Abstract world

demos/pycram_bullet_world_demo/demo.py

@@ -1,19 +1,28 @@
+from pycram.worlds.bullet_world import BulletWorld
 from pycram.designators.action_designator import *
 from pycram.designators.location_designator import *
 from pycram.designators.object_designator import *
-from pycram.pose import Pose
-from pycram.bullet_world import BulletWorld, Object
+from pycram.datastructures.enums import ObjectType
+from pycram.datastructures.pose import Pose
 from pycram.process_module import simulated_robot, with_simulated_robot
-from pycram.enums import ObjectType
+from pycram.object_descriptors.urdf import ObjectDescription
+from pycram.world_concepts.world_object import Object
+from pycram.datastructures.dataclasses import Color
 
-world = BulletWorld()
-robot = Object("pr2", ObjectType.ROBOT, "pr2.urdf", pose=Pose([1, 2, 0]))
-apartment = Object("apartment", ObjectType.ENVIRONMENT, "apartment.urdf")
+extension = ObjectDescription.get_file_extension()
 
-milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([2.5, 2, 1.02]), color=[1, 0, 0, 1])
-cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([2.5, 2.3, 1.05]), color=[0, 1, 0, 1])
-spoon = Object("spoon", ObjectType.SPOON, "spoon.stl", pose=Pose([2.4, 2.2, 0.85]), color=[0, 0, 1, 1])
-bowl = Object("bowl", ObjectType.BOWL, "bowl.stl", pose=Pose([2.5, 2.2, 1.02]), color=[1, 1, 0, 1])
+world = BulletWorld()
+robot = Object("pr2", ObjectType.ROBOT, f"pr2{extension}", pose=Pose([1, 2, 0]))
+apartment = Object("apartment", ObjectType.ENVIRONMENT, f"apartment{extension}")
+
+milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([2.5, 2, 1.02]),
+              color=Color(1, 0, 0, 1))
+cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl",
+                pose=Pose([2.5, 2.3, 1.05]), color=Color(0, 1, 0, 1))
+spoon = Object("spoon", ObjectType.SPOON, "spoon.stl", pose=Pose([2.4, 2.2, 0.85]),
+               color=Color(0, 0, 1, 1))
+bowl = Object("bowl", ObjectType.BOWL, "bowl.stl", pose=Pose([2.5, 2.2, 1.02]),
+              color=Color(1, 1, 0, 1))
 apartment.attach(spoon, 'cabinet10_drawer_top')
 
 pick_pose = Pose([2.7, 2.15, 1])
@@ -52,7 +61,8 @@ def move_and_detect(obj_type):
 
     # Finding and navigating to the drawer holding the spoon
     handle_desig = ObjectPart(names=["handle_cab10_t"], part_of=apartment_desig.resolve())
-    drawer_open_loc = AccessingLocation(handle_desig=handle_desig.resolve(), robot_desig=robot_desig.resolve()).resolve()
+    drawer_open_loc = AccessingLocation(handle_desig=handle_desig.resolve(),
+                                        robot_desig=robot_desig.resolve()).resolve()
 
     NavigateAction([drawer_open_loc.pose]).resolve().perform()
 
@@ -88,4 +98,3 @@ def move_and_detect(obj_type):
     PlaceAction(spoon_desig, [spoon_target_pose], [pickup_arm]).resolve().perform()
 
     ParkArmsAction([Arms.BOTH]).resolve().perform()
-

demos/pycram_ur5_demo/demo.py

@@ -4,9 +4,9 @@
 from rospkg import RosPack
 import pybullet as pb
 
-from pycram import robot_description
-from pycram.bullet_world import BulletWorld, Object
-from pycram.pose import Pose
+from pycram.worlds.bullet_world import BulletWorld
+from pycram.world import Object
+from pycram.datastructures.pose import Pose
 from pycram.ros.force_torque_sensor import ForceTorqueSensor
 from pycram.ros.joint_state_publisher import JointStatePublisher
 from pycram.ros.tf_broadcaster import TFBroadcaster
@@ -37,7 +37,7 @@
     lab = Object("kitchen", "environment", kitchen_urdf_path)
     robot = Object("ur", "robot", robot_urdf_path, pose=SPAWNING_POSES["robot"])
     cereal = Object("cereal", "object", os.path.join(RESOURCE_DIR, "breakfast_cereal.stl"),
-                         pose=SPAWNING_POSES["cereal"])
+                    pose=SPAWNING_POSES["cereal"])
     BulletWorld.robot = robot
 
     tf_broadcaster = TFBroadcaster("projection", "odom", 1.0)

doc/source/conf.py

@@ -196,7 +196,7 @@
 
 # Example Thumbnail config
 nbsphinx_thumbnails = {
-    'notebooks/bullet_world': os.path.abspath("notebooks/thumbnails/bullet_world.png"),
+    'notebooks/world': os.path.abspath("notebooks/thumbnails/bullet_world.png"),
     'notebooks/minimal_task_tree': os.path.abspath("notebooks/thumbnails/tree.png"),
     'notebooks/action_designator': os.path.abspath("notebooks/thumbnails/action_designator.png"),
     'notebooks/motion_designator': os.path.abspath("notebooks/thumbnails/motion_designator.png"),