merging dev into suturo branch

.github/workflows/pycram-ci.yml

@@ -69,16 +69,16 @@ jobs:
           catkin_make
           echo 'export ROS_HOSTNAME=localhost' >> ~/.bashrc
           echo 'source $GITHUB_WORKSPACE/ros_ws/devel/setup.bash' >> ~/.bashrc
+      - name: Upgrade pip
+        run: |
+          sudo pip3 install --upgrade pip
       - name: Install requirements
         run: |
           cd $GITHUB_WORKSPACE/ros_ws/src/pycram
           sudo pip3 install -r requirements.txt
-      - name: upgrade numpy
-        run: |
-          sudo pip3 install --upgrade numpy
       - name: install additional requirements
         run: |
-          sudo pip3 install pytest pyjpt mlflow
+          sudo pip3 install --ignore-installed pytest pyjpt mlflow
       - name: start roscore
         run: |
           roslaunch pycram ik_and_description.launch &

.github/workflows/reusable-sphinx-build.yml

@@ -4,6 +4,10 @@ on:
   push:
     branches:
       - dev
+  pull_request:
+    branches:
+      - master
+      - dev
 
 # ----------------------------------------------------------------------------------------------------------------------
 

.gitmodules

@@ -1,6 +1,4 @@
 [submodule "src/neem_interface_python"]
 	path = src/neem_interface_python
 	url = https://github.com/Tigul/neem_interface_python
-[submodule "src/macropy"]
-	path = src/macropy
-	url = https://github.com/Tigul/macropy.git
+

README.md

@@ -92,12 +92,3 @@ how to do that take a look at the respective `README` file.
 If you encounter some error please first take a look at the 
 [troubleshooting](https://pycram.readthedocs.io/en/latest/troubleshooting.html) section and see if the error is mentioned 
 there. 
-
-## Authors
-
-* **Jonas Dech** <[email protected]>
-* **Andy Augsten** <[email protected]>
-* **Dustin Augsten** <[email protected]>
-* **Christopher Pollok** <[email protected]>
-* **Thomas Lipps** <[email protected]>
-* **Benjamin Alt** <[email protected]>

doc/source/designators.rst

@@ -45,7 +45,7 @@ action looks like this:
 
 .. code-block:: python
 
-    NavigateAction.Action(robot_position=((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)), target_location=[[1, 0, 0], [0, 0, 0, 1]])
+    NavigateActionPerformable(robot_position=((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)), target_location=[[1, 0, 0], [0, 0, 0, 1]])
 
 
 A visual representation of the whole idea of designator and designator descriptions can be

doc/source/examples.rst

@@ -28,13 +28,15 @@ Misc
     notebooks/minimal_task_tree
     notebooks/pose
     notebooks/custom_resolver
+    notebooks/language
+    notebooks/local_transformer
 
 Interface Examples
 ==================
 
 .. nbgallery::
-    notebooks/giskard
-    notebooks/robokudo
+    notebooks/interface_examples/giskard
+    notebooks/interface_examples/robokudo
 
 Object Relational Mapping
 =========================

doc/source/index.rst

@@ -52,30 +52,48 @@ The code for this plan can be seen below.
 
 .. code-block:: python
 
-       @with_simulated_robot
-       def plan():
-          MotionDesignator(MoveArmJointsMotionDescription(left_arm_config='park',
-                      right_arm_config='park')).perform()
+    from pycram.bullet_world import BulletWorld, 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
 
-          MotionDesignator(MoveMotionDescription(target=moving_targets[robot_name]["sink"][0],
-                        orientation=moving_targets[robot_name]["sink"][1])).perform()
+    world = BulletWorld()
+    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])
 
-          det_obj = MotionDesignator(DetectingMotionDescription(object_type="milk")).perform()
+    cereal_desig = ObjectDesignatorDescription(names=["cereal"])
+    kitchen_desig = ObjectDesignatorDescription(names=["kitchen"])
+    robot_desig = ObjectDesignatorDescription(names=["pr2"]).resolve()
 
-          MotionDesignator(PickUpMotionDescription(object=milk, arm="left", grasp="front")).perform()
+    with simulated_robot:
+        ParkArmsAction([Arms.BOTH]).resolve().perform()
 
+        MoveTorsoAction([0.3]).resolve().perform()
 
-          MotionDesignator(MoveMotionDescription(target=moving_targets[robot_name]["island"][0],
-                          orientation=moving_targets[robot_name]["island"][1])).perform()
+        pickup_pose = CostmapLocation(target=cereal_desig.resolve(), reachable_for=robot_desig).resolve()
+        pickup_arm = pickup_pose.reachable_arms[0]
 
