pycram.datastructures.dataclasses ================================= .. py:module:: pycram.datastructures.dataclasses Classes ------- .. autoapisummary:: pycram.datastructures.dataclasses.Context pycram.datastructures.dataclasses.ExecutionData pycram.datastructures.dataclasses.ManipulatorData pycram.datastructures.dataclasses.Color pycram.datastructures.dataclasses.Colors pycram.datastructures.dataclasses.CollisionCallbacks pycram.datastructures.dataclasses.LateralFriction pycram.datastructures.dataclasses.TextAnnotation pycram.datastructures.dataclasses.VirtualJoint pycram.datastructures.dataclasses.Rotations pycram.datastructures.dataclasses.VirtualMobileBaseJoints pycram.datastructures.dataclasses.MultiverseMetaData Functions --------- .. autoapisummary:: pycram.datastructures.dataclasses.get_point_as_list Module Contents --------------- .. py:class:: Context A dataclass for storing the context of a plan .. py:attribute:: world :type: semantic_digital_twin.world.World The world in which the plan is executed .. py:attribute:: robot :type: semantic_digital_twin.robots.abstract_robot.AbstractRobot The semantic robot annotation which should execute the plan .. py:attribute:: super_plan :type: typing_extensions.Optional[pycram.plan.Plan] :value: None The plan of which this plan/designator is a part of .. py:method:: from_world(world: semantic_digital_twin.world.World, super_plan: typing_extensions.Optional[pycram.plan.Plan] = None) :classmethod: Create a context from a world by getting the first robot in the world. There is no super plan in this case. :param world: The world for which to create the context :param super_plan: An optional super plan :return: A context with the first robot in the world and no super plan .. py:method:: from_plan(plan: pycram.plan.Plan) :classmethod: Create a context from a plan by getting the context information from the plan and setting the super plan to the given plan. :param plan: Plan from which to create the context :return: A new context with the world and robot from the plan and the super plan set to the given plan .. py:class:: ExecutionData A dataclass for storing the information of an execution that is used for creating a robot description for that execution. An execution is a Robot with a virtual mobile base that can be used to move the robot in the environment. .. py:attribute:: execution_start_pose :type: pycram.datastructures.pose.PoseStamped Start of the robot at the start of execution of an action designator .. py:attribute:: execution_start_world_state :type: numpy.ndarray The world state at the start of execution of an action designator .. py:attribute:: execution_end_pose :type: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] :value: None The pose of the robot at the end of executing an action designator .. py:attribute:: execution_end_world_state :type: typing_extensions.Optional[numpy.ndarray] :value: None The world state at the end of executing an action designator .. py:attribute:: added_world_modifications :type: typing_extensions.List[semantic_digital_twin.world_description.world_modification.WorldModelModificationBlock] :value: [] A list of World modification blocks that were added during the execution of the action designator .. py:attribute:: manipulated_body_pose_start :type: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] :value: None Start pose of the manipulated Body if there was one .. py:attribute:: manipulated_body_pose_end :type: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] :value: None End pose of the manipulated Body if there was one .. py:attribute:: manipulated_body :type: typing_extensions.Optional[semantic_digital_twin.world_description.world_entity.Body] :value: None Reference to the manipulated body .. py:attribute:: manipulated_body_name :type: typing_extensions.Optional[str] :value: None Name of the manipulated body .. py:class:: ManipulatorData A dataclass for storing the information of a manipulator that is used for creating a robot description for that manipulator. A manipulator is an Arm with an end-effector that can be used to interact with the environment. .. py:attribute:: name :type: str Name of the Manipulator. .. py:attribute:: base_link :type: str Manipulator's base link. .. py:attribute:: arm_end_link :type: str Manipulator's arm end link. .. py:attribute:: joint_names :type: typing_extensions.List[str] List of joint names. .. py:attribute:: home_joint_values :type: typing_extensions.List[float] List of joint values for the home position. (default position) .. py:attribute:: gripper_name :type: str Name of the gripper at the end of the arm. .. py:attribute:: gripper_tool_frame :type: str Name of the frame of the gripper tool. .. py:attribute:: gripper_joint_names :type: typing_extensions.List[str] List of gripper joint names. .. py:attribute:: closed_joint_values :type: typing_extensions.List[float] List of joint values for the gripper in the closed position. .. py:attribute:: open_joint_values :type: typing_extensions.List[float] List of joint values for the gripper in the open position. .. py:attribute:: opening_distance :type: float The opening distance of the gripper. .. py:attribute:: fingers_link_names :type: typing_extensions.Optional[typing_extensions.List[str]] :value: None List of link names for the fingers of the gripper. .. py:attribute:: relative_dir :type: str :value: '' Relative directory of the manipulator description file in the resources directory. .. py:attribute:: gripper_cmd_topic :type: typing_extensions.Optional[str] :value: None Gripper command topic in ROS if it has one. .. py:attribute:: gripper_open_cmd_value :type: typing_extensions.Optional[float] :value: None Grip open command value. .. py:attribute:: gripper_close_cmd_value :type: typing_extensions.Optional[float] :value: None Grip close command value. .. py:attribute:: gripper_relative_dir :type: typing_extensions.Optional[str] :value: None Relative directory of the gripper description file in the resources directory if it has one and is not part of the manipulator description file. .. py:function:: get_point_as_list(point: pycram.datastructures.pose.Point) -> typing_extensions.List[float] Return the point as a list. :param point: The point. :return: The point as a list .. py:class:: Color Dataclass for storing rgba_color as an RGBA value. The values are stored as floats between 0 and 1. The default rgba_color is white. 