[refactor] moved local_transformer and costmaps to top-level

src/pycram/world_concepts/costmaps.py → src/pycram/costmaps.py

@@ -12,13 +12,13 @@
 from matplotlib import colors
 from nav_msgs.msg import OccupancyGrid, MapMetaData
 
-from ..world import UseProspectionWorld
-from ..world_concepts.world_object import Object
-from ..description import Link
-from ..datastructures.local_transformer import LocalTransformer
-from ..datastructures.pose import Pose, Transform
-from ..world import World
-from ..datastructures.dataclasses import AxisAlignedBoundingBox, BoxVisualShape, Color
+from .world import UseProspectionWorld
+from .world_concepts.world_object import Object
+from .description import Link
+from .local_transformer import LocalTransformer
+from .datastructures.pose import Pose, Transform
+from .world import World
+from .datastructures.dataclasses import AxisAlignedBoundingBox, BoxVisualShape, Color
 
 
 @dataclass

src/pycram/description.py

@@ -9,7 +9,7 @@
 from typing_extensions import Tuple, Union, Any, List, Optional, Dict, TYPE_CHECKING
 
 from .datastructures.enums import JointType
-from .datastructures.local_transformer import LocalTransformer
+from .local_transformer import LocalTransformer
 from .datastructures.pose import Pose, Transform
 from .world import WorldEntity
 from .datastructures.dataclasses import JointState, AxisAlignedBoundingBox, Color, LinkState, VisualShape

src/pycram/designator.py

@@ -10,17 +10,16 @@
 
 from .world import World
 from .world_concepts.world_object import Object as WorldObject
-from .datastructures.enums import ObjectType
 from .helper import GeneratorList, bcolors
 from threading import Lock
 from time import time
-from typing_extensions import List, Dict, Any, Optional, Union, get_type_hints, Callable, Iterable
+from typing_extensions import List, Dict, Any, Optional, Union, Callable, Iterable
 
-from pycram.datastructures.local_transformer import LocalTransformer
+from .local_transformer import LocalTransformer
 from .language import Language
-from pycram.datastructures.pose import Pose
+from .datastructures.pose import Pose
 from .robot_descriptions import robot_description
-from pycram.datastructures.enums import ObjectType
+from .datastructures.enums import ObjectType
 
 import logging
 

src/pycram/designators/actions/actions.py

@@ -1,23 +1,22 @@
 import abc
 import inspect
-import time
 
 import numpy as np
 from tf import transformations
 from typing_extensions import Union, Type
-from pycram.designator import ActionDesignatorDescription
-from pycram.designators.motion_designator import *
+from ...designator import ActionDesignatorDescription
+from ..motion_designator import *
 from ...datastructures.pose import Pose
 from ...datastructures.enums import Arms, Grasp
-from pycram.task import with_tree
+from ...task import with_tree
 from dataclasses import dataclass, field
 from ..location_designator import CostmapLocation
 from ..object_designator import BelieveObject
 # from ...bullet_world import BulletWorld
 from ...helper import multiply_quaternions
-from ...datastructures.local_transformer import LocalTransformer
+from ...local_transformer import LocalTransformer
 from ...orm.base import Pose as ORMPose
-from ...orm.object_designator import Object as ORMObject, ObjectPart as ORMObjectPart
+from ...orm.object_designator import Object as ORMObject
 from ...orm.action_designator import Action as ORMAction
 from ...plan_failures import ObjectUnfetchable, ReachabilityFailure
 from ...robot_descriptions import robot_description

src/pycram/designators/location_designator.py

@@ -2,16 +2,16 @@
 from typing_extensions import List, Union, Iterable, Optional, Callable
 
 from .object_designator import ObjectDesignatorDescription, ObjectPart
-from pycram.world import World, UseProspectionWorld
-from pycram.world_reasoning import link_pose_for_joint_config
+from ..world import World, UseProspectionWorld
+from ..world_reasoning import link_pose_for_joint_config
 from ..designator import DesignatorError, LocationDesignatorDescription
-from pycram.world_concepts.costmaps import OccupancyCostmap, VisibilityCostmap, SemanticCostmap, GaussianCostmap
+from ..costmaps import OccupancyCostmap, VisibilityCostmap, SemanticCostmap, GaussianCostmap
 from ..robot_descriptions import robot_description
-from pycram.datastructures.enums import JointType
+from ..datastructures.enums import JointType
 from ..helper import transform
 from ..pose_generator_and_validator import PoseGenerator, visibility_validator, reachability_validator
 from ..robot_description import ManipulatorDescription
-from pycram.datastructures.pose import Pose
+from ..datastructures.pose import Pose
 
 
 class Location(LocationDesignatorDescription):

src/pycram/external_interfaces/ik.py

@@ -8,7 +8,7 @@
 
 from pycram.world_concepts.world_object import Object
 from ..helper import calculate_wrist_tool_offset, _apply_ik
-from pycram.datastructures.local_transformer import LocalTransformer
+from pycram.local_transformer import LocalTransformer
 from pycram.datastructures.pose import Pose
 from ..robot_descriptions import robot_description
 from ..plan_failures import IKError

