Add model parsing and tests for distributions #2
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- support secorolab/metamodels#13 - add DistributionModel that for parsing univariate and multivariate versions of the uniform and normal distributions, as well as uniform rotation (3D) distribution - add method to sample using info from DistributionModel - add SampledQuantityModel that cache sample when requested - add unit test on a valid model that check sampling of all supported distributions - minor: use check_shacl_constraints func in test_python_model - minor: remove black precommit hook since conflicting with ruff
minhnh
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- dependent on secorolab/metamodels#13 - dependent on secorolab/rdf-utils#2
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- For compatibility with Python 3.11 and older, use single quote inside f-string - add dependency to numpy - test against Python versions in Ubuntu 22.04, 24.04, and latest
- add a function to create distribution for a SampledQuantity node - add optional deps for distrib models, update workflow - clean up double quote f-string in test
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## Changelog ### BDD - Differentiate types of variations with `TableVariation` & `CartesianProductVariation` - Add `WhenBehaviour` - Add set quantifiers `ForAll` & `ThereExists` - Add concepts to link fluents, behaviours to their implementations - Add `ScenarioExecution` and more specific concepts to compose impl. concepts - Remove `Fluent` in favour of adding predicates types to `FluentClause` for simplification - Update SHACL constraints for BDD MM ### Other MMs - Add `Pick` & `Place` as behaviour types, allowing composition, which may need some further conceptual brainstorming - Add Simulation MM & SHACL to link elements to corresponding simulation resources - Add more specific concepts to link time constraints to event, add `DuringEventsConstraint`, update SHACL for time MM - Add concepts to link objects, workspaces, agents to their models - Add SHACL for environment & agent MM ## Related PRs - Distribution MM migrated in secorolab/metamodels#13 - Extensions to geometry metamodels will be migrated with secorolab/metamodels#22 ## Commits * add simulation metamodel - add concepts for specifying simulation resources - add SHACL constraints for these concepts * add geometry extension and distribution MM - add a concept for composing a pose coordinate from position and orientation - add concept for different types of orientation coordinates - add concept for sampled quantities and some default distributions - add SHACL constraints for the metamodels - the distribution concepts are migrated from the probability metamodel in secorolab/models * add concepts for scenario exec, scenario variant - ScenarioVariant was not explicitly defined - add concepts for specifying the execution environment, as well as implementations for behaviour and fluents * add type, ns for USD, Isaacsim * move object model concepts to environment mm * change SimulatedObject to ModelledObject - move SimulatedObject in simulation MM to ModelledObject in environment. Semantically, this means object models can exist independent of simulation. An object can be associated with many models. - change sim:object-model to env:has-object-model - add SHACL constraints for environment MM, migrate constraints from simulation SHACL * add modelled agent concepts similar to modelled object * remove of-constraint path constraint in favour of multi-type * add different types of variations - remove `:can-be` concept used for variation per each variable - add CartesianProductVariation to denote variations as the cartesian product of sets of possible values for a specified list of variables. This is a reification of the previous behaviour, introduced to allow different types of variations. - add TableVariation concept to specify variations as a table, where each row contains values of a specified list of variables for a single execution. - add Combination to specify selecting a list of distinct members from a set (as opposed to Permutation) - update SHACL constrants for the new concepts * migrate distribution MM to secorolab/metamodels - dependent on secorolab/metamodels#13 - dependent on secorolab/rdf-utils#2 * add Permutation, change dim to length * add metamodel for quantifiers, adapt SHACL * update quantifier & scenario variant constraints - :ForAll must link to a :When - :ThereExists must link to a :Given or :Then - :ScenarioVariant can have 0 or 1 :has-clause property - :ScenarioTemplate, :ForAll, :ThereExists must have exactly 1 :has-clause property * add domain-specific behaviours, WhenBehaviour - add WhenBehaviour concept that compose a behavour with relevant parameters to represent a complete "when behaviour" clause - add domain-specific concepts for pick and place behaviours - adapt SHACL constraint accordingly * add target-agent predicate * disallow container in in-set * remove pickplace behaviour and properties pick and place behaviours will be handled as one with both :Pick and :Place types, and pick workspace is removed as a specialized property * add MoveSafelyPredicate, DuringEventsConstraint - change :ref-event predicate to :before-event & :after-event - update SHACL time constraints - add predicate to represent the agent is moving safely * remove Fluent in flavour of multi-type FluentClause * migrate geometry metamodels migration planned in secorolab/metamodels#22
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migrated in secorolab/rdf-utils#2
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- probability model processing was migrated in secorolab/rdf-utils#2 - geometry model processing will be migrated in secorolab/rdf-utils#4
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migrated in secorolab/rdf-utils#2
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Mar 6, 2025
- probability model processing was migrated in secorolab/rdf-utils#2 - geometry model processing will be migrated in secorolab/rdf-utils#4
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DistributionModelfor parsing univariate and multivariate versions of the uniform and normal distributions, as well as a distribution for generating uniform random rotations in 3D space.DistributionModeldistrib_from_sampled_quantityto get the distribution model from aSampledQuantitynodecheck_shacl_constraintsfunc intest_python_model