Feature rapid neem creation

demos/playingfield/ceo.py → demos/pycram_procthor_demo/demo.py

@@ -16,8 +16,6 @@
 import pycram.orm.base
 from pycram.external_interfaces.procthor import ProcThorInterface
 
-# Many Plans in many environments with many robots
-# Don't know where to store NEEM so I start with the memory db
 engine = sqlalchemy.create_engine("sqlite+pysqlite:///:memory:", echo=False)
 session_maker = sqlalchemy.orm.sessionmaker(bind=engine)
 session = session_maker()
@@ -34,7 +32,7 @@
 
 # Get Environments
 number_of_known_environment = len(
-    procThorInterface.get_all_environments_stored_below_folder(procThorInterface.source_folder))
+    procThorInterface.get_all_environments_stored_below_dictionary(procThorInterface.source_folder))
 print("Number of known Environments:{}".format(number_of_known_environment))
 print("Number of needed Testenvironments:{}".format(number_of_test_environment))
 
@@ -46,7 +44,7 @@ def runWorld():
     counter = 0
     works = 0
     fails = 0
-    known_environments = procThorInterface.get_all_environments_stored_below_folder(procThorInterface.source_folder)
+    known_environments = procThorInterface.get_all_environments_stored_below_dictionary(procThorInterface.source_folder)
     world = BulletWorld(WorldMode.GUI)
     apartment = None
     milk_pos = Pose([1, -1.78, 0.55], [1, 0, 0, 0])

examples/interface_examples/procthor.md

@@ -49,7 +49,8 @@ number_of_test_environment=5
 First let us check how many different environments are already known.
 
 ```python
-number_of_known_environment=len(procThorInterface.get_all_environments_stored_below_folder(procThorInterface.source_folder))
+number_of_known_environment = len(
+    procThorInterface.get_all_environments_stored_below_dictionary(procThorInterface.source_folder))
 print("Number of known Environments:{}".format(number_of_known_environment))
 print("Number of needed Testenvironments:{}".format(number_of_test_environment))
 ```
@@ -63,23 +64,24 @@ if number_of_known_environment < number_of_test_environment:
 
 Now that the preparations are met we can start to run our plan for each robot (even though it is only one) and each
 environment we know:
+
 ```python
 v = 0
 works = 0
 fails = 0
-known_environments = procThorInterface.get_all_environments_stored_below_folder(procThorInterface.source_folder)
-world=BulletWorld(WorldMode.GUI)
-apartment=None
+known_environments = procThorInterface.get_all_environments_stored_below_dictionary(procThorInterface.source_folder)
+world = BulletWorld(WorldMode.GUI)
+apartment = None
 milk_pos = Pose([1, -1.78, 0.55], [1, 0, 0, 0])
 milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1, -1.78, 0.55], [1, 0, 0, 0]),
               color=Color(1, 0, 0, 1))
 for robot in robots:
-    robot_obj=Object("pr2", ObjectType.ROBOT, robot, pose=Pose([1, 2, 0]))
+    robot_obj = Object("pr2", ObjectType.ROBOT, robot, pose=Pose([1, 2, 0]))
     for environment in known_environments:
         v += 1
         print("Trying plan: {} with robot: {} in: {}".format("param_plan", robot, environment["name"]))
         try:
-            apartment = Object(environment["name"], ObjectType.ENVIRONMENT,environment["storage_place"])
+            apartment = Object(environment["name"], ObjectType.ENVIRONMENT, environment["storage_place"])
             generic_plan(world)
             works += 1
             print("Successfully!\n Overall successful tries: {}".format(works))
@@ -112,7 +114,6 @@ for robot in robots:
 if World.current_world is None:
     world.remove_object(robot_obj)
 
-
 print("Resume:\nOverall successful tries: {}\nOverall failed tries: {}".format(works, fails))
 World.current_world.exit()
 ```

src/pycram/external_interfaces/procthor.py

@@ -15,7 +15,7 @@ def __init__(self, base_url="http://procthor.informatik.uni-bremen.de:5000",
         self.base_url = base_url
         self.source_folder = source_folder
         self.stored_environments = []
-        self.stored_environments.extend(self.get_all_environments_stored_below_folder(self.source_folder))
+        self.stored_environments.extend(self.get_all_environments_stored_below_dictionary(self.source_folder))
 
     def _download_file(self, base_url: str, full_url: str, folder: str) -> str:
         """
@@ -97,7 +97,7 @@ def download_all_files_from_URL(self, base_url: str, folder: str) -> None:
 
     # Returns a list of all the urdf files in a given folder structure if non is given uses the base_source_folder
     # only look for urdf, but can be easly adapted
-    def get_all_environments_stored_below_folder(self, source_folder: str) -> list:
+    def get_all_environments_stored_below_dictionary(self, source_folder: str) -> list:
         """
         Returns a list of dictionaries that contains the name and the storage_place of all urdf files below a given
         folder. Only looks for urdf.