[PhysicalObject] corrections after rebasing on dev.

src/pycram/designators/action_designator.py

@@ -448,13 +448,7 @@ def plan(self) -> None:
         for pose in pickup_loc:
             if self.arm in pose.reachable_arms:
                 pickup_pose = pose
-                NavigateActionPerformable(pickup_pose.pose).perform()
-                robot = robot_desig.resolve().world_object
-                if robot.pose.almost_equal(pickup_pose.pose, 0.1, 3):
-                    break
-                else:
-                    pickup_pose = None
-                    continue
+                break
         if not pickup_pose:
             raise ObjectUnfetchable(
                 f"Found no pose for the robot to grasp the object: {self.object_designator} with arm: {self.arm}")

src/pycram/process_modules/pr2_process_modules.py

@@ -25,7 +25,7 @@
 try:
     from ..worlds import Multiverse
 except ImportError:
-    Multiverse = NoneType
+    Multiverse = type(None)
 
 try:
     from pr2_controllers_msgs.msg import Pr2GripperCommandGoal, Pr2GripperCommandAction, Pr2

src/pycram/worlds/multiverse.py

@@ -56,22 +56,22 @@ class Multiverse(World):
     Add the MJCF description extension to the extension to description type mapping for the objects.
     """
 
-    def __init__(self, is_prospection_world: Optional[bool] = False,
+    def __init__(self, is_prospection: Optional[bool] = False,
                  clear_cache: bool = False):
         """
         Initialize the Multiverse Socket and the PyCram World.
 
-        :param is_prospection_world: Whether the world is prospection or not.
+        :param is_prospection: Whether the world is prospection or not.
         :param clear_cache: Whether to clear the cache or not.
         """
 
         self.latest_save_id: Optional[int] = None
         self.saved_simulator_states: Dict = {}
         self.make_sure_multiverse_resources_are_added(clear_cache=clear_cache)
 
-        self.simulation = self.conf.prospection_world_prefix if is_prospection_world else "belief_state"
+        self.simulation = self.conf.prospection_world_prefix if is_prospection else "belief_state"
         self.client_manager = MultiverseClientManager(self.conf.simulation_wait_time_factor)
-        self._init_clients(is_prospection=is_prospection_world)
+        self._init_clients(is_prospection=is_prospection)
 
         World.__init__(self, mode=WorldMode.DIRECT, is_prospection=is_prospection)
 

test/test_task_tree.py

@@ -35,8 +35,8 @@ def test_tree_creation(self):
         # self.tearDownBulletWorld()
         tt = pycram.tasktree.task_tree
 
-        self.assertEqual(16, len(tt.root))
-        self.assertEqual(11, len(tt.root.leaves))
+        self.assertEqual(15, len(tt.root))
+        self.assertEqual(10, len(tt.root.leaves))
 
         # check that all nodes succeeded
         for node in anytree.PreOrderIter(tt.root):
@@ -74,8 +74,8 @@ def test_simulated_tree(self):
             self.plan()
             tt = pycram.tasktree.task_tree
 
-            self.assertEqual(16, len(tt.root))
-            self.assertEqual(11, len(tt.root.leaves))
+            self.assertEqual(15, len(tt.root))
+            self.assertEqual(10, len(tt.root.leaves))
 
         self.assertEqual(len(pycram.tasktree.task_tree), 1)