pycram.datastructures.dataclasses

pycram.datastructures.dataclasses#

Classes#

`Context`	A dataclass for storing the context of a plan
`ExecutionData`	A dataclass for storing the information of an execution that is used for creating a robot description for that
`ManipulatorData`	A dataclass for storing the information of a manipulator that is used for creating a robot description for that
`Color`	Dataclass for storing rgba_color as an RGBA value.
`Colors`	Enum for easy access to some common colors.
`CollisionCallbacks`	Dataclass for storing the collision callbacks which are callables that get called when there is a collision
`LateralFriction`	Dataclass for storing the information of the lateral friction.
`TextAnnotation`	Dataclass for storing text annotations that can be displayed in the simulation.
`VirtualJoint`	A virtual (not real) joint that is most likely used for simulation purposes.
`Rotations`	A dictionary that defines standard quaternions for different grasps and orientations. This is mainly used
`VirtualMobileBaseJoints`	Dataclass for storing the names, types and axes of the virtual mobile base joints of a mobile robot.
`MultiverseMetaData`	Meta data for the Multiverse Client, the simulation_name should be non-empty and unique for each simulation

Functions#

get_point_as_list(→ typing_extensions.List[float])

Return the point as a list.

Module Contents#

class pycram.datastructures.dataclasses.Context#

A dataclass for storing the context of a plan

world: semantic_digital_twin.world.World#: The world in which the plan is executed

robot: semantic_digital_twin.robots.abstract_robot.AbstractRobot#: The semantic robot annotation which should execute the plan

super_plan: typing_extensions.Optional[pycram.plan.Plan] = None#: The plan of which this plan/designator is a part of

classmethod from_world(world: semantic_digital_twin.world.World, super_plan: typing_extensions.Optional[pycram.plan.Plan] = None)#

Create a context from a world by getting the first robot in the world. There is no super plan in this case.

Parameters:

world – The world for which to create the context
super_plan – An optional super plan

Returns:

A context with the first robot in the world and no super plan

classmethod from_plan(plan: pycram.plan.Plan)#

Create a context from a plan by getting the context information from the plan and setting the super plan to the given plan.

Parameters:: plan – Plan from which to create the context
Returns:: A new context with the world and robot from the plan and the super plan set to the given plan

class pycram.datastructures.dataclasses.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.

execution_start_pose: pycram.datastructures.pose.PoseStamped#: Start of the robot at the start of execution of an action designator

execution_start_world_state: numpy.ndarray#: The world state at the start of execution of an action designator

execution_end_pose: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] = None#: The pose of the robot at the end of executing an action designator

execution_end_world_state: typing_extensions.Optional[numpy.ndarray] = None#: The world state at the end of executing an action designator

added_world_modifications: typing_extensions.List[semantic_digital_twin.world_description.world_modification.WorldModelModificationBlock] = []#: A list of World modification blocks that were added during the execution of the action designator

manipulated_body_pose_start: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] = None#: Start pose of the manipulated Body if there was one

manipulated_body_pose_end: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] = None#: End pose of the manipulated Body if there was one

manipulated_body: typing_extensions.Optional[semantic_digital_twin.world_description.world_entity.Body] = None#: Reference to the manipulated body

manipulated_body_name: typing_extensions.Optional[str] = None#: Name of the manipulated body

class pycram.datastructures.dataclasses.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.

name: str#: Name of the Manipulator.

base_link: str#: Manipulator’s base link.

arm_end_link: str#: Manipulator’s arm end link.

joint_names: typing_extensions.List[str]#: List of joint names.

home_joint_values: typing_extensions.List[float]#: List of joint values for the home position. (default position)

gripper_name: str#: Name of the gripper at the end of the arm.

gripper_tool_frame: str#: Name of the frame of the gripper tool.

gripper_joint_names: typing_extensions.List[str]#: List of gripper joint names.

closed_joint_values: typing_extensions.List[float]#: List of joint values for the gripper in the closed position.

open_joint_values: typing_extensions.List[float]#: List of joint values for the gripper in the open position.

opening_distance: float#: The opening distance of the gripper.

fingers_link_names: typing_extensions.Optional[typing_extensions.List[str]] = None#: List of link names for the fingers of the gripper.

relative_dir: str = ''#: Relative directory of the manipulator description file in the resources directory.

gripper_cmd_topic: typing_extensions.Optional[str] = None#: Gripper command topic in ROS if it has one.

gripper_open_cmd_value: typing_extensions.Optional[float] = None#: Grip open command value.

gripper_close_cmd_value: typing_extensions.Optional[float] = None#: Grip close command value.

gripper_relative_dir: typing_extensions.Optional[str] = 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.

