Merge branch 'dev' of github.com:cram2/pycram into jupyter-books

.github/workflows/reusable-sphinx-build.yml

@@ -26,6 +26,11 @@ jobs:
       - name: Checkout 🛎
         uses: actions/checkout@v3
 
+      - name: Install PyCRAM dependencies 🍼
+        uses: py-actions/py-dependency-install@v4
+        with:
+          path: "requirements-setuptools.txt"
+
       # ----------------------------------------------------------------------------------------------------------------
 
       - name: Install PyCRAM dependencies 🍼

demos/pycram_bullet_world_demo/demo.py

@@ -49,15 +49,15 @@ def move_and_detect(obj_type):
 
     milk_desig = move_and_detect(ObjectType.MILK)
 
-    TransportAction(milk_desig, ["left"], [Pose([4.8, 3.55, 0.8])]).resolve().perform()
+    TransportAction(milk_desig, [Arms.LEFT], [Pose([4.8, 3.55, 0.8])]).resolve().perform()
 
     cereal_desig = move_and_detect(ObjectType.BREAKFAST_CEREAL)
 
-    TransportAction(cereal_desig, ["right"], [Pose([5.2, 3.4, 0.8], [0, 0, 1, 1])]).resolve().perform()
+    TransportAction(cereal_desig, [Arms.RIGHT], [Pose([5.2, 3.4, 0.8], [0, 0, 1, 1])]).resolve().perform()
 
     bowl_desig = move_and_detect(ObjectType.BOWL)
 
-    TransportAction(bowl_desig, ["left"], [Pose([5, 3.3, 0.8], [0, 0, 1, 1])]).resolve().perform()
+    TransportAction(bowl_desig, [Arms.LEFT], [Pose([5, 3.3, 0.8], [0, 0, 1, 1])]).resolve().perform()
 
     # Finding and navigating to the drawer holding the spoon
     handle_desig = ObjectPart(names=["handle_cab10_t"], part_of=apartment_desig.resolve())
@@ -74,10 +74,10 @@ def move_and_detect(obj_type):
 
     spoon_desig = DetectAction(BelieveObject(types=[ObjectType.SPOON])).resolve().perform()
 
-    pickup_arm = "left" if drawer_open_loc.arms[0] == "right" else "right"
-    PickUpAction(spoon_desig, [pickup_arm], ["top"]).resolve().perform()
+    pickup_arm = Arms.LEFT if drawer_open_loc.arms[0] == Arms.RIGHT else Arms.RIGHT
+    PickUpAction(spoon_desig, [pickup_arm], [Grasp.TOP]).resolve().perform()
 
-    ParkArmsAction([Arms.LEFT if pickup_arm == "left" else Arms.RIGHT]).resolve().perform()
+    ParkArmsAction([Arms.LEFT if pickup_arm == Arms.LEFT else Arms.RIGHT]).resolve().perform()
 
     CloseAction(object_designator_description=handle_desig, arms=[drawer_open_loc.arms[0]]).resolve().perform()
 

requirements-setuptools.txt

@@ -7,5 +7,5 @@ importlib_metadata>=6
 tomli>=2.0.1
 wheel>=0.43.0
 
-# pkg_resources
+
 platformdirs >= 2.6.2

src/pycram/__init__.py

@@ -31,3 +31,5 @@
 ch.setFormatter(formatter)
 
 #from .specialized_designators import *
+
+__version__ = "0.0.2"

src/pycram/robot_descriptions/pr2_description.py

@@ -51,8 +51,8 @@
                                                'r_gripper_r_finger_joint': 0.548})
 right_gripper.add_static_joint_states(GripperState.CLOSE, {'r_gripper_l_finger_joint': 0.0,
                                                 'r_gripper_r_finger_joint': 0.0})
-left_gripper.end_effector_type = GripperType.PARALLEL
-left_gripper.opening_distance = 0.548
+right_gripper.end_effector_type = GripperType.PARALLEL
+right_gripper.opening_distance = 0.548
 right_arm.end_effector = right_gripper