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View Code? Open in Web Editor NEWCognitive Robot Abstract Machine in Python
Home Page: https://pycram.readthedocs.io/en/latest/index.html
License: GNU General Public License v3.0
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tigul tlipps benjaminalt kaviyachandran artnie bhavyawadhwa856 tomsch420 abdelrhmanbassiouny sunava mkhoshnam mohammadkhoshnazarr mrnolte abhijitvyas leusmann tthielke intel4coro multiverse-framework j-schaefer davidprueser zeelatgit hawkina julius6043 duc89 leonyi4 jeeveshreddy maltehue srikanth635pycram's Issues
Update Documentation from README.md
The "Run the demo"-section of the README.md points to a folder "demo" that does not exist.
PyBullet crashes with apartment urdf
I am trying to test new apartmenet urdf with pyCRAM, here is the code.
import pycram
from pycram.bullet_world import BulletWorld, Object
import pycram.bullet_world_reasoning as btr
from pycram.robot_descriptions.robot_description_handler import InitializedRobotDescription as robot_description
from pycram.designators.motion_designator import MotionDesignatorDescription, MoveArmJointsMotion
from pycram.process_module import simulated_robot, with_simulated_robot
from pycram.language import macros, par
from pycram.designators.location_designator import *
from pycram.designators.action_designator import *
from pycram.designators.object_designator import *
from pycram.resolver.plans import Arms
from pycram.enums import Arms
from pycram.robot_descriptions.robot_description_handler import InitializedRobotDescription as robot_description
import pycram.task
from pycram.resolver.plans import Arms
from pycram.process_module import simulated_robot
import anytree
import pycram.plan_failures
world = BulletWorld()
# spawn robot
pr2 = Object("pr2", "robot", "pr2.urdf")
robot_desig = ObjectDesignatorDescription(names=["pr2"]).resolve()
# spawn apartment
apartment = Object("apartment", "environment", "apartment.urdf")
apartment_desig = ObjectDesignatorDescription(names=['apartment']).resolve()
# spawn Milkbox
milk = Object("milk", "milk", "milk.stl", position=[1.4, 1, 0.95])
milk_desig = ObjectDesignatorDescription(names=["milk"])
I am getting following error:
Traceback (most recent call last):
File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
self.run()
File "/home/avyas/pyCRAM_ws/src/pycram/src/pycram/bullet_world.py", line 459, in run
shadow_obj.set_position(bulletworld_obj.get_position())
File "/home/avyas/pyCRAM_ws/src/pycram/src/pycram/bullet_world.py", line 818, in get_position
return p.getBasePositionAndOrientation(self.id, physicsClientId=self.world.client_id)[0]
pybullet.error: Not connected to physics server.
/usr/lib/python3/dist-packages/requests/__init__.py:89: RequestsDependencyWarning: urllib3 (1.26.12) or chardet (3.0.4) doesn't match a supported version!
warnings.warn("urllib3 ({}) or chardet ({}) doesn't match a supported "
Traceback (most recent call last):
File "run.py", line 5, in <module>
import my_pouring_demo_apartment
File "/home/avyas/pyCRAM_ws/src/pycram/demos/pycram_bullet_world_demo/my_pouring_demo_apartment.py", line 32, in <module>
milk = Object("milk", "milk", "milk.stl", position=[1.4, 1, 0.95])
File "/home/avyas/pyCRAM_ws/src/pycram/src/pycram/bullet_world.py", line 717, in __init__
self.id, self.path = _load_object(name, path, position, orientation, self.world, color, ignoreCachedFiles)
File "/home/avyas/pyCRAM_ws/src/pycram/src/pycram/bullet_world.py", line 1300, in _load_object
raise (e)
File "/home/avyas/pyCRAM_ws/src/pycram/src/pycram/bullet_world.py", line 1294, in _load_object
obj = p.loadURDF(path, basePosition=position, baseOrientation=orientation, physicsClientId=world_id)
pybullet.error: Not connected to physics server.
session.query(pycram.orm.base.ProcessMetaData).all() returns only one object
Summery
I am trying to query all ProcessMetaData from my local postgres database, using the ORM.
But using the following command response = session.query(pycram.orm.base.ProcessMetaData).all() returns only a list containing one object instead of all objects as expected.