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

Return 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])#

Set the rgba_color from a list of RGBA values.

Parameters:: color – The list of RGBA values

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

Set the rgba_color from a list of RGB values.

Parameters:: rgb – The list of RGB values

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

Set the rgba_color from a list of RGBA values.

Parameters:: rgba – The list of RGBA values

get_rgba() → typing_extensions.List[float]#

Return 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]#

Return the rgba_color as a list of RGB values.

Returns:: The rgba_color as a list of RGB values

class pycram.datastructures.dataclasses.Colors#

Bases: Color, enum.Enum

Enum for easy access to some common colors.

PINK = (1, 0, 1, 1)#

BLACK = (0, 0, 0, 1)#

WHITE = (1, 1, 1, 1)#

RED = (1, 0, 0, 1)#

GREEN = (0, 1, 0, 1)#

BLUE = (0, 0, 1, 1)#

YELLOW = (1, 1, 0, 1)#

CYAN = (0, 1, 1, 1)#

MAGENTA = (1, 0, 1, 1)#

GREY = (0.5, 0.5, 0.5, 1)#

classmethod from_string(color: str) → Color#

Set the rgba_color from a string. If the string is not a valid color, it will return the color WHITE.

Parameters:: color – The string of the color

class pycram.datastructures.dataclasses.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.

on_collision_cb: typing_extensions.Callable#

no_collision_cb: typing_extensions.Optional[typing_extensions.Callable] = None#

class pycram.datastructures.dataclasses.LateralFriction#

Dataclass for storing the information of the lateral friction.

lateral_friction: float#

lateral_friction_direction: typing_extensions.List[float]#

class pycram.datastructures.dataclasses.TextAnnotation#

Dataclass for storing text annotations that can be displayed in the simulation.

text: str#

position: typing_extensions.List[float]#

id: int#

color: Color#

size: float = 0.1#

class pycram.datastructures.dataclasses.VirtualJoint#

A virtual (not real) joint that is most likely used for simulation purposes.

name: str#

type_: pycram.datastructures.enums.JointType#

axes: typing_extensions.Optional[pycram.datastructures.pose.Point] = None#

property type#

property is_virtual#

__hash__()#

class pycram.datastructures.dataclasses.Rotations#

Bases: typing_extensions.Dict[typing_extensions.Optional[typing_extensions.Union[pycram.datastructures.enums.Grasp, bool]], typing_extensions.List[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°

SIDE_ROTATIONS#

VERTICAL_ROTATIONS#

HORIZONTAL_ROTATIONS#

class pycram.datastructures.dataclasses.VirtualMobileBaseJoints#

Dataclass for storing the names, types and axes of the virtual mobile base joints of a mobile robot.

translation_x: typing_extensions.Optional[VirtualJoint]#

translation_y: typing_extensions.Optional[VirtualJoint]#

angular_z: typing_extensions.Optional[VirtualJoint]#

property names: typing_extensions.List[str]#: Return the names of the virtual mobile base joints.

get_types() → typing_extensions.Dict[str, pycram.datastructures.enums.JointType]#: Return the joint types of the virtual mobile base joints.

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.

class pycram.datastructures.dataclasses.MultiverseMetaData#

Meta data for the Multiverse Client, the simulation_name should be non-empty and unique for each simulation

world_name: str = 'world'#

simulation_name: str = 'cram'#

length_unit: str = 'm'#

angle_unit: str = 'rad'#

mass_unit: str = 'kg'#

time_unit: str = 's'#

handedness: str = 'rhs'#