[MultiverseController] merged dev and fixed issues.

src/pycram/datastructures/world.py

@@ -37,6 +37,7 @@
 if TYPE_CHECKING:
     from ..world_concepts.world_object import Object
     from ..description import Link, Joint, ObjectDescription
+    from ..object_descriptors.generic import ObjectDescription as GenericObjectDescription
 
 
 class World(StateEntity, ABC):
@@ -323,6 +324,12 @@ def load_object_and_get_id(self, path: Optional[str] = None, pose: Optional[Pose
         """
         pass
 
+    def load_generic_object_and_get_id(self, description: GenericObjectDescription) -> int:
+        """
+        Creates a visual and collision box in the simulation and returns the id of the loaded object.
+        """
+        raise NotImplementedError
+
     def get_object_names(self) -> List[str]:
         """
         Returns the names of all objects in the World.

src/pycram/object_descriptors/generic.py

@@ -1,4 +1,4 @@
-from typing import Optional
+from typing import Optional, Tuple
 
 from typing_extensions import List, Any, Union, Dict
 
@@ -13,7 +13,8 @@
 
 class LinkDescription(AbstractLinkDescription):
 
-    def __init__(self, name: str, visual_frame_position: List[float], half_extents: List[float], color: Color = Color()):
+    def __init__(self, name: str, visual_frame_position: List[float], half_extents: List[float],
+                 color: Color = Color()):
         self.parsed_description: BoxVisualShape = BoxVisualShape(color, visual_frame_position, half_extents)
         self._name: str = name
 
@@ -36,6 +37,14 @@ def color(self) -> Color:
 
 class JointDescription(AbstractJointDescription):
 
+    @property
+    def parent(self) -> str:
+        raise NotImplementedError
+
+    @property
+    def child(self) -> str:
+        raise NotImplementedError
+
     @property
     def type(self) -> JointType:
         return JointType.UNKNOWN
@@ -99,16 +108,33 @@ def generate_from_mesh_file(cls, path: str, name: str) -> str:
         raise NotImplementedError
 
     @classmethod
-    def generate_from_description_file(cls, path: str) -> str:
+    def generate_from_description_file(cls, path: str, make_mesh_paths_absolute: bool = True) -> str:
         raise NotImplementedError
 
     @classmethod
     def generate_from_parameter_server(cls, name: str) -> str:
         raise NotImplementedError
 
+    @property
+    def parent_map(self) -> Dict[str, Tuple[str, str]]:
+        return {}
+
+    @property
+    def link_map(self) -> Dict[str, LinkDescription]:
+        return {self._links[0].name: self._links[0]}
+
+    @property
+    def joint_map(self) -> Dict[str, JointDescription]:
+        return {}
+
+    @property
+    def child_map(self) -> Dict[str, List[Tuple[str, str]]]:
+        return {}
+
     def add_joint(self, name: str, child: str, joint_type: JointType,
                   axis: Point, parent: Optional[str] = None, origin: Optional[Pose] = None,
-                  lower_limit: Optional[float] = None, upper_limit: Optional[float] = None) -> None:
+                  lower_limit: Optional[float] = None, upper_limit: Optional[float] = None,
+                  is_virtual: Optional[bool] = False) -> None:
         ...
 
     @property
@@ -137,7 +163,8 @@ def get_joint_by_name(self, joint_name: str) -> JointDescription:
     def get_root(self) -> str:
         return self._links[0].name
 
-    def get_chain(self, start_link_name: str, end_link_name: str) -> List[str]:
+    def get_chain(self, start_link_name: str, end_link_name: str, joints: Optional[bool] = True,
+                  links: Optional[bool] = True, fixed: Optional[bool] = True) -> List[str]:
         raise NotImplementedError("Do Not Do This on generic objects as they have no chains")
 
     @staticmethod

src/pycram/world_concepts/world_object.py

@@ -65,6 +65,7 @@ def __init__(self, name: str, obj_type: ObjectType, path: str,
         pose = Pose() if pose is None else pose
 
         self.name: str = name
+        self.path: Optional[str] = path
         self.obj_type: ObjectType = obj_type
         self.color: Color = color
         self.description = description()
@@ -74,10 +75,11 @@ def __init__(self, name: str, obj_type: ObjectType, path: str,
         self.original_pose = self.local_transformer.transform_pose(pose, "map")
         self._current_pose = self.original_pose
 
-        self.path = self.world.preprocess_object_file_and_get_its_cache_path(path, ignore_cached_files,
-                                                                             self.description, self.name)
+        if path is not None:
+            self.path = self.world.preprocess_object_file_and_get_its_cache_path(path, ignore_cached_files,
+                                                                                 self.description, self.name)
 
-        self.description.update_description_from_file(self.path)
+            self.description.update_description_from_file(self.path)
 
         if self.obj_type == ObjectType.ROBOT and not self.world.is_prospection_world:
             self._update_world_robot_and_description()
@@ -210,9 +212,7 @@ def _spawn_object_and_get_id(self) -> int:
         :return: The unique id of the object and the path of the file that was loaded.
         """
         if isinstance(self.description, GenericObjectDescription):
-            return self.world.load_generic_object_and_get_id(self.description), path
-
-        self.path = self.world.update_cache_dir_with_object(path, ignore_cached_files, self)
+            return self.world.load_generic_object_and_get_id(self.description)
 
         path = self.path if self.world.let_pycram_handle_spawning else self.name