Merge pull request #223 from tomsch420/dev

Added better ontology interface.

.github/workflows/notebook-test-ci.yml

@@ -80,4 +80,4 @@ jobs:
         run: |
           source /opt/ros/overlay_ws/devel/setup.bash 
           roscd pycram/examples/tmp
-          treon --thread 1 -v --exclude=migrate_neems.ipynb
+          treon --thread 1 -v --exclude=migrate_neems.ipynb --exclude=improving_actions.ipynb

.gitignore

@@ -71,3 +71,4 @@ resources/cached/
 
 # Example checkpoints
 examples/.ipynb_checkpoints/
+*/tmp/*

examples/action_designator.md

@@ -41,11 +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
 
-world = BulletWorld(WorldMode.GUI)
-pr2 = Object("pr2", ObjectType.ROBOT, "pr2.urdf", pose=Pose([1, 2, 0]))
-apartmet = Object("apartment", ObjectType.ENVIRONMENT, "apartment.urdf")
-milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([2.3, 2, 1.1]))
+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]))
 ```
 
 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

@@ -22,8 +22,9 @@ 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
 
-world = BulletWorld(mode=WorldMode.GUI)
+world = BulletWorld(mode=WorldMode.DIRECT)
 ```
 
 This new window is the BulletWorld, PyCRAMs internal physics simulation. You can use the mouse to move the camera
@@ -41,7 +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", ObjectType.MILK, "milk.stl", pose=Pose([0, 0, 1]))
+milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([0, 0, 1]))
 ```
 
 <!-- #region -->
@@ -91,7 +92,7 @@ parameter. Since attachments are bi-directional it doesn't matter on which Objec
 First we need another Object
 
 ```python
-cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1, 0, 1]))
+cereal = Object("cereal", pycrap.Cereal, "breakfast_cereal.stl", pose=Pose([1, 0, 1]))
 ```
 
 ```python
@@ -119,7 +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", ObjectType.ROBOT, "pr2.urdf")
+pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
 print(pr2.links)
 ```
 

examples/cram_plan_tutorial.md

@@ -32,13 +32,14 @@ from pycram.world_concepts.world_object import Object
 import anytree
 import pycram.failures
 import numpy as np
+import pycrap
 
 np.random.seed(4)
 
 world = BulletWorld()
-robot = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
+robot = Object("pr2", pycrap.Robot, "pr2.urdf")
 robot_desig = ObjectDesignatorDescription(names=['pr2']).resolve()
-apartment = Object("apartment", "environment", "apartment.urdf", pose=Pose([-1.5, -2.5, 0]))
+apartment = Object("apartment", pycrap.Apartment, "apartment.urdf", pose=Pose([-1.5, -2.5, 0]))
 apartment_desig = ObjectDesignatorDescription(names=['apartment']).resolve()
 table_top = apartment.get_link_position("cooktop")
 # milk = Object("milk", "milk", "milk.stl", position=[table_top[0]-0.15, table_top[1], table_top[2]])
@@ -98,6 +99,7 @@ def get_n_random_positions(pose_list, n=4, dist=0.5, random=True):
 ```
 
 ```python
+import pycrap
 from pycram.costmaps import SemanticCostmap
 from pycram.pose_generator_and_validator import PoseGenerator
 
@@ -106,17 +108,15 @@ poses_list = list(PoseGenerator(scm, 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]
 objects = {}
 object_desig = {}
-for obj_name, obj_pose in zip(object_names, object_poses):
-    print(obj_name)
-    print(obj_pose)
-    objects[obj_name] = Object(obj_name, obj_name, obj_name + ".stl",
+for obj_name, obj_type, obj_pose in zip(object_names, object_types, object_poses):
+    objects[obj_name] = Object(obj_name, obj_type, obj_name + ".stl",
                                pose=Pose([obj_pose.position.x, obj_pose.position.y, table_top.z]))
     objects[obj_name].move_base_to_origin_pose()
     objects[obj_name].original_pose = objects[obj_name].pose
-    object_desig[obj_name] = ObjectDesignatorDescription(names=[obj_name], types=[obj_name]).resolve()
-print(object_poses)
+    object_desig[obj_name] = ObjectDesignatorDescription(names=[obj_name], types=[obj_type]).resolve()
 ```
 