-          MotionDesignator(PlaceMotionDescription(object=milk, target=[-0.9, 1, 0.93], arm="left")).perform()
+        NavigateAction(target_locations=[pickup_pose.pose]).resolve().perform()
 
-          MotionDesignator(MoveArmJointsMotionDescription(left_arm_config='park',
-                              right_arm_config='park')).perform()
+        PickUpAction(object_designator_description=cereal_desig, arms=[pickup_arm], grasps=["front"]).resolve().perform()
 
-          MotionDesignator(MoveMotionDescription(target=[0.0, 0.0, 0],
-                                                  orientation=[0, 0, 0, 1])).perform()
+        ParkArmsAction([Arms.BOTH]).resolve().perform()
 
+        place_island = SemanticCostmapLocation("kitchen_island_surface", kitchen_desig.resolve(), cereal_desig.resolve()).resolve()
+
+        place_stand = CostmapLocation(place_island.pose, reachable_for=robot_desig, reachable_arm=pickup_arm).resolve()
+
+        NavigateAction(target_locations=[place_stand.pose]).resolve().perform()
+
+        PlaceAction(cereal_desig, target_locations=[place_island.pose], arms=[pickup_arm]).resolve().perform()
+
+        ParkArmsAction([Arms.BOTH]).resolve().perform()
+
+    world.exit()
 
 Tutorials
 ---------

doc/source/installation.rst

@@ -112,6 +112,7 @@ Then install the Python packages in the requirements.txt file
 
 Building your ROS workspace
 ===========================
+.. _build-ws:
 
 Building and sourcing your ROS workspace using catkin compiles all ROS packages and manages the appending to the
 respective PATH variables. This is necessary to be able to import PyCRAM via the Python import system and to find the
@@ -160,6 +161,7 @@ After installing pandoc, install sphinx on your device.
 
     sudo apt install python3-sphinx
 
+
 Install the requirements in your python interpreter.
 
 .. code-block:: shell
@@ -180,27 +182,67 @@ Show the index.
     firefox build/html/index.html
 
 
+
 Setting up PyCRAM with PyCharm
 ==============================
 
-Setting up PyCharm with packages that rely on rospy is non trivial. Follow this guide to get correct syntax highlighting
-for the PyCRAM project.
+Setting up PyCharm with packages that rely on rospy is non trivial. Follow this guide to get correct syntax highlighting for the PyCRAM project. 
+
+Install PyCharm Professional
+----------------------------
 
 First, `install PyCharm Professional <https://www.jetbrains.com/help/pycharm/installation-guide.html#standalone>`_.
 
-Next, if you have virtual environments that you want to use, you need to make sure that they have rospy available.
-If you create a new environment, make sure to include  `--system-site-packages` in your creation command.
-You can check by activating your environment and calling the import
+Create a JetBrains account and verify it for educational purpose. Now you can unlock the PyCharm Professional features in PyCharm.
+
+The next step will set up the virtual Python environment, so it can be used as a project interpreter in PyCharm. 
+
+
+Set up virtualenv
+-----------------
+.. _virtualenv:
+
+The virtualenvwrapper allows to manage virtual Python environments, where additional packages can be installed without the risk of breaking the system-wide Python configuration. Install `virtualenvwrapper <https://virtualenvwrapper.readthedocs.io/en/latest/>`_ via pip and set it up.
+
+.. code-block:: shell
+
+    sudo pip3 install virtualenvwrapper
+    echo "export WORKON_HOME=~/envs" >> ~/.bashrc
+    echo "source /usr/local/bin/virtualenvwrapper.sh" >> ~/.bashrc    
+    mkdir -p $WORKON_HOME
+    source ~/.bashrc
+
+Create a virtual env based on the workspaces libraries (see build-ws_) and add the `--system-site-packages` to get them properly. The env will be registered in `$WORKON_HOME`.
+
+.. code-block:: shell
+
+    source ~/workspace/ros/devel/setup.bash
+    mkvirtualenv pycram --system-site-packages
+    ls $WORKON_HOME
+
+
+Check if the ROS libraries are available in the virtual env.
 
 .. code-block:: shell
 
-    workon your_env
+    workon pycram
     python -c "import rospy"
 
+If it complains about `python`, install the following, to set `python` to Python 3 by default.
+
+.. code-block:: shell
+
+    sudo apt install python-is-python3  
+
+If it finds `python` but complains about missing packages, make sure that the workspace is sourced before creating the virtual env. Also remember to create the virtual env with the `--system-site-packages` flag.
+
 If this returns no errors, you can be sure that rospy is usable in your virtual environment. Next you have to build the
-ros workspace including pycram and source it as described in install-pycram_.
+ros workspace including pycram and source it as described in build-ws_.
+
+Configure PyCharm
+-----------------
 
-After that you have to start PyCharm from the terminal via
+Always start PyCharm from the terminal via
 
 .. code-block:: shell
 
@@ -212,6 +254,7 @@ or
 
     ~/pycharm/bin/pycharm.sh
 
+
 Select **File | Open** and select the root folder of the PyCRAM package.
 Next go to **File | Settings | Project: pycram | Python Interpreter** and set up your virtual environment with rospy and
 the sourced workspace available as the python interpreter.
@@ -221,6 +264,7 @@ folder as Tests and the resources as Resources.
 
