`pycram.datastructures.dataclasses`

Module Contents

Classes

`Color`	Dataclass for storing rgba_color as an RGBA value.
`AxisAlignedBoundingBox`	Dataclass for storing an axis-aligned bounding box.
`CollisionCallbacks`
`MultiBody`
`VisualShape`	Helper class that provides a standard way to create an ABC using
`BoxVisualShape`	Helper class that provides a standard way to create an ABC using
`SphereVisualShape`	Helper class that provides a standard way to create an ABC using
`CapsuleVisualShape`	Helper class that provides a standard way to create an ABC using
`CylinderVisualShape`	Helper class that provides a standard way to create an ABC using
`MeshVisualShape`	Helper class that provides a standard way to create an ABC using
`PlaneVisualShape`	Helper class that provides a standard way to create an ABC using
`State`	Helper class that provides a standard way to create an ABC using
`LinkState`	Helper class that provides a standard way to create an ABC using
`JointState`	Helper class that provides a standard way to create an ABC using
`ObjectState`	Helper class that provides a standard way to create an ABC using
`WorldState`	Helper class that provides a standard way to create an ABC using

Functions

get_point_as_list(→ typing_extensions.List[float])

Returns the point as a list.

pycram.datastructures.dataclasses.get_point_as_list(point: pycram.datastructures.pose.Point) → typing_extensions.List[float]

Returns the point as a list.

Parameters:: point – The point.
Returns:: The point as a list

class pycram.datastructures.dataclasses.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.

R: float = 1

G: float = 1

B: float = 1

A: float = 1

classmethod from_list(color: typing_extensions.List[float])

Sets the rgba_color from a list of RGBA values.

Parameters:: color – The list of RGBA values

classmethod from_rgb(rgb: typing_extensions.List[float])

Sets the rgba_color from a list of RGB values.

Parameters:: rgb – The list of RGB values

classmethod from_rgba(rgba: typing_extensions.List[float])

Sets the rgba_color from a list of RGBA values.

Parameters:: rgba – The list of RGBA values

get_rgba() → typing_extensions.List[float]

Returns the rgba_color as a list of RGBA values.

Returns:: The rgba_color as a list of RGBA values

get_rgb() → typing_extensions.List[float]

Returns the rgba_color as a list of RGB values.

Returns:: The rgba_color as a list of RGB values

class pycram.datastructures.dataclasses.AxisAlignedBoundingBox

Dataclass for storing an axis-aligned bounding box.

min_x: float

min_y: float

min_z: float

max_x: float

max_y: float

max_z: float

classmethod from_min_max(min_point: typing_extensions.List[float], max_point: typing_extensions.List[float])

Sets the axis-aligned bounding box from a minimum and maximum point.

Parameters:

min_point – The minimum point
max_point – The maximum point

get_min_max_points() → typing_extensions.Tuple[pycram.datastructures.pose.Point, pycram.datastructures.pose.Point]

Returns the axis-aligned bounding box as a tuple of minimum and maximum points.

Returns:: The axis-aligned bounding box as a tuple of minimum and maximum points

get_min_point() → pycram.datastructures.pose.Point

Returns the axis-aligned bounding box as a minimum point.

Returns:: The axis-aligned bounding box as a minimum point

get_max_point() → pycram.datastructures.pose.Point

Returns the axis-aligned bounding box as a maximum point.

Returns:: The axis-aligned bounding box as a maximum point

get_min_max() → typing_extensions.Tuple[typing_extensions.List[float], typing_extensions.List[float]]

Returns the axis-aligned bounding box as a tuple of minimum and maximum points.

Returns:: The axis-aligned bounding box as a tuple of minimum and maximum points

get_min() → typing_extensions.List[float]

Returns the minimum point of the axis-aligned bounding box.

Returns:: The minimum point of the axis-aligned bounding box

get_max() → typing_extensions.List[float]

Returns the maximum point of the axis-aligned bounding box.

