Merge pull request #12 from sunava/main

[cutting] fixed missing orm and cutting

demos/pycram_cutting_demo/cutting-demo.py

@@ -4,7 +4,6 @@
 from pycram.designators.object_designator import *
 from pycram.designators.object_designator import BelieveObject
 import pycram.helper as helper
-from pycram.resolver.action.cutting import CuttingActionSPARQL
 
 world = BulletWorld()
 world.set_gravity([0, 0, -9.8])

src/pycram/orm/action_designator.py

@@ -205,3 +205,39 @@ class CloseAction(Action):
     __mapper_args__ = {
         "polymorphic_identity": __tablename__,
     }
+
+
+class CuttingAction(Action):
+    """ORM Class of pycram.designators.action_designator.PickUpAction."""
+    __tablename__ = "Cutting"
+    id = sqlalchemy.Column(sqlalchemy.types.Integer, sqlalchemy.ForeignKey("Action.id"), primary_key=True)
+    arm = sqlalchemy.Column(sqlalchemy.types.String(255))
+    grasp = sqlalchemy.Column(sqlalchemy.types.String(255))
+    object = sqlalchemy.Column(sqlalchemy.Integer, sqlalchemy.ForeignKey("Object.id"))
+
+    __mapper_args__ = {
+        "polymorphic_identity": __tablename__,
+    }
+
+    def __init__(self, arm: str, grasp: str):
+        super(CuttingAction, self).__init__()
+        self.arm = arm
+        self.grasp = grasp
+
+
+class MixingAction(Action):
+    """ORM Class of pycram.designators.action_designator.PickUpAction."""
+    __tablename__ = "Mixing"
+    id = sqlalchemy.Column(sqlalchemy.types.Integer, sqlalchemy.ForeignKey("Action.id"), primary_key=True)
+    arm = sqlalchemy.Column(sqlalchemy.types.String(255))
+    grasp = sqlalchemy.Column(sqlalchemy.types.String(255))
+    object = sqlalchemy.Column(sqlalchemy.Integer, sqlalchemy.ForeignKey("Object.id"))
+
+    __mapper_args__ = {
+        "polymorphic_identity": __tablename__,
+    }
+
+    def __init__(self, arm: str, grasp: str):
+        super(MixingAction, self).__init__()
+        self.arm = arm
+        self.grasp = grasp