Merge branch 'dev' of github.com:cram2/pycram into knowledge

.github/workflows/reusable-sphinx-build.yml → .github/workflows/reusable-jupyter-book-build.yml

@@ -1,4 +1,4 @@
-name: Build Sphinx documentation 📖
+name: Build Jupyter-Book documentation 📖
 
 on:
   push:
@@ -18,30 +18,35 @@ defaults:
 
 jobs:
   test-and-build:
-    name: Build Sphinx documentation
-    runs-on: ubuntu-20.04
+    name: Build Jupyter-Book  documentation
+    runs-on: ubuntu-22.04
 
     steps:
 
       - 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 🍼
+      - name: Install Jupyter-Book  dependencies 🍼
         uses: py-actions/py-dependency-install@v4
         with:
           path: "requirements.txt"
 
       # ----------------------------------------------------------------------------------------------------------------
-      - name: Install Sphinx dependencies 📚
+      - name: Install Jupyter-Book  dependencies 📚
         uses: py-actions/py-dependency-install@v4
         with:
           path: "doc/requirements.txt"
 
       # ----------------------------------------------------------------------------------------------------------------
-      - name: Build Sphinx documentation 📝
+      - name: Build Jupyter-Book  documentation 📝
         working-directory: ./doc
         run: |
-          sudo apt install pandoc
-          make html
+          cd source
+          jupyter-book build .

.readthedocs.yaml

@@ -1,13 +1,31 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
 version: 2
 
+# Set the OS, Python version and other tools you might need
 build:
-  os: "ubuntu-20.04"
+  os: ubuntu-22.04
   tools:
-    python: "3.8"
+    python: "3.9"
+  apt_packages:
+    - graphviz
+    - python3-catkin-pkg
+  jobs:
+    pre_build:
+      # Generate the Sphinx configuration for this Jupyter Book so it builds.
+      - "jupyter-book config sphinx doc/source"
 
 python:
-    install:
-      - requirements: doc/requirements.txt
+  install:
+    - requirements: doc/requirements.txt
+#    - method: pip
+#      path: .
+#      extra_requirements:
+#      - catkin_pkg
+#      - sphinx
 
-submodules:
-  exclude: all
+sphinx:
+  builder: html

Dockerfile

@@ -6,7 +6,7 @@ FROM $FROM_IMAGE as builder
 ARG OVERLAY_WS=/opt/ros/overlay_ws
 WORKDIR $OVERLAY_WS/src
 
-RUN sudo apt-get update && apt-get install python3-pip python3-vcstool git -y
+RUN sudo apt-get update && apt-get install python3-pip python3-vcstool git default-jre -y
 RUN vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev/pycram-https.rosinstall --recursive --skip-existing $OVERLAY_WS/src
 RUN sudo apt-get update && apt-get install python3-pip -y && pip3 install pip --upgrade
 RUN pip3 install --no-cache-dir -r $OVERLAY_WS/src/pycram/requirements.txt

README.md

@@ -29,18 +29,19 @@ The plan that both robots execute is a relativly simple pick and place plan:
 
 The code for this plan can be seen below.
 ```
-from pycram.bullet_world import BulletWorld, Object
+from pycram.worlds.bullet_world import BulletWorld
+from pycram.world_concepts.world_object import Object
 from pycram.process_module import simulated_robot
 from pycram.designators.motion_designator import *
 from pycram.designators.location_designator import *
 from pycram.designators.action_designator import *
 from pycram.designators.object_designator import *
-from pycram.enums import ObjectType
+from pycram.datastructures.enums import ObjectType, Arms, Grasp, WorldMode
 
-world = BulletWorld()
+world = BulletWorld(WorldMode.GUI)
 kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
 robot = Object("pr2", ObjectType.ROBOT, "pr2.urdf")
-cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", position=[1.4, 1, 0.95])
+cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.4, 1, 0.95]))
 
 cereal_desig = ObjectDesignatorDescription(names=["cereal"])
 kitchen_desig = ObjectDesignatorDescription(names=["kitchen"])
@@ -56,7 +57,7 @@ with simulated_robot:
 
     NavigateAction(target_locations=[pickup_pose.pose]).resolve().perform()
 
-    PickUpAction(object_designator_description=cereal_desig, arms=[pickup_arm], grasps=["front"]).resolve().perform()
+    PickUpAction(object_designator_description=cereal_desig, arms=[pickup_arm], grasps=[Grasp.FRONT]).resolve().perform()
 
     ParkArmsAction([Arms.BOTH]).resolve().perform()
 
@@ -69,6 +70,8 @@ with simulated_robot:
     PlaceAction(cereal_desig, target_locations=[place_island.pose], arms=[pickup_arm]).resolve().perform()
 
     ParkArmsAction([Arms.BOTH]).resolve().perform()
+
+world.exit()
 ```
 
 

binder/README.md

@@ -99,8 +99,7 @@ RUN cd pycram \
   && cd src/neem_interface_python \
   && git clone https://github.com/benjaminalt/neem-interface.git src/neem-interface
 
-RUN pip install --requirement ${PYCRAM_WS}/src/pycram/requirements.txt --user 
-RUN pip install --requirement ${PYCRAM_WS}/src/pycram/src/neem_interface_python/requirements.txt --user \
+RUN pip install --requirement ${PYCRAM_WS}/src/pycram/requirements.txt --user \
   && pip cache purge
 ```
 
@@ -448,15 +447,3 @@ with simulated_robot:
                  arms=["left"],
                  grasps=["left", "right"]).resolve().perform()
 ```
-
-
-
-
-
-
-
-
-
-
-
-

binder/pycram-http.rosinstall

@@ -7,18 +7,10 @@ repositories:
     type: git
     url: http://github.com/code-iai/iai_robots.git
     version: master
-  pr2_common:
-    type: git
-    url: https://github.com/PR2/pr2_common.git
-    version: b34703bcca2b07cadbc3777d3c504c232a0c0c28
   kdl_ik_services:
     type: git
     url: https://github.com/cram2/kdl_ik_service.git
     verison: master
-  pr2_kinematics:
-    type: git
-    url: https://github.com/PR2/pr2_kinematics.git
-    version: kinetic-devel
   orocos_kinematics_dynamics:
     type: git
     url: https://github.com/orocos/orocos_kinematics_dynamics.git

config/multiverse_conf.py

@@ -0,0 +1,72 @@
+import datetime
+
+from typing_extensions import Type
+
+from .world_conf import WorldConfig
+from pycram.description import ObjectDescription
+from pycram.helper import find_multiverse_resources_path
+from pycram.object_descriptors.mjcf import ObjectDescription as MJCF
+
+
+class MultiverseConfig(WorldConfig):
+    # Multiverse Configuration
+    resources_path = find_multiverse_resources_path()
+    """
+    The path to the Multiverse resources directory.
+    """
+
+    # Multiverse Socket Configuration
+    HOST: str = "tcp://127.0.0.1"
+    SERVER_HOST: str = HOST
+    SERVER_PORT: str = 7000
+    BASE_CLIENT_PORT: int = 9000
+
+    # Multiverse Client Configuration
+    READER_MAX_WAIT_TIME_FOR_DATA: datetime.timedelta = datetime.timedelta(milliseconds=1000)
+    """
+    The maximum wait time for the data in seconds.
+    """
+
+    # Multiverse Simulation Configuration
+    simulation_time_step: datetime.timedelta = datetime.timedelta(milliseconds=10)
+    simulation_frequency: int = int(1 / simulation_time_step.total_seconds())
+    """
+    The time step of the simulation in seconds and the frequency of the simulation in Hz.
+    """
+
+    simulation_wait_time_factor: float = 1.0
+    """
+    The factor to multiply the simulation wait time with, this is used to adjust the simulation wait time to account for
+    the time taken by the simulation to process the request, this depends on the computational power of the machine
+    running the simulation.
+    """
+
+    use_static_mode: bool = True
+    """
+    If True, the simulation will always be in paused state unless the simulate() function is called, this behaves 
+    similar to bullet_world which uses the bullet physics engine.
+    """
+
+    use_controller: bool = False
+    use_controller = use_controller and not use_static_mode
+    """
+    Only used when use_static_mode is False. This turns on the controller for the robot joints.
+    """
+
+    default_description_type: Type[ObjectDescription] = MJCF
+    """
+    The default description type for the objects.
+    """
+
+    use_physics_simulator_state: bool = True
+    """
+    Whether to use the physics simulator state when restoring or saving the world state.
+    """
+
+    clear_cache_at_start = False
+
+    let_pycram_move_attached_objects = False
+    let_pycram_handle_spawning = False
+
+    position_tolerance = 2e-2
+    prismatic_joint_position_tolerance = 2e-2

