[knowledge] some tests and small fixes

src/pycram/designators/action_designator.py

@@ -1132,8 +1132,7 @@ def __init__(self, object_designator_description: ObjectPart, arms: List[Arms] =
         super().__init__(ontology_concept_holders)
         self.object_designator_description: ObjectPart = object_designator_description
         self.arms: List[Arms] = arms
-        self.knowledge_condition = ReachableProperty(
-            self.object_designator_description.resolve().pose) & GripperIsFreeProperty(self.arms[0])
+        self.knowledge_condition = GripperIsFreeProperty(self.arms)
 
         if self.soma:
             self.init_ontology_concepts({"opening": self.soma.Opening})
@@ -1180,8 +1179,7 @@ def __init__(self, object_designator_description: ObjectPart, arms: List[Arms] =
         super().__init__(ontology_concept_holders)
         self.object_designator_description: ObjectPart = object_designator_description
         self.arms: List[Arms] = arms
-        self.knowledge_condition = ReachableProperty(
-            self.object_designator_description.resolve().pose) & GripperIsFreeProperty(self.arms[0])
+        self.knowledge_condition = GripperIsFreeProperty(self.arms)
 
         if self.soma:
             self.init_ontology_concepts({"closing": self.soma.Closing})

src/pycram/knowledge/knowledge_engine.py

@@ -234,6 +234,7 @@ def __iter__(self) -> ActionDesignatorDescription.Action:
             raise ReasoningError(f"The parameters {not_reasoned} could not be inferred from the knowledge sources. Therefore, a complete designator can not be generated. ")
 
         for key, value in self.partial_designator.kwargs.items():
+            # This line means the parameter of the designator description will be preferred over the reasoned parameter
             if value is None:
                 self.partial_designator.kwargs[key] = matched_parameter[key]
 

test/test_knowledge.py

@@ -1,10 +1,10 @@
 from bullet_world_testcase import BulletWorldTestCase
 from knowledge_testcase import KnowledgeSourceTestCase, TestProperty, KnowledgeBulletTestCase
-from pycram.datastructures.enums import Arms, Grasp
+from pycram.datastructures.enums import Arms, Grasp, ObjectType
 from pycram.datastructures.partial_designator import PartialDesignator
 from pycram.datastructures.pose import Pose
-from pycram.designators.action_designator import PickUpAction, PickUpActionPerformable
-from pycram.designators.object_designator import BelieveObject
+from pycram.designators.action_designator import PickUpAction, PickUpActionPerformable, OpenAction
+from pycram.designators.object_designator import BelieveObject, ObjectPart
 from pycram.knowledge.knowledge_engine import KnowledgeEngine
 from pycram.process_modules.pr2_process_modules import Pr2MoveArmJoints
 
@@ -141,6 +141,21 @@ def test_pickup_arm(self):
         desig = partial_desig.resolve()
         self.assertEqual(desig.grasp, Grasp.FRONT)
 
+    def test_pickup_grasp(self):
+        test_object = BelieveObject(names=["milk"])
+        partial_desig = PickUpAction(test_object, [Arms.RIGHT])
+        desig = partial_desig.resolve()
+        self.assertEqual(desig.grasp, Grasp.FRONT)
+
+    def test_open_gripper(self):
+        self.robot.set_pose(Pose([-0.192, 1.999, 0], [0, 0, 0.8999, -0.437]))
+        self.robot.set_joint_position("torso_lift_joint", 0.3)
+        env_object = BelieveObject(names=["kitchen"]).resolve()
+        handle_desig = ObjectPart(["kitchen_island_middle_upper_drawer_handle"], env_object)
+        partial_desig = OpenAction(handle_desig, [Arms.RIGHT])
+        desig = partial_desig.resolve()
+        self.assertEqual(desig.arm, Arms.RIGHT)
+
 
 class TestReasoningInstance(KnowledgeSourceTestCase):
     pass