From 338ca467259ecafab2b8dff1989f64b079bd18e0 Mon Sep 17 00:00:00 2001 From: Vanessa Hassouna Date: Fri, 29 Nov 2024 12:45:18 +0100 Subject: [PATCH] [bwl demo] fixed objs to pycrap --- demos/pycram_bullet_world_demo/demo.py | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/demos/pycram_bullet_world_demo/demo.py b/demos/pycram_bullet_world_demo/demo.py index c307fe7ce..f77cd358f 100644 --- a/demos/pycram_bullet_world_demo/demo.py +++ b/demos/pycram_bullet_world_demo/demo.py @@ -2,29 +2,29 @@ from pycram.designators.action_designator import * from pycram.designators.location_designator import * from pycram.designators.object_designator import * -from pycram.datastructures.enums import ObjectType, WorldMode +from pycram.datastructures.enums import WorldMode from pycram.datastructures.pose import Pose from pycram.process_module import simulated_robot, with_simulated_robot from pycram.object_descriptors.urdf import ObjectDescription from pycram.world_concepts.world_object import Object from pycram.datastructures.dataclasses import Color from pycram.ros.viz_marker_publisher import VizMarkerPublisher -from pycrap import Robot +from pycrap import Robot, Apartment, Milk, Cereal, Spoon, Bowl extension = ObjectDescription.get_file_extension() world = BulletWorld(WorldMode.GUI) robot = Object("pr2", Robot, f"pr2{extension}", pose=Pose([1, 2, 0])) -apartment = Object("apartment", ObjectType.ENVIRONMENT, f"apartment{extension}") +apartment = Object("apartment", Apartment, f"apartment{extension}") -milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([2.5, 2, 1.02]), +milk = Object("milk", 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", +cereal = Object("cereal", 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]), +spoon = Object("spoon", 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]), +bowl = Object("bowl", Bowl, "bowl.stl", pose=Pose([2.5, 2.2, 1.02]), color=Color(1, 1, 0, 1)) apartment.attach(spoon, 'cabinet10_drawer_top') @@ -50,15 +50,15 @@ def move_and_detect(obj_type): MoveTorsoAction([0.25]).resolve().perform() - milk_desig = move_and_detect(ObjectType.MILK) + milk_desig = move_and_detect(Milk) TransportAction(milk_desig, [Arms.LEFT], [Pose([4.8, 3.55, 0.8])]).resolve().perform() - cereal_desig = move_and_detect(ObjectType.BREAKFAST_CEREAL) + cereal_desig = move_and_detect(Cereal) TransportAction(cereal_desig, [Arms.RIGHT], [Pose([5.2, 3.4, 0.8], [0, 0, 1, 1])]).resolve().perform() - bowl_desig = move_and_detect(ObjectType.BOWL) + bowl_desig = move_and_detect(Bowl) TransportAction(bowl_desig, [Arms.LEFT], [Pose([5, 3.3, 0.8], [0, 0, 1, 1])]).resolve().perform() @@ -75,7 +75,7 @@ def move_and_detect(obj_type): # Detect and pickup the spoon LookAtAction([apartment.get_link_pose("handle_cab10_t")]).resolve().perform() - spoon_desig = DetectAction(BelieveObject(types=[ObjectType.SPOON])).resolve().perform() + spoon_desig = DetectAction(BelieveObject(types=[Spoon])).resolve().perform() pickup_arm = Arms.LEFT if drawer_open_loc.arms[0] == Arms.RIGHT else Arms.RIGHT PickUpAction(spoon_desig, [pickup_arm], [Grasp.TOP]).resolve().perform()