src/pycram/external_interfaces/robokudo.py

@@ -7,7 +7,7 @@
 
 from ..designator import ObjectDesignatorDescription
 from pycram.datastructures.pose import Pose
-from pycram.datastructures.local_transformer import LocalTransformer
+from pycram.local_transformer import LocalTransformer
 from pycram.world import World
 from pycram.datastructures.enums import ObjectType
 

src/pycram/datastructures/local_transformer.py → src/pycram/local_transformer.py

@@ -9,7 +9,7 @@
 from rospy import Duration
 
 from geometry_msgs.msg import TransformStamped
-from .pose import Pose, Transform
+from .datastructures.pose import Pose, Transform
 from typing_extensions import List, Optional, Union, Iterable
 
 

src/pycram/pose_generator_and_validator.py

@@ -4,8 +4,8 @@
 from .world import World
 from .world_concepts.world_object import Object
 from .world_reasoning import contact
-from .world_concepts.costmaps import Costmap
-from .datastructures.local_transformer import LocalTransformer
+from .costmaps import Costmap
+from .local_transformer import LocalTransformer
 from .datastructures.pose import Pose, Transform
 from .robot_description import ManipulatorDescription
 from .robot_descriptions import robot_description

src/pycram/process_modules/boxy_process_modules.py

@@ -5,10 +5,9 @@
 from ..designators.motion_designator import *
 from ..datastructures.enums import JointType
 from ..external_interfaces.ik import request_ik
-from ..datastructures.local_transformer import LocalTransformer
 
 from ..world import World
-from ..datastructures.local_transformer import LocalTransformer
+from ..local_transformer import LocalTransformer
 from ..process_module import ProcessModule, ProcessModuleManager
 from ..robot_descriptions import robot_description
 

src/pycram/process_modules/default_process_modules.py

@@ -5,14 +5,9 @@
 from ..datastructures.enums import JointType
 from ..external_interfaces.ik import request_ik
 from ..helper import _apply_ik
-from ..process_module import ProcessModule, ProcessModuleManager
-# from ..process_modules.pr2_process_modules import Pr2Navigation as DefaultNavigation, Pr2PickUp as DefaultPickUp, \
-#     Pr2Place as DefaultPlace, Pr2WorldStateDetecting as DefaultWorldStateDetecting, Pr2Open as DefaultOpen, \
-#     Pr2Close as DefaultClose, Pr2MoveGripper as DefaultMoveGripper, Pr2Detecting as DefaultDetecting, \
-#     Pr2MoveTCP as DefaultMoveTCP
+from ..process_module import ProcessModule
 from ..robot_descriptions import robot_description
-from ..world import World
-from ..datastructures.local_transformer import LocalTransformer
+from ..local_transformer import LocalTransformer
 from ..designators.motion_designator import *
 from ..world_reasoning import visible, link_pose_for_joint_config
 

src/pycram/process_modules/donbot_process_modules.py

@@ -1,11 +1,10 @@
 from threading import Lock
 
 import numpy as np
-from typing_extensions import Optional
 
 from ..worlds.bullet_world import World
 from ..designators.motion_designator import MoveArmJointsMotion, WorldStateDetectingMotion
-from ..datastructures.local_transformer import LocalTransformer
+from ..local_transformer import LocalTransformer
 from ..process_module import ProcessModule, ProcessModuleManager
 from ..robot_descriptions import robot_description
 from ..process_modules.pr2_process_modules import Pr2Detecting as DonbotDetecting, _move_arm_tcp

src/pycram/process_modules/hsr_process_modules.py

@@ -3,19 +3,14 @@
 from threading import Lock
 from typing import Any
 
-from typing_extensions import Optional
-
 from ..datastructures.enums import JointType
 from ..robot_descriptions import robot_description
-from ..process_module import ProcessModule, ProcessModuleManager
-from ..world import World
-from ..datastructures.pose import Pose, Point
+from ..process_module import ProcessModule
+from ..datastructures.pose import Point
 from ..helper import _apply_ik
 from ..external_interfaces.ik import request_ik
 from .. import world_reasoning as btr
-import logging
-import time
-from ..datastructures.local_transformer import LocalTransformer
+from ..local_transformer import LocalTransformer
 from ..designators.motion_designator import *
 from ..external_interfaces import giskard
 

src/pycram/process_modules/pr2_process_modules.py

@@ -1,6 +1,5 @@
 from threading import Lock
-from typing_extensions import Any, Optional, Tuple
-from abc import abstractmethod
+from typing_extensions import Any
 
