[resolver][orm] fixed issues after merge

src/pycram/orm/views.py

@@ -1,10 +1,10 @@
-from sqlalchemy.orm import declarative_base, column_property, query_expression, deferred, contains_eager
+from sqlalchemy.orm import declarative_base
 from typing_extensions import Union
 import sqlalchemy.orm
 from sqlalchemy import table, inspect, event, select, engine, MetaData, Select, TableClause, ExecutableDDLElement
 from sqlalchemy.ext.compiler import compiles
-from pycram.orm.action_designator import PickUpAction, Action
-from pycram.orm.base import Position, RobotState, Pose, Base, Quaternion, _Base
+from pycram.orm.action_designator import PickUpAction
+from pycram.orm.base import Position, RobotState, Pose, Base, Quaternion
 from pycram.orm.object_designator import Object
 from pycram.orm.task import TaskTreeNode
 
@@ -138,7 +138,7 @@ class PickUpWithContextView(base):
                              __relative_x.label("relative_x"), __relative_y.label("relative_y"),
                              Quaternion.x.label("quaternion_x"), Quaternion.y.label("quaternion_y"),
                              Quaternion.z.label("quaternion_z"), Quaternion.w.label("quaternion_w"),
-                             Object.type.label("type"), TaskTreeNode.status.label("status"))
+                             Object.obj_type.label("obj_type"), TaskTreeNode.status.label("status"))
                       .join(TaskTreeNode.action.of_type(PickUpAction))
                       .join(PickUpAction.robot_state)
                       .join(__robot_pose, RobotState.pose)

src/pycram/resolver/location/database_location.py

@@ -82,7 +82,7 @@ def create_query_from_occupancy_costmap(self) -> Select:
         query = self.select_statement(view)
 
         # constraint query to correct object type and successful task status
-        query = query.where(view.type == self.target.type).where(view.status == "SUCCEEDED")
+        query = query.where(view.obj_type == self.target.obj_type).where(view.status == "SUCCEEDED")
 
         filters = []
 

src/pycram/resolver/probabilistic/probabilistic_action.py

@@ -274,7 +274,7 @@ def iterate_without_occupancy_costmap(self) -> Iterator[MoveAndPickUpPerformable
     def query_for_database():
         view = PickUpWithContextView
         query = (select(view.arm, view.grasp, view.relative_x, view.relative_y)
-                 .where(TaskTreeNode.status == TaskStatus.SUCCEEDED))
+                 .where(view.status == TaskStatus.SUCCEEDED))
         return query
 
     def batch_rollout(self):

test/test_database_resolver.py

@@ -19,6 +19,7 @@
 from pycram.task import with_tree
 from pycram.datastructures.enums import ObjectType, WorldMode
 from pycram.resolver.location.database_location import DatabaseCostmapLocation
+from pycram.worlds.bullet_world import BulletWorld
 
 pycrorm_uri = os.getenv('PYCRORM_URI')
 if pycrorm_uri:
@@ -36,8 +37,8 @@ class DatabaseResolverTestCase(unittest.TestCase,):
     @classmethod
     def setUpClass(cls) -> None:
         global pycrorm_uri
-        cls.world = World(WorldMode.DIRECT)
-        cls.milk = Object("milk", "milk", "milk.stl", pose=Pose([1.3, 1, 0.9]))
+        cls.world = BulletWorld(WorldMode.DIRECT)
+        cls.milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
         cls.robot = Object(robot_description.name, ObjectType.ROBOT, robot_description.name + ".urdf")
         ProcessModule.execution_delay = False
         cls.engine = sqlalchemy.create_engine(pycrorm_uri)
@@ -81,15 +82,15 @@ def test_costmap_no_obstacles(self):
 
         with simulated_robot:
             MoveTorsoActionPerformable(sample.torso_height).perform()
-            PickUpActionPerformable(ObjectDesignatorDescription(types=["milk"]).resolve(), arm=sample.reachable_arm,
+            PickUpActionPerformable(ObjectDesignatorDescription(types=[ObjectType.MILK]).resolve(), arm=sample.reachable_arm,
                                     grasp=sample.grasp).perform()
 
     def test_costmap_with_obstacles(self):
-        kitchen = Object("kitchen", "environment", "kitchen.urdf")
+        kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
         self.plan()
         pycram.orm.base.ProcessMetaData().description = "costmap_with_obstacles_test"
         pycram.task.task_tree.root.insert(self.session)
-        self.world.reset_bullet_world()
+        self.world.reset_current_world()
 
         cml = DatabaseCostmapLocation(self.milk, self.session, reachable_for=self.robot)
         sample = next(iter(cml))
@@ -99,22 +100,22 @@ def test_costmap_with_obstacles(self):
             MoveTorsoActionPerformable(sample.torso_height).perform()
             try:
                 PickUpActionPerformable(
-                    ObjectDesignatorDescription(types=["milk"]).resolve(),
+                    ObjectDesignatorDescription(types=[ObjectType.MILK]).resolve(),
                     arm=sample.reachable_arm, grasp=sample.grasp).perform()
             except pycram.plan_failures.PlanFailure as p:
                 kitchen.remove()
                 raise p
         kitchen.remove()
 
     def test_object_at_different_location(self):
-        kitchen = Object("kitchen", "environment", "kitchen.urdf")
+        kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
         self.plan()
 
         pycram.orm.base.ProcessMetaData().description = "object_at_different_location_test"
         pycram.task.task_tree.root.insert(self.session)
-        self.world.reset_bullet_world()
+        self.world.reset_current_world()
 
