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DATA-841 Add rdk representation of worldstate along with conversion methods #1622

Merged
merged 43 commits into from
Dec 1, 2022
Merged

DATA-841 Add rdk representation of worldstate along with conversion methods #1622

merged 43 commits into from
Dec 1, 2022

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raybjork
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This PR removes commonpb.WorldState from most of the codebase and replaces it with referenceframe.WorldState a representation that is more easily usable with existing RDK functions.

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update sample code
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Merge branch 'main' into main
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Merge branch 'main' of http://github.com/viamrobotics/rdk
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Merge branch 'main' into main
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Merge branch 'main' into main
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Merge branch 'main' into main
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Merge branch 'main' of github.com:raybjork/rdk
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Merge branch 'main' of http://github.com/viamrobotics/rdk
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lint
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Merge branch 'main' into main
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Merge branch 'main' of http://github.com/viamrobotics/rdk
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Merge branch 'main' of github.com:raybjork/rdk
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Merge branch 'main' of http://github.com/viamrobotics/rdk
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Merge branch 'main' of http://github.com/viamrobotics/rdk
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Merge branch 'main' of github.com:raybjork/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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catch case where node could not be added to tree
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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Merge branch 'main' of ssh://github.com/viamrobotics/rdk
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@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 29, 2022
biotinker
biotinker approved these changes Nov 29, 2022
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Two small nits, then LGTM

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 29, 2022
@raybjork raybjork changed the title Add rdk representation of worldstate along with conversion methods DATA-841 Add rdk representation of worldstate along with conversion methods Nov 29, 2022
gvaradarajan
gvaradarajan requested changes Nov 30, 2022
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referenceframe/transformable.go Show resolved Hide resolved
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@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 30, 2022
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 30, 2022
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 30, 2022
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 1, 2022
@raybjork raybjork merged commit e112ad5 into viamrobotics:main Dec 1, 2022
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 59% +0.19% ➖
go.viam.com/rdk/components/arm/universalrobots 13% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 2% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 7% 0.00% ❌
go.viam.com/rdk/components/audioinput 55% 0.00% ➖
go.viam.com/rdk/components/base 67% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 76% 0.00% ✅
go.viam.com/rdk/components/board 68% 0.00% ➖
go.viam.com/rdk/components/board/arduino 10% 0.00% ❌
go.viam.com/rdk/components/board/commonsysfs 47% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 65% -0.27% ➖
go.viam.com/rdk/components/camera/fake 67% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 77% 0.00% ✅
go.viam.com/rdk/components/camera/transformpipeline 78% +0.33% ✅
go.viam.com/rdk/components/camera/videosource 55% +0.51% ➖
go.viam.com/rdk/components/encoder/fake 77% 0.00% ✅
go.viam.com/rdk/components/gantry 68% -0.03% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 83% 0.00% ✅
go.viam.com/rdk/components/gripper 80% 0.00% ✅
go.viam.com/rdk/components/input 87% 0.00% ✅
go.viam.com/rdk/components/input/gpio 83% 0.00% ✅
go.viam.com/rdk/components/motor 81% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 57% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 63% -0.43% ➖
go.viam.com/rdk/components/motor/gpiostepper 57% +0.59% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/movementsensor 75% 0.00% ✅
go.viam.com/rdk/components/movementsensor/cameramono 40% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 37% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 28% 0.00% ❌
go.viam.com/rdk/components/posetracker 86% 0.00% ✅
go.viam.com/rdk/components/sensor 86% 0.00% ✅
go.viam.com/rdk/components/sensor/ultrasonic 34% 0.00% ❌
go.viam.com/rdk/components/servo 78% 0.00% ✅
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 76% -0.15% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/motionplan 62% -4.97% ➖
go.viam.com/rdk/octree 93% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 71% -0.09% ✅
go.viam.com/rdk/protoutils 62% 0.00% ➖
go.viam.com/rdk/referenceframe 69% -8.87% ➖
go.viam.com/rdk/registry 88% 0.00% ✅
go.viam.com/rdk/resource 83% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 73% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 93% 0.00% ✅
go.viam.com/rdk/robot/client 79% -0.81% ✅
go.viam.com/rdk/robot/framesystem 68% 0.00% ➖
go.viam.com/rdk/robot/impl 80% -0.24% ✅
go.viam.com/rdk/robot/server 59% +0.63% ➖
go.viam.com/rdk/robot/web 60% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol/builtin 25% 0.00% ❌
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 66% 0.00% ➖
go.viam.com/rdk/services/datamanager 65% 0.00% ➖
go.viam.com/rdk/services/datamanager/builtin 80% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 21% 0.00% ❌
go.viam.com/rdk/services/datamanager/datasync 72% 0.00% ✅
go.viam.com/rdk/services/motion 63% -3.73% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 54% 0.00% ➖
go.viam.com/rdk/services/sensors 77% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 14% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 72% 0.00% ✅
go.viam.com/rdk/services/vision 80% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/spatialmath 85% 0.00% ✅
go.viam.com/rdk/subtype 96% 0.00% ✅
go.viam.com/rdk/utils 71% 0.00% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 65% (19563 / 29878) -0.53% ➖

@raybjork raybjork deleted the worldState branch December 1, 2022 14:29
@bazile-clyde bazile-clyde mentioned this pull request Feb 7, 2023
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@biotinker biotinker biotinker approved these changes

@gvaradarajan gvaradarajan gvaradarajan approved these changes

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