[MultiverseActions] merged new dev changes and fixed issues.

src/pycram/world_concepts/world_object.py

@@ -37,7 +37,7 @@ class Object(WorldEntity):
     """
 
     def __init__(self, name: str, obj_type: ObjectType, path: str,
-                 description: Type[ObjectDescription] = URDFObject,
+                 description: Optional[ObjectDescription] = None,
                  pose: Optional[Pose] = None,
                  world: Optional[World] = None,
                  color: Color = Color(),
@@ -68,7 +68,7 @@ def __init__(self, name: str, obj_type: ObjectType, path: str,
         self.path: Optional[str] = path
         self.obj_type: ObjectType = obj_type
         self.color: Color = color
-        self.description = description()
+        self.description = description if description is not None else URDFObject()
         self.cache_manager = self.world.cache_manager
 
         self.local_transformer = LocalTransformer()
@@ -1347,7 +1347,7 @@ def copy_to_world(self, world: World) -> Object:
         :param world: The world to which the object should be copied.
         :return: The copied object in the given world.
         """
-        obj = Object(self.name, self.obj_type, self.path, type(self.description), self.get_pose(),
+        obj = Object(self.name, self.obj_type, self.path, self.description, self.get_pose(),
                      world, self.color)
         return obj
 

src/pycram/worlds/bullet_world.py

@@ -78,15 +78,15 @@ def load_generic_object_and_get_id(self, description: GenericObjectDescription)
         """
         # Create visual shape
         vis_shape = p.createVisualShape(p.GEOM_BOX, halfExtents=description.shape_data,
-                                        rgbaColor=description.color.get_rgba())
+                                        rgbaColor=description.color.get_rgba(), physicsClientId=self.id)
 
         # Create collision shape
-        col_shape = p.createCollisionShape(p.GEOM_BOX, halfExtents=description.shape_data)
+        col_shape = p.createCollisionShape(p.GEOM_BOX, halfExtents=description.shape_data, physicsClientId=self.id)
 
         # Create MultiBody with both visual and collision shapes
         obj_id = p.createMultiBody(baseMass=1.0, baseCollisionShapeIndex=col_shape, baseVisualShapeIndex=vis_shape,
                                    basePosition=description.origin.position_as_list(),
-                                   baseOrientation=description.origin.orientation_as_list())
+                                   baseOrientation=description.origin.orientation_as_list(), physicsClientId=self.id)
 
         # Assuming you have a list to keep track of created objects
         return obj_id

test/bullet_world_testcase.py

@@ -30,7 +30,7 @@ def setUpClass(cls):
                            RobotDescription.current_robot_description.name + cls.extension)
         cls.kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen" + cls.extension)
         cls.cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl",
-                            ObjectDescription, pose=Pose([1.3, 0.7, 0.95]))
+                            pose=Pose([1.3, 0.7, 0.95]))
         ProcessModule.execution_delay = False
         cls.viz_marker_publisher = VizMarkerPublisher()
         OntologyManager(SOMA_ONTOLOGY_IRI)

test/test_bullet_world.py

@@ -53,8 +53,7 @@ def test_remove_object(self):
         self.assertTrue(milk_id in [obj.id for obj in self.world.objects])
         self.world.remove_object(self.milk)
         self.assertTrue(milk_id not in [obj.id for obj in self.world.objects])
-        BulletWorldTest.milk = Object("milk", ObjectType.MILK, "milk.stl",
-                                      ObjectDescription, pose=Pose([1.3, 1, 0.9]))
+        BulletWorldTest.milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
 
     def test_remove_robot(self):
         robot_id = self.robot.id

test/test_failure_handling.py

@@ -33,8 +33,8 @@ class FailureHandlingTest(unittest.TestCase):
     @classmethod
     def setUpClass(cls):
         cls.world = BulletWorld(WorldMode.DIRECT)
-        cls.robot = Object(RobotDescription.current_robot_description.name, ObjectType.ROBOT, RobotDescription.current_robot_description.name + extension,
-                           ObjectDescription)
+        cls.robot = Object(RobotDescription.current_robot_description.name, ObjectType.ROBOT,
+                           RobotDescription.current_robot_description.name + extension)
         ProcessModule.execution_delay = True
 
     def setUp(self):

test/test_object.py

@@ -166,6 +166,7 @@ def test_object_equal(self):
 class GenericObjectTestCase(BulletWorldTestCase):
 
     def test_init_generic_object(self):
-        gen_obj_desc = lambda: GenericObjectDescription("robokudo_object", [0,0,0], [0.1, 0.1, 0.1])
+        gen_obj_desc = GenericObjectDescription("robokudo_object", [0,0,0], [0.1, 0.1, 0.1])
         obj = Object("robokudo_object", ObjectType.MILK, None, gen_obj_desc)
-        self.assertTrue(True)
+        pose = obj.get_pose()
+        self.assertTrue(isinstance(pose, Pose))

test/test_robot_description.py

@@ -3,7 +3,7 @@
 from pycram.robot_description import RobotDescription, KinematicChainDescription, EndEffectorDescription, \
     CameraDescription, RobotDescriptionManager
 from pycram.datastructures.enums import Arms, GripperState
-from pycram.object_descriptors.urdf import ObjectDescription as URDFObject
+from pycram.object_descriptors.urdf import ObjectDescription as URDF
 
 
 class TestRobotDescription(unittest.TestCase):
@@ -12,15 +12,15 @@ class TestRobotDescription(unittest.TestCase):
     def setUpClass(cls):
         cls.path = str(pathlib.Path(__file__).parent.resolve()) + '/../resources/robots/' + "pr2" + '.urdf'
         cls.path_turtlebot = str(pathlib.Path(__file__).parent.resolve()) + '/../resources/robots/' + "turtlebot" + '.urdf'
-        cls.urdf_obj = URDFObject(cls.path)
+        cls.urdf_obj = URDF(cls.path)
 
     def test_robot_description_construct(self):
         robot_description = RobotDescription("pr2", "base_link", "torso_lift_link", "torso_lift_joint", self.path)
         self.assertEqual(robot_description.name, "pr2")
         self.assertEqual(robot_description.base_link, "base_link")
         self.assertEqual(robot_description.torso_link, "torso_lift_link")
         self.assertEqual(robot_description.torso_joint, "torso_lift_joint")
-        self.assertTrue(type(robot_description.urdf_object) is URDFObject)
+        self.assertTrue(type(robot_description.urdf_object) is URDF)
         self.assertEqual(len(robot_description.links), 88)
         self.assertEqual(len(robot_description.joints), 87)