 If You want to visualize all apartment frames

examples/intro.md

@@ -28,16 +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
 
-world = BulletWorld(mode=WorldMode.GUI)
+world = BulletWorld(mode=WorldMode.DIRECT)
 
-milk = Object("Milk", ObjectType.MILK, "milk.stl")
-pr2 = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
-cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.4, 1, 0.95]))
+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]))
 ```
 
 The BulletWorld allows to render images from arbitrary positions. In the following example we render images with the
@@ -90,7 +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", ObjectType.ENVIRONMENT, "kitchen.urdf")
+kitchen = Object("kitchen", pycrap.Kitchen, "kitchen.urdf")
 ```
 
 ## Costmaps
@@ -270,7 +271,7 @@ Designators are used, for example, by the PickUpAction to know which object shou
 ```python
 from pycram.designators.object_designator import *
 
-milk_desig = BelieveObject(names=["Milk"])
+milk_desig = BelieveObject(names=["milk"])
 milk_desig.resolve()
 ```
 
@@ -281,7 +282,7 @@ Location Designator can create a position in cartisian space from a symbolic des
 ```python
 from pycram.designators.object_designator import *
 
-milk_desig = BelieveObject(names=["Milk"])
+milk_desig = BelieveObject(names=["milk"])
 milk_desig.resolve()
 ```
 
@@ -293,8 +294,8 @@ 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=[ObjectType.ROBOT]).resolve()
-milk_desig = BelieveObject(names=["Milk"]).resolve()
+robot_desig = BelieveObject(types=[pycrap.Robot]).resolve()
+milk_desig = BelieveObject(names=["milk"]).resolve()
 location_desig = CostmapLocation(target=milk_desig, visible_for=robot_desig)
 
 print(f"Resolved: {location_desig.resolve()}")

examples/language.md

@@ -73,12 +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
 
 world = BulletWorld()
-pr2 = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
+pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
 ```
 
 ```python

examples/local_transformer.md

@@ -28,6 +28,7 @@ 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
@@ -41,7 +42,7 @@ world first.
 
 ```python
 # Create an instance of the BulletWorld
-world = BulletWorld(WorldMode.GUI)
+world = BulletWorld(WorldMode.DIRECT)
 ```
 
 ## Adding Objects to the World
@@ -55,9 +56,9 @@ These objects will be used in subsequent tasks, to provide the frames to which w
 from pycram.worlds.bullet_world import Object
 from pycram.datastructures.enums import ObjectType
 
-kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
-milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([0.9, 1, 0.95]))
-bowl = Object("bowl", ObjectType.BOWL, "bowl.stl", pose=Pose([1.6, 1, 0.90]))
+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]))
 ```
 
 ## Creating a Local Transfomer

examples/location_designator.md

@@ -42,10 +42,11 @@ 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
 
-world = BulletWorld(WorldMode.GUI)
-apartment = Object("apartment", ObjectType.ENVIRONMENT, "apartment.urdf")
-pr2 = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
+world = BulletWorld(WorldMode.DIRECT)
+apartment = Object("apartment", pycrap.Apartment, "apartment.urdf")
+pr2 = Object("pr2", pycrap.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
@@ -78,7 +79,7 @@ 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", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
+milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([1.3, 1, 0.9]))
 
 ```
 
@@ -181,7 +182,7 @@ from pycram.datastructures.enums import ObjectType
 
 apartment_desig = BelieveObject(names=["apartment"])
 handle_desig = ObjectPart(names=["handle_cab10_t"], part_of=apartment_desig.resolve())
-robot_desig = BelieveObject(types=[ObjectType.ROBOT])
+robot_desig = BelieveObject(types=[pycrap.Robot])
 
 access_location = AccessingLocation(handle_desig.resolve(), robot_desig.resolve()).resolve()
 print(access_location.pose)

examples/migrate_neems.md

@@ -56,15 +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 *
+import pycrap
 
