Merge branch 'dev' of github.com:cram2/pycram into feature-rapid-neem…

…-creation

.github/workflows/new-pycram-ci.yml

@@ -60,6 +60,8 @@ jobs:
           pip3 install --upgrade pip --root-user-action=ignore
           cd /opt/ros/overlay_ws/src/pycram
           pip3 install -r requirements.txt
+          sudo apt-get update
+          sudo apt-get install -y libpq-dev
           pip3 install -r requirements-resolver.txt
 
       - name: Install pytest & pyjpt
@@ -71,3 +73,9 @@ jobs:
           source /opt/ros/overlay_ws/devel/setup.bash 
           roscd pycram
           pytest -v test
+
+      - name: Run Demos
+        run: | 
+          source /opt/ros/overlay_ws/devel/setup.bash 
+          roscd pycram
+          python3 demos/pycram_bullet_world_demo/test_demo.py

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

@@ -0,0 +1,84 @@
+name: Test Jupyter Notebook Examples
+
+on:
+  push:
+    branches:
+      - dev
+      - master
+  pull_request:
+    branches:
+      - master
+      - dev
+
+# ----------------------------------------------------------------------------------------------------------------------
+
+defaults:
+  run:
+    shell: bash
+    working-directory: .
+
+jobs:
+  test-and-build:
+    name: Test Jupyter Notebooks
+    runs-on: ubuntu-20.04
+    container:
+      image: "pycram/pycram:dev"
+
+    steps:
+
+      - name: Checkout PyCRAM
+        uses: actions/checkout@v3
+        with:
+          path: "ros/src/pycram"
+          repository: ${{ github.repository }}
+          ref: ${{ github.ref }}
+          submodules: "recursive"
+
+      # For debugging
+      - name: Setup tmate session
+        uses: mxschmitt/action-tmate@v3
+        if: ${{ github.event_name == 'workflow_dispatch' && inputs.debug_enabled }}
+
+      - name: Update PyCRAM source files
+        run: |
+          rm -rf /opt/ros/overlay_ws/src/pycram/* 
+          cd /opt/ros/overlay_ws/src/pycram
+          rm -rf .git .github .gitignore .gitmodules .readthedocs.yaml
+          cp -r /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}/ros/src/pycram /opt/ros/overlay_ws/src
+
+      # ----------------------------------------------------------------------------------------------------------------
+
+      - name: Install python dependencies
+        run: |
+          pip3 install --upgrade pip --root-user-action=ignore
+          cd /opt/ros/overlay_ws/src/pycram
+          pip3 install -r requirements.txt
+          sudo apt-get update
+          sudo apt-get install -y libpq-dev
+          pip3 install -r requirements-resolver.txt
+
+      # ----------------------------------------------------------------------------------------------------------------
+
+      - name: Install Jupytext & Jupyter notebook
+        run: |
+          pip3 install jupytext treon
+
+      # ----------------------------------------------------------------------------------------------------------------
+      - name: Convert Notebooks
+        run: |
+          cd /opt/ros/overlay_ws/src/pycram/examples
+          rm -rf tmp
+          mkdir tmp
+          jupytext --to notebook *.md
+          mv *.ipynb tmp && cd tmp
+
+      - name: Source and start ROS
+        run: |
+          source /opt/ros/overlay_ws/devel/setup.bash 
+          roslaunch pycram ik_and_description.launch &
+
+      - name: Run tests
+        run: |
+          source /opt/ros/overlay_ws/devel/setup.bash 
+          roscd pycram/examples/tmp
+          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/*

config/multiverse_conf.py

@@ -70,3 +70,6 @@ class MultiverseConfig(WorldConfig):
 
     position_tolerance = 2e-2
     prismatic_joint_position_tolerance = 2e-2
+
+    use_giskard_monitor = False
+    allow_gripper_collision = False

config/world_conf.py

@@ -88,6 +88,17 @@ class WorldConfig:
     """
     Whether to raise an error if the goals are not achieved.
     """
+
+    use_giskard_monitor: bool = True
+    """
+    Whether to use the Giskard goal monitor when executing the goals.
+    """
+
+    allow_gripper_collision: bool = True
+    """
+    Whether to allow the gripper to collide with the objects when planning for the goals.
+    """
+
     @classmethod
     def get_pose_tolerance(cls) -> Tuple[float, float]:
         return cls.position_tolerance, cls.orientation_tolerance

demos/pycram_bullet_world_demo/demo.py

@@ -2,28 +2,32 @@
 from pycram.designators.action_designator import *
 from pycram.designators.location_designator import *
 from pycram.designators.object_designator import *
-from pycram.datastructures.enums import ObjectType, WorldMode
+from pycram.datastructures.enums import WorldMode
 from pycram.datastructures.pose import Pose
 from pycram.process_module import simulated_robot, with_simulated_robot
 from pycram.object_descriptors.urdf import ObjectDescription
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.dataclasses import Color
 from pycram.ros.viz_marker_publisher import VizMarkerPublisher
+from pycrap import Robot, Apartment, Milk, Cereal, Spoon, Bowl
+import numpy as np
 
+
+np.random.seed(420)
 extension = ObjectDescription.get_file_extension()
 
 world = BulletWorld(WorldMode.GUI)
 
-robot = Object("pr2", ObjectType.ROBOT, f"pr2{extension}", pose=Pose([1, 2, 0]))
-apartment = Object("apartment", ObjectType.ENVIRONMENT, f"apartment{extension}")
+robot = Object("pr2", Robot, f"pr2{extension}", pose=Pose([1, 2, 0]))
+apartment = Object("apartment", Apartment, f"apartment{extension}")
 
-milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([2.5, 2, 1.02]),
+milk = Object("milk", Milk, "milk.stl", pose=Pose([2.5, 2, 1.02]),
               color=Color(1, 0, 0, 1))
-cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl",
+cereal = Object("cereal", Cereal, "breakfast_cereal.stl",
                 pose=Pose([2.5, 2.3, 1.05]), color=Color(0, 1, 0, 1))
-spoon = Object("spoon", ObjectType.SPOON, "spoon.stl", pose=Pose([2.4, 2.2, 0.85]),
+spoon = Object("spoon", Spoon, "spoon.stl", pose=Pose([2.4, 2.24, 0.85]),
                color=Color(0, 0, 1, 1))
-bowl = Object("bowl", ObjectType.BOWL, "bowl.stl", pose=Pose([2.5, 2.2, 1.02]),
+bowl = Object("bowl", Bowl, "bowl.stl", pose=Pose([2.5, 2.2, 1.02]),
               color=Color(1, 1, 0, 1))
 apartment.attach(spoon, 'cabinet10_drawer_top')
 
@@ -39,27 +43,26 @@ def move_and_detect(obj_type):
 
     LookAtAction(targets=[pick_pose]).resolve().perform()
 
-    object_desig = DetectAction(BelieveObject(types=[obj_type])).resolve().perform()
-
-    return object_desig
+    object_desig = DetectAction(technique=DetectionTechnique.TYPES, object_designator_description=BelieveObject(types=[obj_type])).resolve().perform()
+    return object_desig[0]
 
 
 with simulated_robot:
     ParkArmsAction([Arms.BOTH]).resolve().perform()
 
     MoveTorsoAction([0.25]).resolve().perform()
 
-    milk_desig = move_and_detect(ObjectType.MILK)
+    milk_desig = move_and_detect(Milk)
 
-    TransportAction(milk_desig, [Arms.LEFT], [Pose([4.8, 3.55, 0.8])]).resolve().perform()
+    TransportAction(milk_desig,  [Pose([4.8, 3.55, 0.8])], [Arms.LEFT]).resolve().perform()
 
-    cereal_desig = move_and_detect(ObjectType.BREAKFAST_CEREAL)
+    cereal_desig = move_and_detect(Cereal)
 
-    TransportAction(cereal_desig, [Arms.RIGHT], [Pose([5.2, 3.4, 0.8], [0, 0, 1, 1])]).resolve().perform()
+    TransportAction(cereal_desig,  [Pose([5.2, 3.4, 0.8], [0, 0, 1, 1])],[Arms.RIGHT]).resolve().perform()
 
-    bowl_desig = move_and_detect(ObjectType.BOWL)
+    bowl_desig = move_and_detect(Bowl)
 
-    TransportAction(bowl_desig, [Arms.LEFT], [Pose([5, 3.3, 0.8], [0, 0, 1, 1])]).resolve().perform()
+    TransportAction(bowl_desig,  [Pose([5, 3.3, 0.8], [0, 0, 1, 1])], [Arms.LEFT]).resolve().perform()
 
     # Finding and navigating to the drawer holding the spoon
     handle_desig = ObjectPart(names=["handle_cab10_t"], part_of=apartment_desig.resolve())
@@ -74,8 +77,9 @@ def move_and_detect(obj_type):
     # Detect and pickup the spoon
     LookAtAction([apartment.get_link_pose("handle_cab10_t")]).resolve().perform()
 
-    spoon_desig = DetectAction(BelieveObject(types=[ObjectType.SPOON])).resolve().perform()
-
+    spoon_desigs = DetectAction(technique=DetectionTechnique.TYPES,
+                               object_designator_description=BelieveObject(types=[Spoon])).resolve().perform()
+    spoon_desig = spoon_desigs[0]
     pickup_arm = Arms.LEFT if drawer_open_loc.arms[0] == Arms.RIGHT else Arms.RIGHT
     PickUpAction(spoon_desig, [pickup_arm], [Grasp.TOP]).resolve().perform()
 

demos/pycram_bullet_world_demo/test_demo.py

@@ -0,0 +1,7 @@
+from pycram.datastructures.world import World
+
+try:
+    import demo
+except Exception as e:
+    World.current_world.exit()
+    raise e

doc/source/_toc.yml

@@ -14,6 +14,9 @@ parts:
     - file: new_robot.rst
     - file: notebooks.rst
     - file: designators.rst
+    - file: knowledge.rst
+    - file: knowledge_and_reasoning.rst
+    - file: costmap.rst
 
   - caption: Trouble Shooting
     chapters:
@@ -27,6 +30,8 @@ parts:
       - file: notebooks/bullet_world
       - file: notebooks/language
       - file: notebooks/local_transformer
+      - file: notebooks/minimal_task_tree
+      - file: notebooks/improving_actions
       - file: designator_example.rst
         sections:
         - file: notebooks/action_designator
@@ -47,6 +52,10 @@ parts:
         - file: notebooks/interface_examples/giskard.md
         - file: notebooks/interface_examples/robokudo.md
         - file: notebooks/ontology
+      - file: knowledge_examples.rst
+        sections:
+        - file: notebooks/knowledge_source.md
+        - file: notebooks/properties.md
 
   - caption: API
     chapters: