fixing ci after krrood update

Author: LucaKro

scripts/generate_orm.py

@@ -14,11 +14,12 @@
 import krrood.entity_query_language.symbol_graph
 import trimesh
 from krrood.class_diagrams import ClassDiagram
-from krrood.entity_query_language.predicate import Predicate, HasTypes, HasType, Symbol
+from krrood.entity_query_language.predicate import HasTypes, HasType, Symbol
 from krrood.entity_query_language.symbol_graph import SymbolGraph
 from krrood.ormatic.dao import AlternativeMapping
 from krrood.ormatic.ormatic import ORMatic
-from krrood.ormatic.utils import classes_of_module, recursive_subclasses
+from krrood.ormatic.utils import classes_of_module
+from krrood.utils import recursive_subclasses
 
 import semantic_digital_twin.orm.model
 import semantic_digital_twin.robots.abstract_robot
@@ -77,7 +78,7 @@
 }
 
 # build the symbol graph
-symbol_graph = SymbolGraph.build()
+symbol_graph = SymbolGraph()
 
 # collect all KRROOD classes
 all_classes |= {c.clazz for c in symbol_graph.class_diagram.wrapped_classes}

src/semantic_digital_twin/orm/ormatic_interface.py

@@ -188,11 +188,12 @@ class Point3MappingDAO(
     )
 
 
-class PredicateRelationDAO(
-    Base, DataAccessObject[krrood.entity_query_language.symbol_graph.PredicateRelation]
+class PredicateClassRelationDAO(
+    Base,
+    DataAccessObject[krrood.entity_query_language.symbol_graph.PredicateClassRelation],
 ):
 
-    __tablename__ = "PredicateRelationDAO"
+    __tablename__ = "PredicateClassRelationDAO"
 
     database_id: Mapped[builtins.int] = mapped_column(
         Integer, primary_key=True, use_existing_column=True
@@ -201,12 +202,12 @@ class PredicateRelationDAO(
     inferred: Mapped[builtins.bool] = mapped_column(use_existing_column=True)
 
     source_id: Mapped[int] = mapped_column(
-        ForeignKey("WrappedInstanceDAO.database_id", use_alter=True),
+        ForeignKey("WrappedInstanceMappingDAO.database_id", use_alter=True),
         nullable=True,
         use_existing_column=True,
     )
     target_id: Mapped[int] = mapped_column(
-        ForeignKey("WrappedInstanceDAO.database_id", use_alter=True),
+        ForeignKey("WrappedInstanceMappingDAO.database_id", use_alter=True),
         nullable=True,
         use_existing_column=True,
     )
@@ -223,11 +224,17 @@ class PredicateRelationDAO(
         use_existing_column=True,
     )
 
-    source: Mapped[WrappedInstanceDAO] = relationship(
-        "WrappedInstanceDAO", uselist=False, foreign_keys=[source_id], post_update=True
+    source: Mapped[WrappedInstanceMappingDAO] = relationship(
+        "WrappedInstanceMappingDAO",
+        uselist=False,
+        foreign_keys=[source_id],
+        post_update=True,
     )
-    target: Mapped[WrappedInstanceDAO] = relationship(
-        "WrappedInstanceDAO", uselist=False, foreign_keys=[target_id], post_update=True
+    target: Mapped[WrappedInstanceMappingDAO] = relationship(
+        "WrappedInstanceMappingDAO",
+        uselist=False,
+        foreign_keys=[target_id],
+        post_update=True,
     )
     predicate: Mapped[BinaryPredicateDAO] = relationship(
         "BinaryPredicateDAO",
@@ -623,14 +630,14 @@ class SymbolGraphMappingDAO(
         Integer, primary_key=True, use_existing_column=True
     )
 
-    instances: Mapped[typing.List[WrappedInstanceDAO]] = relationship(
-        "WrappedInstanceDAO",
-        foreign_keys="[WrappedInstanceDAO.symbolgraphmappingdao_instances_id]",
+    instances: Mapped[typing.List[WrappedInstanceMappingDAO]] = relationship(
+        "WrappedInstanceMappingDAO",
+        foreign_keys="[WrappedInstanceMappingDAO.symbolgraphmappingdao_instances_id]",
         post_update=True,
     )
-    predicate_relations: Mapped[typing.List[PredicateRelationDAO]] = relationship(
-        "PredicateRelationDAO",
-        foreign_keys="[PredicateRelationDAO.symbolgraphmappingdao_predicate_relations_id]",
+    predicate_relations: Mapped[typing.List[PredicateClassRelationDAO]] = relationship(
+        "PredicateClassRelationDAO",
+        foreign_keys="[PredicateClassRelationDAO.symbolgraphmappingdao_predicate_relations_id]",
         post_update=True,
     )
 
@@ -2535,29 +2542,25 @@ class WorldStateMappingDAO(
     )
 
 
-class WrappedInstanceDAO(
-    Base, DataAccessObject[krrood.entity_query_language.symbol_graph.WrappedInstance]
+class WrappedInstanceMappingDAO(
+    Base,
+    DataAccessObject[krrood.entity_query_language.orm.model.WrappedInstanceMapping],
 ):
 
-    __tablename__ = "WrappedInstanceDAO"
+    __tablename__ = "WrappedInstanceMappingDAO"
 
     database_id: Mapped[builtins.int] = mapped_column(
         Integer, primary_key=True, use_existing_column=True
     )
 
-    index: Mapped[typing.Optional[builtins.int]] = mapped_column(
-        use_existing_column=True
-    )
-    inferred: Mapped[builtins.bool] = mapped_column(use_existing_column=True)
-
     symbolgraphmappingdao_instances_id: Mapped[typing.Optional[builtins.int]] = (
         mapped_column(
             ForeignKey("SymbolGraphMappingDAO.database_id", use_alter=True),
             nullable=True,
             use_existing_column=True,
         )
     )
-    instance_id: Mapped[int] = mapped_column(
+    instance_id: Mapped[typing.Optional[builtins.int]] = mapped_column(
         ForeignKey("SymbolDAO.database_id", use_alter=True),
         nullable=True,
         use_existing_column=True,

src/semantic_digital_twin/robots/tracy.py

@@ -45,102 +45,102 @@ def from_world(cls, world: World) -> Self:
 
         :return: A Tracy robot semantic annotation.
         """
+        with world.modify_world():
+            robot = cls(
+                name=PrefixedName(name="tracy", prefix=world.name),
+                root=world.get_body_by_name("table"),
+                _world=world,
+            )
 
-        robot = cls(
-            name=PrefixedName(name="tracy", prefix=world.name),
-            root=world.get_body_by_name("table"),
-            _world=world,
-        )
-
-        # Create left arm
-        left_gripper_thumb = Finger(
-            name=PrefixedName("left_gripper_thumb", prefix=robot.name.name),
-            root=world.get_body_by_name("left_robotiq_85_left_knuckle_link"),
-            tip=world.get_body_by_name("left_robotiq_85_left_finger_tip_link"),
-            _world=world,
-        )
+            # Create left arm
+            left_gripper_thumb = Finger(
+                name=PrefixedName("left_gripper_thumb", prefix=robot.name.name),
+                root=world.get_body_by_name("left_robotiq_85_left_knuckle_link"),
+                tip=world.get_body_by_name("left_robotiq_85_left_finger_tip_link"),
+                _world=world,
+            )
 
-        left_gripper_finger = Finger(
-            name=PrefixedName("left_gripper_finger", prefix=robot.name.name),
-            root=world.get_body_by_name("left_robotiq_85_right_knuckle_link"),
-            tip=world.get_body_by_name("left_robotiq_85_right_finger_tip_link"),
-            _world=world,
-        )
+            left_gripper_finger = Finger(
+                name=PrefixedName("left_gripper_finger", prefix=robot.name.name),
+                root=world.get_body_by_name("left_robotiq_85_right_knuckle_link"),
+                tip=world.get_body_by_name("left_robotiq_85_right_finger_tip_link"),
+                _world=world,
+            )
 
-        left_gripper = ParallelGripper(
-            name=PrefixedName("left_gripper", prefix=robot.name.name),
-            root=world.get_body_by_name("left_robotiq_85_base_link"),
-            tool_frame=world.get_body_by_name("l_gripper_tool_frame"),
-            front_facing_orientation=Quaternion(0.5, 0.5, 0.5, 0.5),
-            front_facing_axis=Vector3(0, 0, 1),
-            thumb=left_gripper_thumb,
-            finger=left_gripper_finger,
-            _world=world,
-        )
-        left_arm = Arm(
-            name=PrefixedName("left_arm", prefix=robot.name.name),
-            root=world.get_body_by_name("table"),
-            tip=world.get_body_by_name("left_wrist_3_link"),
-            manipulator=left_gripper,
-            _world=world,
-        )
+            left_gripper = ParallelGripper(
+                name=PrefixedName("left_gripper", prefix=robot.name.name),
+                root=world.get_body_by_name("left_robotiq_85_base_link"),
+                tool_frame=world.get_body_by_name("l_gripper_tool_frame"),
+                front_facing_orientation=Quaternion(0.5, 0.5, 0.5, 0.5),
+                front_facing_axis=Vector3(0, 0, 1),
+                thumb=left_gripper_thumb,
+                finger=left_gripper_finger,
+                _world=world,
+            )
+            left_arm = Arm(
+                name=PrefixedName("left_arm", prefix=robot.name.name),
+                root=world.get_body_by_name("table"),
+                tip=world.get_body_by_name("left_wrist_3_link"),
+                manipulator=left_gripper,
+                _world=world,
+            )
 
-        robot.add_arm(left_arm)
+            robot.add_arm(left_arm)
 
-        right_gripper_thumb = Finger(
-            name=PrefixedName("right_gripper_thumb", prefix=robot.name.name),
-            root=world.get_body_by_name("right_robotiq_85_left_knuckle_link"),
-            tip=world.get_body_by_name("right_robotiq_85_left_finger_tip_link"),
-            _world=world,
-        )
-        right_gripper_finger = Finger(
-            name=PrefixedName("right_gripper_finger", prefix=robot.name.name),
-            root=world.get_body_by_name("right_robotiq_85_right_knuckle_link"),
-            tip=world.get_body_by_name("right_robotiq_85_right_finger_tip_link"),
-            _world=world,
-        )
-        right_gripper = ParallelGripper(
-            name=PrefixedName("right_gripper", prefix=robot.name.name),
-            root=world.get_body_by_name("right_robotiq_85_base_link"),
-            tool_frame=world.get_body_by_name("r_gripper_tool_frame"),
-            front_facing_orientation=Quaternion(0.5, 0.5, 0.5, 0.5),
-            front_facing_axis=Vector3(0, 0, 1),
-            thumb=right_gripper_thumb,
-            finger=right_gripper_finger,
-            _world=world,
-        )
-        right_arm = Arm(
-            name=PrefixedName("right_arm", prefix=robot.name.name),
-            root=world.get_body_by_name("table"),
-            tip=world.get_body_by_name("right_wrist_3_link"),
-            manipulator=right_gripper,
-            _world=world,
-        )
-        robot.add_arm(right_arm)
-
-        camera = Camera(
-            name=PrefixedName("camera", prefix=robot.name.name),
-            root=world.get_body_by_name("camera_link"),
-            forward_facing_axis=Vector3(0, 0, 1),
-            field_of_view=FieldOfView(horizontal_angle=1.047, vertical_angle=0.785),
-            minimal_height=0.8,
-            maximal_height=1.7,
-            _world=world,
-        )
+            right_gripper_thumb = Finger(
+                name=PrefixedName("right_gripper_thumb", prefix=robot.name.name),
+                root=world.get_body_by_name("right_robotiq_85_left_knuckle_link"),
+                tip=world.get_body_by_name("right_robotiq_85_left_finger_tip_link"),
+                _world=world,
+            )
+            right_gripper_finger = Finger(
+                name=PrefixedName("right_gripper_finger", prefix=robot.name.name),
+                root=world.get_body_by_name("right_robotiq_85_right_knuckle_link"),
+                tip=world.get_body_by_name("right_robotiq_85_right_finger_tip_link"),
+                _world=world,
+            )
+            right_gripper = ParallelGripper(
+                name=PrefixedName("right_gripper", prefix=robot.name.name),
+                root=world.get_body_by_name("right_robotiq_85_base_link"),
+                tool_frame=world.get_body_by_name("r_gripper_tool_frame"),
+                front_facing_orientation=Quaternion(0.5, 0.5, 0.5, 0.5),
+                front_facing_axis=Vector3(0, 0, 1),
+                thumb=right_gripper_thumb,
+                finger=right_gripper_finger,
+                _world=world,
+            )
+            right_arm = Arm(
+                name=PrefixedName("right_arm", prefix=robot.name.name),
+                root=world.get_body_by_name("table"),
+                tip=world.get_body_by_name("right_wrist_3_link"),
+                manipulator=right_gripper,
+                _world=world,
+            )
+            robot.add_arm(right_arm)
+
+            camera = Camera(
+                name=PrefixedName("camera", prefix=robot.name.name),
+                root=world.get_body_by_name("camera_link"),
+                forward_facing_axis=Vector3(0, 0, 1),
+                field_of_view=FieldOfView(horizontal_angle=1.047, vertical_angle=0.785),
+                minimal_height=0.8,
+                maximal_height=1.7,
+                _world=world,
+            )
 
