Merge pull request #263 from sorinar329/dev

Updated PyCrap

demos/pycram_bullet_world_demo/demo.py

@@ -9,7 +9,7 @@
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.dataclasses import Color
 from pycram.ros_utils.viz_marker_publisher import VizMarkerPublisher
-from pycrap import Robot, Apartment, Milk, Cereal, Spoon, Bowl
+from pycrap.ontologies import Robot, Apartment, Milk, Cereal, Spoon, Bowl
 import numpy as np
 
 

demos/pycram_multiverse_demo/demo.py

@@ -14,7 +14,7 @@
 from pycram.robot_description import RobotDescription
 from pycram.world_concepts.world_object import Object
 from pycram.worlds.multiverse import Multiverse
-from pycrap import PhysicalObject
+from pycrap.ontologies import PhysicalObject
 
 
 world = Multiverse()

demos/pycram_multiverse_demo/fallschool_demo.py

@@ -19,7 +19,7 @@
 from pycram.worlds.bullet_world import BulletWorld
 from pycram.worlds.multiverse import Multiverse
 from pycram.ros_utils.viz_marker_publisher import VizMarkerPublisher
-from pycrap import PhysicalObject
+from pycrap.ontologies import PhysicalObject
 
 
 @with_simulated_robot

examples/action_designator.md

@@ -41,12 +41,12 @@ from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.enums import ObjectType, WorldMode
 from pycram.datastructures.pose import Pose
-import pycrap
+from pycrap.ontologies import Robot, Milk, Apartment
 
 world = BulletWorld(WorldMode.DIRECT)
-pr2 = Object("pr2", pycrap.Robot, "pr2.urdf", pose=Pose([1, 2, 0]))
-apartmet = Object("apartment", pycrap.Apartment, "apartment.urdf")
-milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([2.3, 2, 1.1]))
+pr2 = Object("pr2", Robot, "pr2.urdf", pose=Pose([1, 2, 0]))
+apartmet = Object("apartment", Apartment, "apartment.urdf")
+milk = Object("milk", Milk, "milk.stl", pose=Pose([2.3, 2, 1.1]))
 ```
 
 To move the robot we need to create a description and resolve it to an actual Designator. The description of navigation

examples/bullet_world.md

@@ -22,7 +22,7 @@ First we need to import and create a BulletWorld.
 from pycram.worlds.bullet_world import BulletWorld
 from pycram.datastructures.pose import Pose
 from pycram.datastructures.enums import ObjectType, WorldMode
-import pycrap
+from pycrap.ontologies import Milk, Cereal, Robot
 
 world = BulletWorld(mode=WorldMode.DIRECT)
 ```
@@ -42,7 +42,7 @@ To spawn new things in the BulletWorld we need to import the Object class and cr
 ```python
 from pycram.world_concepts.world_object import Object
 
-milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([0, 0, 1]))
+milk = Object("milk", Milk, "milk.stl", pose=Pose([0, 0, 1]))
 ```
 
 <!-- #region -->
@@ -92,7 +92,7 @@ parameter. Since attachments are bi-directional it doesn't matter on which Objec
 First we need another Object
 
 ```python
-cereal = Object("cereal", pycrap.Cereal, "breakfast_cereal.stl", pose=Pose([1, 0, 1]))
+cereal = Object("cereal", Cereal, "breakfast_cereal.stl", pose=Pose([1, 0, 1]))
 ```
 
 ```python
@@ -120,7 +120,7 @@ which contain every link or joint as key and a unique id, used by PyBullet, as v
 We will see this at the example of the PR2:
 
 ```python
-pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
+pr2 = Object("pr2", Robot, "pr2.urdf")
 print(pr2.links)
 ```
 

examples/cram_plan_tutorial.md

@@ -32,7 +32,7 @@ from pycram.world_concepts.world_object import Object
 import anytree
 import pycram.failures
 import numpy as np
-import pycrap
+from pycrap.ontologies import Milk, Cereal, Robot, Kitchen, Spoon, Apartment, Bowl
 
 np.random.seed(4)
 
@@ -49,9 +49,9 @@ else:
     world = BulletWorld()
     viz_marker_publisher = VizMarkerPublisher()
 
-robot = Object("pr2", pycrap.Robot, "pr2.urdf")
+robot = Object("pr2", Robot, "pr2.urdf")
 robot_desig = ObjectDesignatorDescription(names=['pr2']).resolve()
-apartment = Object("apartment", pycrap.Apartment, "apartment.urdf")
+apartment = Object("apartment", Apartment, "apartment.urdf")
 apartment_desig = ObjectDesignatorDescription(names=['apartment']).resolve()
 table_top_name = "stove" if use_multiverse else "cooktop"
 table_top = apartment.get_link_position(table_top_name)
@@ -90,7 +90,7 @@ def get_n_random_positions(pose_list, n=4, dist=0.5, random=True):
 ```python
 import pycrap
 from tf.transformations import quaternion_from_euler
-import pycrap
+
 from pycram.costmaps import SemanticCostmap
 from pycram.pose_generator_and_validator import PoseGenerator
 