 
 class ExamplePlans:
     def __init__(self):
         self.world = BulletWorld("DIRECT")
-        self.pr2 = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
-        self.kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
-        self.milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
-        self.cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
+        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.milk_desig = ObjectDesignatorDescription(names=["milk"])
         self.cereal_desig = ObjectDesignatorDescription(names=["cereal"])
         self.robot_desig = ObjectDesignatorDescription(names=["pr2"]).resolve()

examples/minimal_task_tree.md

@@ -32,16 +32,17 @@ from pycram.datastructures.pose import Pose
 from pycram.datastructures.enums import ObjectType, WorldMode
 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
 world = BulletWorld(WorldMode.DIRECT)
-pr2 = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
-kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
-milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
-cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
+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]))
 milk_desig = ObjectDesignatorDescription(names=["milk"])
 cereal_desig = ObjectDesignatorDescription(names=["cereal"])
 robot_desig = ObjectDesignatorDescription(names=["pr2"]).resolve()

examples/motion_designator.md

@@ -27,10 +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
 
-world = BulletWorld(WorldMode.GUI)
-pr2 = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
-milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.5, 0, 1]))
+world = BulletWorld(WorldMode.DIRECT)
+pr2 = Object("pr2", pycrap.Robot, "pr2.urdf")
+milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([1.5, 0, 1]))
 ```
 
 ## Move
@@ -115,7 +116,7 @@ from pycram.process_module import simulated_robot
 with simulated_robot:
     LookingMotion(target=Pose([1.5, 0, 1], [0, 0, 0, 1])).perform()
 
-    motion_description = DetectingMotion(object_type=ObjectType.MILK)
+    motion_description = DetectingMotion(object_type=pycrap.Milk)
 
     obj = motion_description.perform()
 
@@ -150,7 +151,7 @@ from pycram.designators.motion_designator import WorldStateDetectingMotion
 from pycram.process_module import simulated_robot
 
 with simulated_robot:
-    motion_description = WorldStateDetectingMotion(object_type=ObjectType.MILK)
+    motion_description = WorldStateDetectingMotion(object_type=pycrap.Milk)
 
     obj = motion_description.perform()
 

examples/object_designator.md

@@ -36,8 +36,8 @@ 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
-
-world = BulletWorld(WorldMode.GUI)
+import pycrap
+world = BulletWorld(WorldMode.DIRECT)
 ```
 
 ## Believe Object
@@ -49,10 +49,12 @@ description which will be used to describe objects in the real world.
 Since {meth}`~pycram.designators.object_designator.BelieveObject` describes Objects in the BulletWorld we create a few.
 
 ```python
-kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
-milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
-cereal = Object("froot_loops", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.3, 0.9, 0.95]))
-spoon = Object("spoon", ObjectType.SPOON, "spoon.stl", pose=Pose([1.3, 1.1, 0.87]))
+import pycrap
+
+kitchen = Object("kitchen", pycrap.Kitchen, "kitchen.urdf")
+milk = Object("milk", pycrap.Milk, "milk.stl", pose=Pose([1.3, 1, 0.9]))
+cereal = Object("froot_loops", pycrap.Cereal, "breakfast_cereal.stl", pose=Pose([1.3, 0.9, 0.95]))
+spoon = Object("spoon", pycrap.Spoon, "spoon.stl", pose=Pose([1.3, 1.1, 0.87]))
 ```
 
 Now that we have objects we can create an object designator to describe them. For the start we want an object designator
@@ -73,7 +75,7 @@ the world.
 ```python
 from pycram.designators.object_designator import BelieveObject
 
-object_description = BelieveObject(types=[ObjectType.MILK, ObjectType.BREAKFAST_CEREAL])
+object_description = BelieveObject(types=[pycrap.Milk, pycrap.Cereal])
 
 print(object_description.resolve())
 ```
@@ -107,7 +109,7 @@ For this we need some objects, so if you didn't already spawn them you can use t
 ```python
 from pycram.designators.object_designator import BelieveObject
 
-object_description = BelieveObject(types=[ObjectType.MILK, ObjectType.BREAKFAST_CEREAL])
+object_description = BelieveObject(types=[pycrap.Milk, pycrap.Cereal])
 
 for obj in object_description:
     print(obj, "\n")