[PhysicalBody] used pycrap in physical body instead of object.

src/pycram/datastructures/world_entity.py

@@ -6,8 +6,9 @@
 from copy import copy
 
 from trimesh.parent import Geometry3D
-from typing_extensions import TYPE_CHECKING, Dict, Optional, List, deprecated, Union
+from typing_extensions import TYPE_CHECKING, Dict, Optional, List, deprecated, Union, Type
 
+from pycrap import PhysicalObject
 from .dataclasses import State, ContactPointsList, ClosestPointsList, Color, PhysicalBodyState, \
     AxisAlignedBoundingBox, RotatedBoundingBox
 from ..local_transformer import LocalTransformer
@@ -159,6 +160,11 @@ class PhysicalBody(WorldEntity, ABC):
     A class that represents a physical body in the world that has some related physical properties.
     """
 
+    ontology_concept: Type[PhysicalObject] = PhysicalObject
+    """
+    The ontology concept of this entity.
+    """
+
     def __init__(self, body_id: int, world: World):
         WorldEntity.__init__(self, body_id, world)
         self.local_transformer = LocalTransformer()

src/pycram/world_concepts/world_object.py

@@ -56,8 +56,6 @@ class Object(PhysicalBody, HasConcept):
     A dictionary that maps the file extension to the corresponding ObjectDescription type.
     """
 
-    ontology_concept: Type[PhysicalObject] = PhysicalObject
-
     def __init__(self, name: str, concept: Type[PhysicalObject], path: Optional[str] = None,
                  description: Optional[ObjectDescription] = None,
                  pose: Optional[Pose] = None,

src/pycrap/base.py

@@ -6,6 +6,7 @@
 default_pycrap_ontology_file = tempfile.NamedTemporaryFile()
 default_pycrap_ontology = owlready2.get_ontology("file://" + default_pycrap_ontology_file.name).load()
 
+
 class Base(Thing):
     comment = __doc__
     namespace = default_pycrap_ontology
@@ -17,5 +18,7 @@ def set_comment_to_docstring(cls):
 
 class PhysicalObject(Base):
     """
-    Any Object that has a proper space region. The prototypical physical object has also an associated mass, but the nature of its mass can greatly vary based on the epistemological status of the object (scientifically measured, subjectively possible, imaginary).
+    Any Object that has a proper space region. The prototypical physical object has also an associated mass,
+     but the nature of its mass can greatly vary based on the epistemological status of the object (scientifically
+      measured, subjectively possible, imaginary).
     """