clean up and update version of neem_pycram_interface, and update text…

… annotation.

pyproject.toml

@@ -6,7 +6,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "episode_segmenter"
-version = "1.0.16"
+version = "1.0.17"
 description = "Annotates activitiy episodes represented by meshes moving in a 3D environment with the corresponding events, actions and activities."
 readme = "README.md"
 authors = [{ name = "Abdelrhman Bassiouny", email = "[email protected]" }]
@@ -15,7 +15,7 @@ classifiers = [
     "Programming Language :: Python :: 3",
 ]
 keywords = ["robotics", "knowledge", "memories", "episodic", "pycram"]
-dependencies = ["neem_pycram_interface",
+dependencies = ["neem_pycram_interface==1.0.167",
 ]
 requires-python = ">=3.8"
 

requirements.txt

@@ -1,4 +1,4 @@
-neem_pycram_interface
+neem_pycram_interface==1.0.167
 trimesh
 dm_control
 pydub

src/episode_segmenter/Events.py

@@ -35,7 +35,7 @@ def links_in_contact(self) -> List[Link]:
             links.extend(self.contact_points.get_links_in_contact_of_object(obj))
         return links
 
-    def annotate(self, position: Optional[List[float]] = None) -> TextAnnotation:
+    def annotate(self, position: Optional[List[float]] = None, size: Optional[float] = 2) -> TextAnnotation:
         if position is None:
             position = [2, 1, 2]
         color = Color(0, 0, 1, 1)
@@ -46,8 +46,9 @@ def annotate(self, position: Optional[List[float]] = None) -> TextAnnotation:
         text = f"{main_link.name} in contact with {self.link_names_in_contact()}"
         self.text_id = World.current_world.add_text(text,
                                                     position,
-                                                    color=color)
-        return TextAnnotation(text, position, color, self.text_id)
+                                                    color=color,
+                                                    size=size)
+        return TextAnnotation(text, position, self.text_id, color=color, size=size)
 
     def __str__(self):
         return f"Contact {self.contact_points[0].link_a.object.name}: {self.object_names_in_contact()}"
@@ -80,7 +81,7 @@ def links_lost_contact(self) -> List[Link]:
     def objects_lost_contact(self):
         return self.contact_points.get_objects_that_got_removed(self.latest_contact_points)
 
-    def annotate(self, position: Optional[List[float]] = None) -> TextAnnotation:
+    def annotate(self, position: Optional[List[float]] = None, size: Optional[float] = 2) -> TextAnnotation:
         if position is None:
             position = [2, 1, 2]
         color = Color(1, 0, 0, 1)
@@ -92,8 +93,9 @@ def annotate(self, position: Optional[List[float]] = None) -> TextAnnotation:
         self.text_id = World.current_world.add_text(
             text,
             position,
-            color=color)
-        return TextAnnotation(text, position, color, self.text_id)
+            color=color,
+            size=size)
+        return TextAnnotation(text, position, self.text_id, color=color, size=size)
 
     def __str__(self):
         return f"Loss of contact {self.latest_contact_points[0].link_a.object.name}: {self.object_names_lost_contact()}"
@@ -118,7 +120,7 @@ def duration(self):
             return None
         return self.end_timestamp - self.timestamp
 
-    def annotate(self, position: Optional[List[float]] = None) -> TextAnnotation:
+    def annotate(self, position: Optional[List[float]] = None, size: Optional[float] = 2) -> TextAnnotation:
         if position is None:
             position = [2, 1, 2]
         color = Color(0, 1, 0, 1)
@@ -127,8 +129,9 @@ def annotate(self, position: Optional[List[float]] = None) -> TextAnnotation:
         text = f"Picked {self.object.name}"
         self.text_id = World.current_world.add_text(text,
                                                     position,
-                                                    color=color)
-        return TextAnnotation(text, position, color, self.text_id)
+                                                    color=color,
+                                                    size=size)
+        return TextAnnotation(text, position, self.text_id, color=color, size=size)
 
     def __str__(self):
         return f"Pick up event: Hand:{self.hand.name}, Object: {self.object.name}, Timestamp: {self.timestamp}"

src/episode_segmenter/episode_segmenter.py

@@ -51,7 +51,8 @@ def run_event_detectors(self, motion_generator_thread: threading.Thread) -> None
 
     def handle_contact_event(self, event: ContactEvent, hands: List[Object]) -> None:
         """
-        Handles the contact event by starting the contact threads for the object and the pickup thread for the object.
+        Handle the contact event by starting the contact threads for the object and the pickup thread for the object.
+
         :param event: The ContactEvent instance that represents the contact event.
         :param hands: A list of Object instances that represent the hands.
         """
@@ -68,12 +69,18 @@ def handle_contact_event(self, event: ContactEvent, hands: List[Object]) -> None
                 print(f"Creating new thread for object {obj_in_contact.name}")
                 self.start_contact_threads_for_obj_and_update_tracked_objs(obj_in_contact)
 
+            hand_link, obj_link = None, None
             if obj_a in hands and obj_in_contact not in hands:
-                self.start_pick_up_thread_for_obj(link_a, link_b)
+                hand_link, obj_link = link_a, link_b
+            elif obj_in_contact in hands and obj_a not in hands:
+                hand_link, obj_link = link_b, link_a
+            if hand_link is not None and obj_link is not None:
+                self.start_pick_up_thread_for_obj(hand_link, obj_link)
 
     def start_contact_threads_for_obj_and_update_tracked_objs(self, obj: Object):
         """
-        Starts the contact threads for the object and updates the tracked objects.
+        Start the contact threads for the object and updates the tracked objects.
+
         :param obj: The Object instance for which the contact threads are started.
         """
         for detector in (ContactDetector, LossOfContactDetector):
@@ -84,7 +91,8 @@ def start_contact_threads_for_obj_and_update_tracked_objs(self, obj: Object):
 
     def start_pick_up_thread_for_obj(self, hand_link: Link, obj_link: Link):
         """
-        Starts the pickup thread for the object.
+        Start the pickup thread for the object.
+
         :param hand_link: The Link instance that represents the hand.
         :param obj_link: The Link instance that represents the object.
         """
@@ -101,7 +109,8 @@ def start_pick_up_thread_for_obj(self, hand_link: Link, obj_link: Link):
 
     def get_hands_and_track_hand_contacts(self) -> List[Object]:
         """
-        Gets the hands from the world and starts the contact threads for the hands.
+        Get the hands from the world and starts the contact threads for the hands.
+
         :return: A list of Object instances that represent the hands.
         """
         hands = self.get_hands()
@@ -112,14 +121,15 @@ def get_hands_and_track_hand_contacts(self) -> List[Object]:
     @staticmethod
     def get_hands() -> List[Object]:
         """
-        Gets the hands from the world.
+        Get the hands from the world.
+
         :return: A list of Object instances that represent the hands.
         """
         return [obj for obj in World.current_world.objects if 'hand' in obj.name.lower()]
 
     def join(self):
         """
-        Joins all the threads.
+        Join all the threads.
         """
         self.motion_generator_thread.join()