 import actionlib
 
@@ -12,16 +11,16 @@
 from ..process_module import ProcessModule, ProcessModuleManager
 from ..external_interfaces.ik import request_ik
 from ..helper import _apply_ik
-from pycram.datastructures.local_transformer import LocalTransformer
+from ..local_transformer import LocalTransformer
 from ..designators.object_designator import ObjectDesignatorDescription
 from ..designators.motion_designator import MoveMotion, LookingMotion, \
     DetectingMotion, MoveTCPMotion, MoveArmJointsMotion, WorldStateDetectingMotion, MoveJointsMotion, \
     MoveGripperMotion, OpeningMotion, ClosingMotion
 from ..robot_descriptions import robot_description
-from pycram.world import World
-from pycram.world_concepts.world_object import Object
-from pycram.datastructures.pose import Pose
-from pycram.datastructures.enums import JointType, ObjectType
+from ..world import World
+from ..world_concepts.world_object import Object
+from ..datastructures.pose import Pose
+from ..datastructures.enums import JointType, ObjectType
 from ..external_interfaces import giskard
 from ..external_interfaces.robokudo import query
 

src/pycram/resolver/location/database_location.py

@@ -1,12 +1,11 @@
 from dataclasses import dataclass
 
-import numpy as np
 import sqlalchemy.orm
 import sqlalchemy.sql
 from sqlalchemy import select, Select
 from typing_extensions import List
 
-from ...world_concepts.costmaps import Rectangle, OccupancyCostmap
+from ...costmaps import Rectangle, OccupancyCostmap
 from ...designator import LocationDesignatorDescription
 from ...designators.location_designator import CostmapLocation
 from ...orm.action_designator import PickUpAction

src/pycram/resolver/probabilistic/probabilistic_action.py

@@ -4,23 +4,22 @@
 import portion
 from probabilistic_model.probabilistic_circuit.distributions import GaussianDistribution, SymbolicDistribution
 from probabilistic_model.probabilistic_circuit.probabilistic_circuit import ProbabilisticCircuit, \
-    DecomposableProductUnit, DeterministicSumUnit
+    DecomposableProductUnit
 from random_events.events import Event, ComplexEvent
 from random_events.variables import Symbolic, Continuous
 import tqdm
 from typing_extensions import Optional, List, Iterator
 from ...world import World
-from ...world_concepts.costmaps import OccupancyCostmap, VisibilityCostmap
+from ...costmaps import OccupancyCostmap, VisibilityCostmap
 from ...designator import ActionDesignatorDescription, ObjectDesignatorDescription
 from ...designators.actions.actions import MoveAndPickUpPerformable, ActionAbstract
 from ...datastructures.enums import Arms, Grasp, TaskStatus
-from ...datastructures.local_transformer import LocalTransformer
+from ...local_transformer import LocalTransformer
 from ...orm.queries.queries import PickUpWithContext
 from ...orm.task import TaskTreeNode
 from ...orm.action_designator import PickUpAction as ORMPickUpAction
 from ...plan_failures import ObjectUnreachable, PlanFailure
 from ...datastructures.pose import Pose
-import plotly.graph_objects as go
 
 
 class ProbabilisticAction:

src/pycram/world.py

@@ -17,7 +17,7 @@
 from .cache_manager import CacheManager
 from .datastructures.enums import JointType, ObjectType, WorldMode
 from .world_concepts.event import Event
-from .datastructures.local_transformer import LocalTransformer
+from .local_transformer import LocalTransformer
 from .datastructures.pose import Pose, Transform
 from .world_concepts.constraints import Constraint
 from .datastructures.dataclasses import (Color, AxisAlignedBoundingBox, CollisionCallbacks,

src/pycram/world_concepts/world_object.py

@@ -16,7 +16,7 @@
 from ..datastructures.dataclasses import (Color, ObjectState, LinkState, JointState,
                                                AxisAlignedBoundingBox, VisualShape)
 from ..datastructures.enums import ObjectType, JointType
-from ..datastructures.local_transformer import LocalTransformer
+from ..local_transformer import LocalTransformer
 from ..datastructures.pose import Pose, Transform
 
 Link = ObjectDescription.Link

test/test_action_designator.py

@@ -2,7 +2,7 @@
 from pycram.designators import action_designator, object_designator
 from pycram.designators.actions.actions import MoveTorsoActionPerformable, PickUpActionPerformable, \
     NavigateActionPerformable, FaceAtPerformable
-from pycram.datastructures.local_transformer import LocalTransformer
+from pycram.local_transformer import LocalTransformer
 from pycram.robot_descriptions import robot_description
 from pycram.process_module import simulated_robot
 from pycram.datastructures.pose import Pose

test/test_costmaps.py

@@ -5,7 +5,7 @@
 from random_events.events import Event, ComplexEvent
 
 from bullet_world_testcase import BulletWorldTestCase
-from pycram.world_concepts.costmaps import OccupancyCostmap
+from pycram.costmaps import OccupancyCostmap
 from pycram.datastructures.pose import Pose
 
 

test/test_local_transformer.py

@@ -1,7 +1,7 @@
 import rospy
 
 
-from pycram.datastructures.local_transformer import LocalTransformer
+from pycram.local_transformer import LocalTransformer
 from pycram.datastructures.pose import Pose, Transform
 from bullet_world_testcase import BulletWorldTestCase