Merge pull request #207 from AbdelrhmanBassiouny/world_sync_ci_bug_fix

World sync ci bug fix

src/pycram/datastructures/dataclasses.py

@@ -603,7 +603,7 @@ def get_objects_that_have_points(self) -> List[Object]:
         return list({point.link_b.object for point in self})
 
     def __str__(self):
-        return f"ContactPointsList: {', '.join(self.get_names_of_objects_that_have_points())}"
+        return f"ContactPointsList: {', '.join([point.__str__() for point in self])}"
 
     def __repr__(self):
         return self.__str__()

src/pycram/datastructures/world.py

@@ -1536,10 +1536,7 @@ class UseProspectionWorld:
         with UseProspectionWorld():
             NavigateAction.Action([[1, 0, 0], [0, 0, 0, 1]]).perform()
     """
-    WAIT_TIME_AS_N_SIMULATION_STEPS: int = 20
-    """
-    The time in simulation steps to wait before switching to the prospection world
-    """
+
 
     def __init__(self):
         self.prev_world: Optional[World] = None
@@ -1549,12 +1546,12 @@ def __enter__(self):
         """
         This method is called when entering the with block, it will set the current world to the prospection world
         """
+        # Please do not edit this function, it works as it is now!
         if not World.current_world.is_prospection_world:
             self.prev_world = World.current_world
             World.current_world = World.current_world.prospection_world
-            World.current_world.resume_world_sync()
-            time.sleep(self.WAIT_TIME_AS_N_SIMULATION_STEPS * World.current_world.simulation_time_step)
-            World.current_world.pause_world_sync()
+            # This is also a join statement since it is called from the main thread.
+            World.current_world.world_sync.sync_worlds()
 
     def __exit__(self, *args):
         """
@@ -1656,7 +1653,8 @@ def add_objects_not_in_prospection_world(self):
         """
         Adds all objects that are in the main world but not in the prospection world to the prospection world.
         """
-        [self.add_object(obj) for obj in self.world.objects if obj not in self.object_to_prospection_object_map]
+        obj_map_copy = copy(self.object_to_prospection_object_map)
+        [self.add_object(obj) for obj in self.world.objects if obj not in obj_map_copy.keys()]
 
     def add_object(self, obj: Object) -> None:
         """

src/pycram/helper.py

@@ -100,6 +100,7 @@ def find_multiverse_path() -> Optional[str]:
     """
     # Get the value of PYTHONPATH environment variable
     pythonpath = os.getenv('PYTHONPATH')
+    multiverse_relative_path = "Multiverse/multiverse"
 
     # Check if PYTHONPATH is set
     if pythonpath:
@@ -108,8 +109,8 @@ def find_multiverse_path() -> Optional[str]:
 
         # Iterate through each path and check if 'Multiverse' is in it
         for path in paths:
-            if 'multiverse' in path:
-                multiverse_path = path.split('multiverse')[0]
-                return multiverse_path + 'multiverse'
+            if multiverse_relative_path in path:
+                multiverse_path = path.split(multiverse_relative_path)[0]
+                return multiverse_path + multiverse_relative_path
 
 

test/test_attachment.py

@@ -26,12 +26,13 @@ def test_detach_sync_in_prospection_world(self):
             pass
         self.milk.detach(self.robot)
         with UseProspectionWorld():
-            self.assertTrue(self.milk not in self.robot.attachments)
-            self.assertTrue(self.robot not in self.milk.attachments)
-            prospection_milk = self.world.get_prospection_object_for_object(self.milk)
-            prospection_robot = self.world.get_prospection_object_for_object(self.robot)
-            self.assertTrue(prospection_milk not in prospection_robot.attachments)
-            self.assertTrue(prospection_robot not in prospection_milk.attachments)
+            pass
+        self.assertTrue(self.milk not in self.robot.attachments)
+        self.assertTrue(self.robot not in self.milk.attachments)
+        prospection_milk = self.world.get_prospection_object_for_object(self.milk)
+        prospection_robot = self.world.get_prospection_object_for_object(self.robot)
+        self.assertTrue(prospection_milk not in prospection_robot.attachments)
+        self.assertTrue(prospection_robot not in prospection_milk.attachments)
 
     def test_attachment_behavior(self):
         self.robot.attach(self.milk)
@@ -104,5 +105,3 @@ def test_attaching_to_robot_and_moving(self):
 
         new_milk_pos = self.milk.get_position()
         self.assertEqual(new_milk_pos.x, milk_pos.x + 1)
-
-