Run graspnet-demo in our devcontainer (#205)

* Install cuda.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Make script executable.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Rename.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Clone graspnet-baseline repo in docker.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Switch to our graspnet fork.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Fix  dependencies.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Update dependencies.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Add demo.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Create ros node.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Remove demo.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Fix ty.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Update dependencies to fix deprecated sklearn.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Add ros2-numpy to uv.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Use base frame instead of world frame.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Place rviz marker on generated grasp pose.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Set fr3_hand_tcp asp end-effector link.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Add scipy-stubs to uv.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Use graspnet pose as goal_pose.

Signed-off-by: Jelmer de Wolde <[email protected]>

* remove cuda from container

Signed-off-by: Max Waterhout <[email protected]>

* WIP

Signed-off-by: Max Waterhout <[email protected]>

* Remove rcdt_grasping package and update moveit_manager to change frame references

Signed-off-by: Max Waterhout <[email protected]>

* Refactor dependencies: move graspnet-related packages to a separate group and clean up unused entries

Signed-off-by: Max Waterhout <[email protected]>

* Refactor code structure for improved readability and maintainability

Signed-off-by: Max Waterhout <[email protected]>

---------

Signed-off-by: Jelmer de Wolde <[email protected]>
Signed-off-by: Max Waterhout <[email protected]>
Co-authored-by: Max Waterhout <[email protected]>
Signed-off-by: Jelmer de Wolde <[email protected]>

Author: Jelmerdw

pyproject.toml

@@ -43,6 +43,8 @@ dependencies = [
     "transforms3d>=0.4.2",
     "waitress>=3.0.2",
     "xmltodict>=1.0.2",
+    "pandas>=2.2.0",
+    "trimesh>=4.8.2",
 ]
 
 [dependency-groups]
@@ -52,7 +54,12 @@ dev = [
     "ruff>=0.11.12",
     "ty>=0.0.1a7",
 ]
+graspnet = [
+    "graspnetpy",
+    ]
 
+[tool.uv.sources]
+graspnetpy = { git = "https://github.com/alliander-opensource/graspnet-baseline" }
 
 [tool.ruff.lint.isort]
 split-on-trailing-comma = false
@@ -95,4 +102,4 @@ select = "DOC"
 style = "google"
 skip-checking-short-docstrings = false
 allow-init-docstring = true
-check-style-mismatch = true
+check-style-mismatch = true

ros2_ws/src/rcdt_utilities/rcdt_utilities/register.py

@@ -240,14 +240,17 @@ def on_log(
 
         return register.insert_action(action, event_handler, context)
 
-    def process_io(self, event: ProcessIO) -> None:
+    def process_io(self, event: ProcessIO) -> None | LaunchDescription:
         """Returns the next register to start if the defined log is captured.
 
         This method is called when a log message is captured from the action's stderr.
         If the log message contains the defined log, it sets the started flag to True and returns the next action to start.
 
         Args:
             event (ProcessIO): The event containing the log message.
+
+        Returns:
+            None | LaunchDescription: None if the action is already started, otherwise a launch description containing the next action to start.
         """
         if self.is_started:
             return