 To verify that it works, you can execute any Testcase.
 
+
 Using IPython as REPL
 =====================
 

doc/source/notebooks

@@ -0,0 +1 @@
+../../examples/

examples/action_designator.ipynb

@@ -6,12 +6,12 @@
    "metadata": {},
    "source": [
     "# Action Designator\n",
-    "This example will show the different kinds of Action Designator that are available. We will see how to create Action Designators and what they do.\n",
+    "This example will show the different kinds of Action Designators that are available. We will see how to create Action Designators and what they do.\n",
     "\n",
     "\n",
-    "Action Designator are high-level descriptions of actions which the robot should execute. \n",
+    "Action Designators are high-level descriptions of actions which the robot should execute. \n",
     "\n",
-    "Action Deisgnators are created from a Action Designator Descritpion, which describes the type of action as well as the parameter for this action. Parameter are given as a list of possible parameters.\n",
+    "Action Designators are created from an Action Designator Description, which describes the type of action as well as the parameter for this action. Parameter are given as a list of possible parameters.\n",
     "For example, if you want to describe the robot moving to a table you would need a ```NavigateAction``` and a list of poses that are near the table. The Action Designator Description will then pick one of the poses and return a performable Action Designator which contains the picked pose. \n",
     "\n"
    ]
@@ -103,7 +103,7 @@
    "id": "30bd6765",
    "metadata": {},
    "source": [
-    "What we now did was create the pose were we want to move the robot, create a description describing a navigation with a list of possible poses (in this case the list contains only one pose) and create an action designator from the description. The action designator contains the pose picked from the list of possible poses and can be performed."
+    "What we now did was: create the pose where we want to move the robot, create a description describing a navigation with a list of possible poses (in this case the list contains only one pose) and create an action designator from the description. The action designator contains the pose picked from the list of possible poses and can be performed."
    ]
   },
   {
@@ -126,7 +126,7 @@
    "source": [
     "Every designator that is performed needs to be in an environment that specifies where to perform the designator either on the real robot or the simulated one. This environment is called ```simulated_robot``` similar there is also a ```real_robot``` environment. \n",
     "\n",
-    "There are also decorators which do the same thing but for whole methods, they are called ```with_real_robot``` and ```with_simulated_robor```"
+    "There are also decorators which do the same thing but for whole methods, they are called ```with_real_robot``` and ```with_simulated_robot```."
    ]
   },
   {
@@ -137,7 +137,7 @@
     "## Move Torso\n",
     "This action designator moves the torso up or down, specifically it sets the torso joint to a given value.\n",
     "\n",
-    "We start again by creating a description and resolving it to a designator. Afterwards, the designator is perfomed in a ```simulated_robot``` environment. "
+    "We start again by creating a description and resolving it to a designator. Afterwards, the designator is performed in a ```simulated_robot``` environment. "
    ]
   },
   {
@@ -216,9 +216,9 @@
    "metadata": {},
    "source": [
     "## Pick Up and Place\n",
-    "Since these are depending on each other, meaning you can only place something when you picked it up beforehand, they will be shown together. \n",
+    "Since these two are dependent on each other, meaning you can only place something when you picked it up beforehand, they will be shown together. \n",
     "\n",
-    "These action designators use object designators, which will not be further explained so please check the example on object designators for more details. \n",
+    "These action designators use object designators, which will not be further explained in this tutorial so please check the example on object designators for more details. \n",
     "\n",
     "To start we need an environment in which we can pick up and place things as well as an object to pick up."
    ]
@@ -552,7 +552,7 @@
    "metadata": {},
    "source": [
     "## Transporting\n",
-    "Transporting can transport an object from its current position to another target position. It is similar to the Pick and Place plan used in the Pick-up and Place example. Since we need an Object which we can transport we spawn a milk, you don't need to do this if you alredy spawned it in a previous example."
+    "Transporting can transport an object from its current position to another target position. It is similar to the Pick and Place plan used in the Pick-up and Place example. Since we need an Object which we can transport we spawn a milk, you don't need to do this if you already have spawned it in a previous example."
    ]
   },
   {