-        # Probably should be classified as "Neck", as that implies that i can move.
-        neck = Neck(
-            name=PrefixedName("neck", prefix=robot.name.name),
-            sensors={camera},
-            root=world.get_body_by_name("camera_pole"),
-            tip=world.get_body_by_name("camera_link"),
-            _world=world,
-        )
+            # Probably should be classified as "Neck", as that implies that i can move.
+            neck = Neck(
+                name=PrefixedName("neck", prefix=robot.name.name),
+                sensors={camera},
+                root=world.get_body_by_name("camera_pole"),
+                tip=world.get_body_by_name("camera_link"),
+                _world=world,
+            )
 
-        robot.add_kinematic_chain(neck)
-        world.add_semantic_annotation(robot, exists_ok=True)
+            robot.add_kinematic_chain(neck)
+            world.add_semantic_annotation(robot, exists_ok=True)
 
-        vel_limits = defaultdict(lambda: 0.2)
-        robot.tighten_dof_velocity_limits_of_1dof_connections(new_limits=vel_limits)
+            vel_limits = defaultdict(lambda: 0.2)
+            robot.tighten_dof_velocity_limits_of_1dof_connections(new_limits=vel_limits)
 
-        return robot
+            return robot

src/semantic_digital_twin/testing.py

@@ -2,6 +2,7 @@
 import threading
 import time
 
+from krrood.entity_query_language.symbol_graph import SymbolGraph
 from krrood.entity_query_language.symbolic import Variable
 from typing_extensions import Tuple
 
@@ -275,10 +276,7 @@ def cleanup_after_test():
     # Setup: runs before each test
     yield
     # Teardown: runs after each test
-    for c in Variable._cache_.values():
-        c.clear()
-    Variable._cache_.clear()
-
+    SymbolGraph().clear()
 
 @pytest.fixture()
 def kitchen_world():

test/test_semantic_annotations/test_semantic_annotations.py

@@ -133,6 +133,7 @@ def test_handle_semantic_annotation_eql(apartment_world):
     with rule_mode():
         body = let(
             type_=Body,
+            domain=apartment_world.bodies
         )
         query = infer(entity(Handle(body=body), in_("handle", body.name.name.lower())))