'A' stands for the opacity. .. py:attribute:: R :type: float :value: 1 .. py:attribute:: G :type: float :value: 1 .. py:attribute:: B :type: float :value: 1 .. py:attribute:: A :type: float :value: 1 .. py:method:: from_list(color: typing_extensions.List[float]) :classmethod: Set the rgba_color from a list of RGBA values. :param color: The list of RGBA values .. py:method:: from_rgb(rgb: typing_extensions.List[float]) :classmethod: Set the rgba_color from a list of RGB values. :param rgb: The list of RGB values .. py:method:: from_rgba(rgba: typing_extensions.List[float]) :classmethod: Set the rgba_color from a list of RGBA values. :param rgba: The list of RGBA values .. py:method:: get_rgba() -> typing_extensions.List[float] Return the rgba_color as a list of RGBA values. :return: The rgba_color as a list of RGBA values .. py:method:: get_rgb() -> typing_extensions.List[float] Return the rgba_color as a list of RGB values. :return: The rgba_color as a list of RGB values .. py:class:: Colors Bases: :py:obj:`Color`, :py:obj:`enum.Enum` Enum for easy access to some common colors. .. py:attribute:: PINK :value: (1, 0, 1, 1) .. py:attribute:: BLACK :value: (0, 0, 0, 1) .. py:attribute:: WHITE :value: (1, 1, 1, 1) .. py:attribute:: RED :value: (1, 0, 0, 1) .. py:attribute:: GREEN :value: (0, 1, 0, 1) .. py:attribute:: BLUE :value: (0, 0, 1, 1) .. py:attribute:: YELLOW :value: (1, 1, 0, 1) .. py:attribute:: CYAN :value: (0, 1, 1, 1) .. py:attribute:: MAGENTA :value: (1, 0, 1, 1) .. py:attribute:: GREY :value: (0.5, 0.5, 0.5, 1) .. py:method:: from_string(color: str) -> Color :classmethod: Set the rgba_color from a string. If the string is not a valid color, it will return the color WHITE. :param color: The string of the color .. py:class:: CollisionCallbacks Dataclass for storing the collision callbacks which are callables that get called when there is a collision or when a collision is no longer there. .. py:attribute:: on_collision_cb :type: typing_extensions.Callable .. py:attribute:: no_collision_cb :type: typing_extensions.Optional[typing_extensions.Callable] :value: None .. py:class:: LateralFriction Dataclass for storing the information of the lateral friction. .. py:attribute:: lateral_friction :type: float .. py:attribute:: lateral_friction_direction :type: typing_extensions.List[float] .. py:class:: TextAnnotation Dataclass for storing text annotations that can be displayed in the simulation. .. py:attribute:: text :type: str .. py:attribute:: position :type: typing_extensions.List[float] .. py:attribute:: id :type: int .. py:attribute:: color :type: Color .. py:attribute:: size :type: float :value: 0.1 .. py:class:: VirtualJoint A virtual (not real) joint that is most likely used for simulation purposes. .. py:attribute:: name :type: str .. py:attribute:: type_ :type: pycram.datastructures.enums.JointType .. py:attribute:: axes :type: typing_extensions.Optional[pycram.datastructures.pose.Point] :value: None .. py:property:: type .. py:property:: is_virtual .. py:method:: __hash__() .. py:class:: Rotations Bases: :py:obj:`typing_extensions.Dict`\ [\ :py:obj:`typing_extensions.Optional`\ [\ :py:obj:`typing_extensions.Union`\ [\ :py:obj:`pycram.datastructures.enums.Grasp`\ , :py:obj:`bool`\ ]\ ]\ , :py:obj:`typing_extensions.List`\ [\ :py:obj:`float`\ ]\ ] A dictionary that defines standard quaternions for different grasps and orientations. This is mainly used to automatically calculate all grasp descriptions of a robot gripper for the robot description. SIDE_ROTATIONS: The quaternions for the different approach directions (front, back, left, right) VERTICAL_ROTATIONS: The quaternions for the different vertical alignments, in case the object requires for example a top grasp HORIZONTAL_ROTATIONS: The quaternions for the different horizontal alignments, in case the gripper needs to roll 90° .. py:attribute:: SIDE_ROTATIONS .. py:attribute:: VERTICAL_ROTATIONS .. py:attribute:: HORIZONTAL_ROTATIONS .. py:class:: VirtualMobileBaseJoints Dataclass for storing the names, types and axes of the virtual mobile base joints of a mobile robot. .. py:attribute:: translation_x :type: typing_extensions.Optional[VirtualJoint] .. py:attribute:: translation_y :type: typing_extensions.Optional[VirtualJoint] .. py:attribute:: angular_z :type: typing_extensions.Optional[VirtualJoint] .. py:property:: names :type: typing_extensions.List[str] Return the names of the virtual mobile base joints. .. py:method:: get_types() -> typing_extensions.Dict[str, pycram.datastructures.enums.JointType] Return the joint types of the virtual mobile base joints. .. py:method:: get_axes() -> typing_extensions.Dict[str, pycram.datastructures.pose.Point] Return the axes (i.e. The axis on which the joint moves) of the virtual mobile base joints. .. py:class:: MultiverseMetaData Meta data for the Multiverse Client, the simulation_name should be non-empty and unique for each simulation .. py:attribute:: world_name :type: str :value: 'world' .. py:attribute:: simulation_name :type: str :value: 'cram' .. py:attribute:: length_unit :type: str :value: 'm' .. py:attribute:: angle_unit :type: str :value: 'rad' .. py:attribute:: mass_unit :type: str :value: 'kg' .. py:attribute:: time_unit :type: str :value: 's' .. py:attribute:: handedness :type: str :value: 'rhs'