Returns:: The maximum point of the axis-aligned bounding box

class pycram.datastructures.dataclasses.CollisionCallbacks

on_collision_cb: typing_extensions.Callable

no_collision_cb: typing_extensions.Optional[typing_extensions.Callable]

class pycram.datastructures.dataclasses.MultiBody

base_visual_shape_index: int

base_pose: pycram.datastructures.pose.Pose

link_visual_shape_indices: typing_extensions.List[int]

link_poses: typing_extensions.List[pycram.datastructures.pose.Pose]

link_masses: typing_extensions.List[float]

link_inertial_frame_poses: typing_extensions.List[pycram.datastructures.pose.Pose]

link_parent_indices: typing_extensions.List[int]

link_joint_types: typing_extensions.List[pycram.datastructures.enums.JointType]

link_joint_axis: typing_extensions.List[pycram.datastructures.pose.Point]

link_collision_shape_indices: typing_extensions.List[int]

class pycram.datastructures.dataclasses.VisualShape

Bases: abc.ABC

Helper class that provides a standard way to create an ABC using inheritance.

abstract property visual_geometry_type: pycram.datastructures.enums.Shape: Returns the visual geometry type of the visual shape (e.g. box, sphere).

rgba_color: Color

visual_frame_position: typing_extensions.List[float]

abstract shape_data() → typing_extensions.Dict[str, typing_extensions.Any]: Returns the shape data of the visual shape (e.g. half extents for a box, radius for a sphere).

class pycram.datastructures.dataclasses.BoxVisualShape

Bases: VisualShape

Helper class that provides a standard way to create an ABC using inheritance.

property visual_geometry_type: pycram.datastructures.enums.Shape: Returns the visual geometry type of the visual shape (e.g. box, sphere).

property size: typing_extensions.List[float]

half_extents: typing_extensions.List[float]

shape_data() → typing_extensions.Dict[str, typing_extensions.List[float]]: Returns the shape data of the visual shape (e.g. half extents for a box, radius for a sphere).

class pycram.datastructures.dataclasses.SphereVisualShape

Bases: VisualShape

Helper class that provides a standard way to create an ABC using inheritance.

property visual_geometry_type: pycram.datastructures.enums.Shape: Returns the visual geometry type of the visual shape (e.g. box, sphere).

radius: float

shape_data() → typing_extensions.Dict[str, float]: Returns the shape data of the visual shape (e.g. half extents for a box, radius for a sphere).

class pycram.datastructures.dataclasses.CapsuleVisualShape

Bases: VisualShape

Helper class that provides a standard way to create an ABC using inheritance.

property visual_geometry_type: pycram.datastructures.enums.Shape: Returns the visual geometry type of the visual shape (e.g. box, sphere).

radius: float

length: float

shape_data() → typing_extensions.Dict[str, float]: Returns the shape data of the visual shape (e.g. half extents for a box, radius for a sphere).

class pycram.datastructures.dataclasses.CylinderVisualShape

Bases: CapsuleVisualShape

Helper class that provides a standard way to create an ABC using inheritance.

property visual_geometry_type: pycram.datastructures.enums.Shape: Returns the visual geometry type of the visual shape (e.g. box, sphere).

class pycram.datastructures.dataclasses.MeshVisualShape

Bases: VisualShape

Helper class that provides a standard way to create an ABC using inheritance.

property visual_geometry_type: pycram.datastructures.enums.Shape: Returns the visual geometry type of the visual shape (e.g. box, sphere).

scale: typing_extensions.List[float]

file_name: str

shape_data() → typing_extensions.Dict[str, typing_extensions.Union[typing_extensions.List[float], str]]: Returns the shape data of the visual shape (e.g. half extents for a box, radius for a sphere).

class pycram.datastructures.dataclasses.PlaneVisualShape

Bases: VisualShape

Helper class that provides a standard way to create an ABC using inheritance.

property visual_geometry_type: pycram.datastructures.enums.Shape: Returns the visual geometry type of the visual shape (e.g. box, sphere).

normal: typing_extensions.List[float]

shape_data() → typing_extensions.Dict[str, typing_extensions.List[float]]: Returns the shape data of the visual shape (e.g. half extents for a box, radius for a sphere).