Detailed
I am using the following postgres version:
PostgreSQL 14.10 (Ubuntu 14.10-1.pgdg20.04+1) on x86_64-pc-linux-gnu, compiled by gcc (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0, 64-bit
My ProcessMetaData has the following definition:
pycram=# \d "ProcessMetaData"
Table "public.ProcessMetaData"
Column | Type | Collation | Nullable | Default
----------------+-----------------------------+-----------+----------+-----------------------------------------------
created_at | timestamp without time zone | | not null | CURRENT_TIMESTAMP
created_by | character varying(255) | | not null |
description | character varying(255) | | not null |
pycram_version | character varying(255) | | |
id | integer | | not null | nextval('"ProcessMetaData_id_seq"'::regclass)
Indexes:
"ProcessMetaData_pkey" PRIMARY KEY, btree (id)
Referenced by:
TABLE ""Code"" CONSTRAINT "code_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADE
TABLE ""Color"" CONSTRAINT "color_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADE
TABLE ""Designator"" CONSTRAINT "designator_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADE
TABLE ""Object"" CONSTRAINT "object_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADE
TABLE ""Pose"" CONSTRAINT "pose_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADE
TABLE ""Position"" CONSTRAINT "position_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADE
TABLE ""Quaternion"" CONSTRAINT "quaternion_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADE
TABLE ""RobotState"" CONSTRAINT "robotstate_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADE
TABLE ""TaskTreeNode"" CONSTRAINT "tasktreenode_process_metadata_id_fkey" FOREIGN KEY (process_metadata_id) REFERENCES "ProcessMetaData"(id) ON UPDATE CASCADEIt contains the following data:
pycram=# select * from "ProcessMetaData";
created_at | created_by | description | pycram_version | id
----------------------------+------------+-----------------------------------------------------+------------------------------------------+----
2023-12-22 14:16:49.281148 | nleusmann | Unittest: All that is gold does not glitter, 0 | af343656dd2d615259c5df4543b56260cf8d358e | 7
2023-12-22 14:17:01.399586 | nleusmann | Unittest: Not all those who wander are lost; 1 | af343656dd2d615259c5df4543b56260cf8d358e | 8
2023-12-22 14:17:13.865826 | nleusmann | Unittest: The old that is strong does not wither, 2 | af343656dd2d615259c5df4543b56260cf8d358e | 9
2023-12-22 13:22:11 | nleusmann | Database merger Unittest: Example pick and place 0 | af343656dd2d615259c5df4543b56260cf8d358e | 10
2023-12-22 13:22:24 | nleusmann | Database merger Unittest: Example pick and place 1 | af343656dd2d615259c5df4543b56260cf8d358e | 11
2023-12-22 13:22:36 | nleusmann | Database merger Unittest: Example pick and place 2 | af343656dd2d615259c5df4543b56260cf8d358e | 12
2023-12-22 13:22:11 | nleusmann | Database merger Unittest: Example pick and place 0 | af343656dd2d615259c5df4543b56260cf8d358e | 1
2023-12-22 13:22:24 | nleusmann | Database merger Unittest: Example pick and place 1 | af343656dd2d615259c5df4543b56260cf8d358e | 2
2023-12-22 13:22:36 | nleusmann | Database merger Unittest: Example pick and place 2 | af343656dd2d615259c5df4543b56260cf8d358e | 3
2023-12-22 13:22:50 | nleusmann | Database merger Unittest: Example pick and place 0 | af343656dd2d615259c5df4543b56260cf8d358e | 4
2023-12-22 13:23:03 | nleusmann | Database merger Unittest: Example pick and place 1 | af343656dd2d615259c5df4543b56260cf8d358e | 5
2023-12-22 13:23:15 | nleusmann | Database merger Unittest: Example pick and place 2 | af343656dd2d615259c5df4543b56260cf8d358e | 6When using the response = session.query(pycram.orm.base.ProcessMetaData).all() command, the only value that gets returned is the following:
[ProcessMetaData(id=6, created_at=datetime.datetime(2023, 12, 22, 13, 23, 15), created_by='nleusmann', description='Database merger Unittest: Example pick and place 2', pycram_version='af343656dd2d615259c5df4543b56260cf8d358e')]Which is the most recently added object.
Curiously the count = session.query(pycram.orm.base.ProcessMetaData).count() returns the correct amount of 12.