@@ -104,7 +104,7 @@ poses_list = list(PoseGenerator(edges_cm, number_of_samples=-1))
 poses_list.sort(reverse=True, key=lambda x: np.linalg.norm(x.position_as_list()))
 object_poses = get_n_random_positions(poses_list)
 object_names = ["bowl", "breakfast_cereal", "spoon"]
-object_types = [pycrap.Bowl, pycrap.Cereal, pycrap.Spoon]
+object_types = [Bowl, Cereal, Spoon]
 objects = {}
 object_desig = {}
 for obj_name, obj_type, obj_pose in zip(object_names, object_types, object_poses):
@@ -141,7 +141,6 @@ Finally, we create a plan where the robot parks his arms, walks to the kitchen c
 execute the plan.
 
 ```python
-import pycrap
 from pycram.external_interfaces.ik import IKError
 from pycram.datastructures.enums import Grasp
 
@@ -161,7 +160,7 @@ def plan(obj_desig: ObjectDesignatorDescription.Object, torso=None, place=counte
         ParkArmsActionPerformable(Arms.BOTH).perform()
         good_torsos.append(torso)
         picked_up_arm = pose.reachable_arms[0]
-        grasp = Grasp.TOP if issubclass(obj_desig.world_object.obj_type, pycrap.Spoon) else Grasp.FRONT
+        grasp = Grasp.TOP if issubclass(obj_desig.world_object.obj_type, Spoon) else Grasp.FRONT
         PickUpActionPerformable(object_designator=obj_desig, arm=pose.reachable_arms[0], grasp=grasp,
                                 prepose_distance=0.03).perform()
 

examples/improving_actions.md

@@ -75,7 +75,7 @@ session = sqlalchemy.orm.sessionmaker(bind=engine)()
 Now we construct an empty world with just a floating milk, where we can learn about PickUp actions.
 
 ```python
-from pycrap import Robot, Milk
+from pycrap.ontologies import Robot, Milk
 
 world = BulletWorld(WorldMode.DIRECT)
 print(world.prospection_world)
@@ -167,7 +167,7 @@ Next, we put the learned model to the test in a complex environment, where the m
 area.
 
 ```python
-from pycrap import Apartment
+from pycrap.ontologies import Apartment
 kitchen = Object("apartment", Apartment, "apartment.urdf")
 
 milk.set_pose(Pose([0.5, 3.15, 1.04]))

examples/intro.md

@@ -28,17 +28,17 @@ It is possible to spawn objects and robots into the BulletWorld, these objects c
 A BulletWorld can be created by simply creating an object of the BulletWorld class.
 
 ```python
-import pycrap
 from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.enums import ObjectType, WorldMode
 from pycram.datastructures.pose import Pose
+from pycrap.ontologies import Milk, Cereal, Robot, Kitchen
 
 world = BulletWorld(mode=WorldMode.DIRECT)
 
-milk = Object("milk", pycrap.Milk, "milk.stl")
-pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
-cereal = Object("cereal", pycrap.Cereal, "breakfast_cereal.stl", pose=Pose([1.4, 1, 0.95]))
+milk = Object("milk", Milk, "milk.stl")
+pr2 = Object("pr2", Robot, "pr2.urdf")
+cereal = Object("cereal", Cereal, "breakfast_cereal.stl", pose=Pose([1.4, 1, 0.95]))
 ```
 
 The BulletWorld allows to render images from arbitrary positions. In the following example we render images with the
@@ -91,7 +91,7 @@ Since everything inside the BulletWorld is an Object, even a complex environment
 in the same way as the milk.
 