-        new_milk = Object("new_milk", "milk", "milk.stl", pose=Pose([-1.45, 2.5, 0.95]))
+        new_milk = Object("new_milk", ObjectType.MILK, "milk.stl", pose=Pose([-1.45, 2.5, 0.95]))
         cml = DatabaseCostmapLocation(new_milk, self.session, reachable_for=self.robot)
 
         sample = next(iter(cml))
@@ -123,21 +124,21 @@ def test_object_at_different_location(self):
             MoveTorsoActionPerformable(sample.torso_height).perform()
             try:
                 PickUpActionPerformable(
-                    ObjectDesignatorDescription(names=["new_milk"], types=["milk"]).resolve(),
+                    ObjectDesignatorDescription(names=["new_milk"], types=[ObjectType.MILK]).resolve(),
                     arm=sample.reachable_arm, grasp=sample.grasp).perform()
             except pycram.plan_failures.PlanFailure as p:
                 new_milk.remove()
                 kitchen.remove()
                 raise p
-            PlaceActionPerformable(ObjectDesignatorDescription(names=["new_milk"], types=["milk"]).resolve(),
+            PlaceActionPerformable(ObjectDesignatorDescription(names=["new_milk"], types=[ObjectType.MILK]).resolve(),
                                    arm=sample.reachable_arm, target_location=Pose([-1.45, 2.5, 0.95])).perform()
         new_milk.remove()
         kitchen.remove()
 
     @unittest.skip
     def test_multiple_objects(self):
-        kitchen = Object("kitchen", "environment", "kitchen.urdf")
-        new_milk = Object("new_milk", "milk", "milk.stl", pose=Pose([-1.45, 2.5, 0.9]))
+        kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
+        new_milk = Object("new_milk", ObjectType.MILK, "milk.stl", pose=Pose([-1.45, 2.5, 0.9]))
 
         object_description = ObjectDesignatorDescription(names=["milk"])
         object_description_new_milk = ObjectDesignatorDescription(names=["new_milk"])
@@ -153,7 +154,7 @@ def test_multiple_objects(self):
 
         pycram.orm.base.ProcessMetaData().description = "multiple_objects_test"
         pycram.task.task_tree.root.insert(self.session)
-        self.world.reset_bullet_world()
+        self.world.reset_current_world()
 
         cml = DatabaseCostmapLocation(self.milk, self.session, reachable_for=self.robot)
         cml_new_milk = DatabaseCostmapLocation(new_milk, self.session, reachable_for=self.robot)
@@ -167,17 +168,18 @@ def test_multiple_objects(self):
                 try:
                     if dcl.target.name == "milk":
                         PickUpActionPerformable(
-                            ObjectDesignatorDescription(names=["milk"], types=["milk"]).resolve(),
+                            ObjectDesignatorDescription(names=["milk"], types=[ObjectType.MILK]).resolve(),
                             arm=sample.reachable_arm, grasp=sample.grasp).perform()
                     else:
                         PickUpActionPerformable(
-                            ObjectDesignatorDescription(names=["new_milk"], types=["milk"]).resolve(),
+                            ObjectDesignatorDescription(names=["new_milk"], types=[ObjectType.MILK]).resolve(),
                             arm=sample.reachable_arm, grasp=sample.grasp).perform()
                 except pycram.plan_failures.PlanFailure as p:
                     new_milk.remove()
                     kitchen.remove()
                     raise p
-                PlaceActionPerformable(ObjectDesignatorDescription(names=[dcl.target.name], types=["milk"]).resolve(),
+                PlaceActionPerformable(ObjectDesignatorDescription(names=[dcl.target.name],
+                                                                   types=[ObjectType.MILK]).resolve(),
                                        arm=sample.reachable_arm, target_location=Pose([dcl.target.pose.position.x,
                                                                                        dcl.target.pose.position.y,
                                                                                        dcl.target.pose.position.z])

test/test_orm.py

@@ -291,7 +291,7 @@ def test_view_creation(self):
         self.assertEqual(view.__table__.columns[7].name, "quaternion_y")
         self.assertEqual(view.__table__.columns[8].name, "quaternion_z")
         self.assertEqual(view.__table__.columns[9].name, "quaternion_w")
-        self.assertEqual(view.__table__.columns[10].name, "type")
+        self.assertEqual(view.__table__.columns[10].name, "obj_type")
         self.assertEqual(view.__table__.columns[11].name, "status")
 
     def test_pickUpWithContextView(self):