Utilizing the select statement.
select_statement = sqlalchemy.select('*').select_from(pycram.orm.base.ProcessMetaData)
select_result = session.execute(select_statement).all()I receive the expected return value:
[(datetime.datetime(2023, 12, 22, 14, 16, 49, 281148), 'nleusmann', 'Unittest: All that is gold does not glitter, 0', 'af343656dd2d615259c5df4543b56260cf8d358e', 7), (datetime.datetime(2023, 12, 22, 14, 17, 1, 399586), 'nleusmann', 'Unittest: Not all those who wander are lost; 1', 'af343656dd2d615259c5df4543b56260cf8d358e', 8), (datetime.datetime(2023, 12, 22, 14, 17, 13, 865826), 'nleusmann', 'Unittest: The old that is strong does not wither, 2', 'af343656dd2d615259c5df4543b56260cf8d358e', 9), (datetime.datetime(2023, 12, 22, 13, 22, 11), 'nleusmann', 'Database merger Unittest: Example pick and place 0', 'af343656dd2d615259c5df4543b56260cf8d358e', 10), (datetime.datetime(2023, 12, 22, 13, 22, 24), 'nleusmann', 'Database merger Unittest: Example pick and place 1', 'af343656dd2d615259c5df4543b56260cf8d358e', 11), (datetime.datetime(2023, 12, 22, 13, 22, 36), 'nleusmann', 'Database merger Unittest: Example pick and place 2', 'af343656dd2d615259c5df4543b56260cf8d358e', 12), (datetime.datetime(2023, 12, 22, 13, 22, 11), 'nleusmann', 'Database merger Unittest: Example pick and place 0', 'af343656dd2d615259c5df4543b56260cf8d358e', 1), (datetime.datetime(2023, 12, 22, 13, 22, 24), 'nleusmann', 'Database merger Unittest: Example pick and place 1', 'af343656dd2d615259c5df4543b56260cf8d358e', 2), (datetime.datetime(2023, 12, 22, 13, 22, 36), 'nleusmann', 'Database merger Unittest: Example pick and place 2', 'af343656dd2d615259c5df4543b56260cf8d358e', 3), (datetime.datetime(2023, 12, 22, 13, 22, 50), 'nleusmann', 'Database merger Unittest: Example pick and place 0', 'af343656dd2d615259c5df4543b56260cf8d358e', 4), (datetime.datetime(2023, 12, 22, 13, 23, 3), 'nleusmann', 'Database merger Unittest: Example pick and place 1', 'af343656dd2d615259c5df4543b56260cf8d358e', 5), (datetime.datetime(2023, 12, 22, 13, 23, 15), 'nleusmann', 'Database merger Unittest: Example pick and place 2', 'af343656dd2d615259c5df4543b56260cf8d358e', 6)]But instead of an list of all the different ProcessMetaData stored within my database I only receive an single object.
What is even more surprising is the fact that the counting command returns the :
count = session.query(pycram.orm.base.ProcessMetaData).count()returns the correct amount of possible objects.
If needed I can provide additional information, please just ask.
rospy.time instead of time
see this post: https://answers.ros.org/question/233331/timesleep-in-a-node/
to avoid potential future issues this should be implemented.
In set_joint_state in bullet_world.py _set_attached_objects is called with None
(Line 293)
Should be an empty list, I guess.
This prevents the demo from running.
[world] the demo is not working correctly the world is moving during the demo prolly collision error or atach
Provide a LICENSE file
There is no information about the license that this used to publish this code.
Note that you are infringing the macropy license by redistributing its code without its license!
Update README to point to the correct link
As PyCRAM tutorials and docs moved to their own sublink, it would be nice to update the readme accordingly to point to http://cram-system.org/pycram
When running the demo, the spoon is not detected apparently
The trace is a follows:
Traceback (most recent call last):
File "/home/chris/mt/pycram-ws/src/pycram/pycram_pr2_bullet_world_demo/scripts/run.py", line 6, in
import demo
File "", line 971, in _find_and_load
File "", line 955, in _find_and_load_unlocked
File "", line 665, in _load_unlocked
File "/home/chris/mt/pycram-ws/src/pycram/pycram/src/macropy/core/import_hooks.py", line 46, in exec_module
exec(self.code, module.dict)
File "/home/chris/mt/pycram-ws/src/pycram/pycram_pr2_bullet_world_demo/scripts/demo.py", line 76, in
move_object(object_types[i], targets[object_types[i]][0], targets[object_types[i]][1])
File "/home/chris/mt/pycram-ws/src/pycram/pycram_pr2_bullet_world_demo/scripts/demo.py", line 46, in move_object
block = btr.blocking(det_obj, BulletWorld.robot, gripper)
File "/home/chris/mt/pycram-ws/src/pycram/pycram/src/pycram/bullet_world_reasoning.py", line 240, in blocking
inv = p.calculateInverseKinematics(robot.id, robot.get_link_id(gripper_name), object.get_pose(),
AttributeError: 'NoneType' object has no attribute 'get_pose'
And the PR2 just stands in front of an open drawer with the spoon inside.
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