 ```python
-kitchen = Object("kitchen", pycrap.Kitchen, "kitchen.urdf")
+kitchen = Object("kitchen", Kitchen, "kitchen.urdf")
 ```
 
 ## Costmaps
@@ -294,7 +294,7 @@ Location Designators can create a position in cartesian space from a symbolic de
 from pycram.designators.location_designator import *
 from pycram.designators.object_designator import *
 
-robot_desig = BelieveObject(types=[pycrap.Robot]).resolve()
+robot_desig = BelieveObject(types=[Robot]).resolve()
 milk_desig = BelieveObject(names=["milk"]).resolve()
 location_desig = CostmapLocation(target=milk_desig, visible_for=robot_desig)
 

examples/knowledge_source.md

@@ -141,7 +141,7 @@ from pycram.datastructures.enums import WorldMode, ObjectType
 from pycram.knowledge.knowledge_engine import KnowledgeEngine
 from pycram.datastructures.pose import Pose
 from pycram.datastructures.property import ReachableProperty, SpaceIsFreeProperty
-from pycrap import Robot
+from pycrap.ontologies import Robot
 
 world = BulletWorld(WorldMode.GUI)
 pr2 = Object("pr2", Robot, "pr2.urdf")

examples/language.md

@@ -73,13 +73,13 @@ plan.
 If you are performing a plan with a simulated robot, you need a BulletWorld.
 
 ```python
-import pycrap
 from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.enums import ObjectType
+from pycrap.ontologies import Robot
 
 world = BulletWorld()
-pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
+pr2 = Object("pr2", Robot, "pr2.urdf")
 ```
 
 ```python

examples/local_transformer.md

@@ -28,7 +28,6 @@ from pycram.world_concepts.world_object import Object
 from pycram.datastructures.pose import Transform, Pose
 from pycram.local_transformer import LocalTransformer
 from pycram.datastructures.enums import WorldMode
-import pycrap
 ```
 
 ## Initializing the World
@@ -55,10 +54,11 @@ These objects will be used in subsequent tasks, to provide the frames to which w
 ```python
 from pycram.worlds.bullet_world import Object
 from pycram.datastructures.enums import ObjectType
+from pycrap.ontologies import Kitchen, Milk, Bowl
 
-kitchen = Object("kitchen", pycrap.Kitchen, "kitchen.urdf")
-milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([0.9, 1, 0.95]))
-bowl = Object("bowl", pycrap.Bowl, "bowl.stl", pose=Pose([1.6, 1, 0.90]))
+kitchen = Object("kitchen", Kitchen, "kitchen.urdf")
+milk = Object("milk", Milk, "milk.stl", pose=Pose([0.9, 1, 0.95]))
+bowl = Object("bowl", Bowl, "bowl.stl", pose=Pose([1.6, 1, 0.90]))
 ```
 
 ## Creating a Local Transfomer

examples/location_designator.md

@@ -42,7 +42,7 @@ from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.enums import ObjectType, WorldMode
 from pycram.datastructures.pose import Pose
-import pycrap
+from pycrap.ontologies import Apartment, Robot, Milk
 
 use_multiverse = False
 viz_marker_publisher = None
@@ -57,8 +57,8 @@ else:
     world = BulletWorld()
     viz_marker_publisher = VizMarkerPublisher()
 
-apartment = Object("apartment", pycrap.Apartment, "apartment.urdf")
-pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
+apartment = Object("apartment", Apartment, "apartment.urdf")
+pr2 = Object("pr2", Robot, "pr2.urdf")
 ```
 
 Next up we will create the location designator description, the {meth}`~pycram.designators.location_designator.CostmapLocation` that we will be using needs a
@@ -91,7 +91,7 @@ PR2 will be set to 0.2 since otherwise the arms of the robot will be too low to
 
 ```python
 pr2.set_joint_position("torso_lift_joint", 0.2)
-milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([1.3, 1, 0.9]))
+milk = Object("milk", Milk, "milk.stl", pose=Pose([1.3, 1, 0.9]))
 
 ```
 
@@ -195,7 +195,7 @@ from pycram.designators.location_designator import *
 apartment_desig = BelieveObject(names=["apartment"])
 handle_name = "cabinet10_drawer1_handle" if use_multiverse else "handle_cab10_t"
 handle_desig = ObjectPart(names=[handle_name], part_of=apartment_desig.resolve())
-robot_desig = BelieveObject(types=[pycrap.Robot])
+robot_desig = BelieveObject(types=[Robot])
 
 access_location = AccessingLocation(handle_desig.resolve(), robot_desig.resolve(),
                                     prepose_distance=0.03).resolve()