config/world_conf.py

@@ -0,0 +1,93 @@
+import math
+import os
+
+from typing_extensions import Tuple, Type
+from pycram.description import ObjectDescription
+from pycram.object_descriptors.urdf import ObjectDescription as URDF
+
+
+class WorldConfig:
+
+    """
+    A class to store the configuration of the world, this can be inherited to create a new configuration class for a
+    specific world (e.g. multiverse has MultiverseConfig which inherits from this class).
+    """
+
+    resources_path = os.path.join(os.path.dirname(__file__), '..', '..', '..', 'resources')
+    resources_path = os.path.abspath(resources_path)
+    """
+    Global reference for the resources path, this is used to search for the description files of the robot and
+     the objects.
+    """
+
+    cache_dir_name: str = 'cached'
+    """
+    The name of the cache directory.
+    """
+
+    cache_dir: str = os.path.join(resources_path, cache_dir_name)
+    """
+    Global reference for the cache directory, this is used to cache the description files of the robot and the objects.
+    """
+
+    clear_cache_at_start: bool = True
+    """
+    Whether to clear the cache directory at the start.
+    """
+
+    prospection_world_prefix: str = "prospection_"
+    """
+    The prefix for the prospection world name.
+    """
+
+    simulation_frequency: int = 240
+    """
+    The simulation frequency (Hz), used for calculating the equivalent real time in the simulation.
+    """
+
+    update_poses_from_sim_on_get: bool = True
+    """
+    Whether to update the poses from the simulator when getting the object poses.
+    """
+
+    default_description_type: Type[ObjectDescription] = URDF
+    """
+    The default description type for the objects.
+    """
+
+    use_physics_simulator_state: bool = False
+    """
+    Whether to use the physics simulator state when restoring or saving the world state.
+    Currently with PyBullet, this causes a bug where ray_test does not work correctly after restoring the state using the
+    simulator, so it is recommended to set this to False in PyBullet.
+    """
+
+    let_pycram_move_attached_objects: bool = True
+    let_pycram_handle_spawning: bool = True
+    let_pycram_handle_world_sync: bool = True
+    """
+    Whether to let PyCRAM handle the movement of attached objects, the spawning of objects,
+     and the world synchronization.
+    """
+
+    position_tolerance: float = 1e-2
+    orientation_tolerance: float = 10 * math.pi / 180
+    prismatic_joint_position_tolerance: float = 1e-2
+    revolute_joint_position_tolerance: float = 5 * math.pi / 180
+    """
+    The acceptable error for the position and orientation of an object/link, and the joint positions.
+    """
+
+    use_percentage_of_goal: bool = False
+    acceptable_percentage_of_goal: float = 0.5
+    """
+    Whether to use a percentage of the goal as the acceptable error.
+    """
+
+    raise_goal_validator_error: bool = False
+    """
+    Whether to raise an error if the goals are not achieved.
+    """
+    @classmethod
+    def get_pose_tolerance(cls) -> Tuple[float, float]:
+        return cls.position_tolerance, cls.orientation_tolerance