trajectory command and async idle (bdaiinstitute#10)

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• Add changes from [SW-127] Add function to get images by cameras (bdaiinstitute#11)

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• fix dataclass typing issue for older python versions (20.04), check lease object is initialised in claim function (bdaiinstitute#14)

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• remove old camera task mapping introduced in merge

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• formatting

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• Add changes from [WUD-126] Add manipulation client (bdaiinstitute#13)

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• Add changes for added support for the rgb_cameras parameter in spot_ros2 (bdaiinstitute#15)

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• Add changes from [SW-141] Checking edge cases in upload_graph (bdaiinstitute#12)

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  kzheng-bdai

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• Updated bosdyn to 3.2.3 (bdaiinstitute#16)

  

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  heuristicus

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• [OC-4] Build a Spot Dance Interface (bdaiinstitute#17)

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• Merge branch 'main' into jeremysee-main

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• formatting

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• fix startup issues when choreography or arm is not present

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• small changes to choreo check and output when services are not available

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• better choreo ordering

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• message when choreo module is missing

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Commits on Jun 9, 2023

• cleanup unused spot_image and renamed graphnav private methods

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• update graph_nav private methods

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• merge upstream changes

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• custom arm not found Exception

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• _get_lease private method in graphNav

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Commits on Jun 10, 2023

• fix black

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• import ordering and removal of unused imports

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• wait for arm commands to complete rather than sleeping, using block_until_arm_arrives SDK function

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Commits on Jun 18, 2023

• no longer use convenience dict to access robot params in wrapper class

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• missed some robot params usages in wrapper

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• Merge branch 'main' into jeremysee-main

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• add block_until_manipulation_completes method

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• improve arm module comments, manipulation request actually makes use of the timesync endpoint and end time

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Commits on Jun 26, 2023

• Merge branch 'main' into jeremysee-main

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