examples/migrate_neems.md

@@ -56,17 +56,16 @@ from pycram.tasktree import with_tree
 from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.designators.object_designator import *
-from pycram.datastructures.enums import TorsoState
-import pycrap
+from pycrap.ontologies import Robot, Kitchen, Milk, Cereal
 
 
 class ExamplePlans:
     def __init__(self):
         self.world = BulletWorld("DIRECT")
-        self.pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
-        self.kitchen = Object("kitchen", pycrap.Kitchen, "kitchen.urdf")
-        self.milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([1.3, 1, 0.9]))
-        self.cereal = Object("cereal", pycrap.Cereal, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
+        self.pr2 = Object("pr2", Robot, "pr2.urdf")
+        self.kitchen = Object("kitchen", Kitchen, "kitchen.urdf")
+        self.milk = Object("milk", Milk, "milk.stl", pose=Pose([1.3, 1, 0.9]))
+        self.cereal = Object("cereal", Cereal, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
         self.milk_desig = ObjectDesignatorDescription(names=["milk"])
         self.cereal_desig = ObjectDesignatorDescription(names=["cereal"])
         self.robot_desig = ObjectDesignatorDescription(names=["pr2"]).resolve()
@@ -76,7 +75,7 @@ class ExamplePlans:
     def pick_and_place_plan(self):
         with simulated_robot:
             ParkArmsAction([Arms.BOTH]).resolve().perform()
-            MoveTorsoAction([TorsoState.HIGH]).resolve().perform()
+            MoveTorsoAction([0.3]).resolve().perform()
             pickup_pose = CostmapLocation(target=self.cereal_desig.resolve(), reachable_for=self.robot_desig).resolve()
             pickup_arm = pickup_pose.reachable_arms[0]
             NavigateAction(target_locations=[pickup_pose.pose]).resolve().perform()

examples/minimal_task_tree.md

@@ -32,17 +32,17 @@ from pycram.datastructures.pose import Pose
 from pycram.datastructures.enums import ObjectType, WorldMode, TorsoState
 import anytree
 import pycram.failures
-import pycrap
 ```
 
 Next we will create a bullet world with a PR2 in a kitchen containing milk and cereal.
 
 ```python
+from pycrap.ontologies import Milk, Cereal, Robot, Kitchen
 world = BulletWorld(WorldMode.DIRECT)
-pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
-kitchen = Object("kitchen", pycrap.Kitchen, "kitchen.urdf")
-milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([1.3, 1, 0.9]))
-cereal = Object("cereal", pycrap.Cereal, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
+pr2 = Object("pr2", Robot, "pr2.urdf")
+kitchen = Object("kitchen", Kitchen, "kitchen.urdf")
+milk = Object("milk", Milk, "milk.stl", pose=Pose([1.3, 1, 0.9]))
+cereal = Object("cereal", Cereal, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
 milk_desig = ObjectDesignatorDescription(names=["milk"])
 cereal_desig = ObjectDesignatorDescription(names=["cereal"])
 robot_desig = ObjectDesignatorDescription(names=["pr2"]).resolve()

examples/motion_designator.md

@@ -27,11 +27,11 @@ from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.enums import ObjectType, WorldMode
 from pycram.datastructures.pose import Pose
-import pycrap
+from pycrap.ontologies import Robot, Milk
 
 world = BulletWorld(WorldMode.DIRECT)
-pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
-milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([1.5, 0, 1]))
+pr2 = Object("pr2", Robot, "pr2.urdf")
+milk = Object("milk", Milk, "milk.stl", pose=Pose([1.5, 0, 1]))
 ```
 
 ## Move
@@ -116,7 +116,6 @@ from pycram.designators.motion_designator import DetectingMotion, LookingMotion
 from pycram.process_module import simulated_robot
 from pycram.datastructures.pose import Pose
 from pycram.datastructures.enums import DetectionTechnique, DetectionState
-from pycrap import  Milk
 from pycram.designators.object_designator import BelieveObject
 
 
@@ -159,7 +158,7 @@ from pycram.designators.motion_designator import WorldStateDetectingMotion
 from pycram.process_module import simulated_robot
 
 with simulated_robot:
-    motion_description = WorldStateDetectingMotion(object_type=pycrap.Milk)
+    motion_description = WorldStateDetectingMotion(object_type=Milk)
 
     obj = motion_description.perform()
 
@@ -185,4 +184,4 @@ The following cell can be used after testing the examples, to close the BulletWo
 
 ```python
 world.exit()
-```
+```