Containment & Rules #275
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Containment & Rules #275
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# Conflicts: # examples/migrate_neems.md # requirements.txt # src/pycram/datastructures/world.py # src/pycram/world_concepts/world_object.py # src/pycrap/base.py # src/pycrap/objects.py # test/test_butterworth_filter.py
…and tested reasoning with them.
…s and is working.
…relations # Conflicts: # examples/migrate_neems.md # src/pycram/datastructures/mixins.py # src/pycram/datastructures/world_entity.py # src/pycram/description.py # src/pycram/world_concepts/world_object.py # src/pycrap/urdf_parser.py
…ed HasConcept from PhysicalBody to WorldEntity so as to make joints also have a concept as they inherit from WorldEntity not from PhysicalBody, it also makes sense as every thing in the world should theoretically have a concept.
…spatial_relations # Conflicts: # src/pycram/datastructures/world.py
…rected bounding box extents, and duplicate scaling of mesh.
…relations # Conflicts: # test/test_links.py
tomsch420
approved these changes
Feb 26, 2025
| @property | ||
| def rule_body(self): | ||
| return f""" | ||
| {is_part_of}(?part, ?parent), {contains_object}(?part, ?object) |
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heyyy very cool way of doing it!
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Thanks 😄 it took multiple iterations to reach this way of doing it haha.
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Added containment relations and an update method that updated the containment of given bodies.
This is based on the containment of bounding boxes.
Also added a SWRL rule in Owlready2 to assert that parents contain the objects contained by the parts.
Created a Rule class that inherits from HasConcept to facilitate the creation of rules.
Added a collection of rules for the world.
Added a couple of tests in test_links to test this functionality.