pycram.designator

pycram.designator#

Exceptions#

`DesignatorError`	Implementation of designator_description errors.
`ResolutionError`	Common base class for all non-exit exceptions.

Classes#

`DesignatorDescription`
`LocationDesignatorDescription`	Parent class of location designator_description descriptions.
`ObjectDesignatorDescription`	Class for object designator_description descriptions.
`EQLObjectDesignator`	Description for objects found via an EQL query.
`NamedObject`	Description for objects with a specific name.

Module Contents#

exception pycram.designator.DesignatorError(*args, **kwargs)#

Bases: Exception

Implementation of designator_description errors.

exception pycram.designator.ResolutionError(missing_properties: typing_extensions.List[str], wrong_type: typing_extensions.Dict, current_type: typing_extensions.Any, designator: DesignatorDescription)#

Bases: Exception

Common base class for all non-exit exceptions.

error = Multiline-String#

Show Value

"""
Some required properties where missing or had the wrong type when grounding the Designator: Uninferable.
"""

missing = Multiline-String#

Show Value

"""The missing properties where: Uninferable
"""

wrong = Multiline-String#

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"""The properties with the wrong type along with the current -and right type :
"""

head = Multiline-String#

Show Value

"""Property   |   Current Type    |     Right Type
-------------------------------------------------------------
"""

tab = ''#

message = Multiline-String#

Show Value

"""
Some required properties where missing or had the wrong type when grounding the Designator: Uninferable.
"""

class pycram.designator.DesignatorDescription#

plan_node: pycram.plan.PlanNode = None#: The plan node to which this designator_description belongs.

property plan: pycram.plan.Plan#: Returns the plan that this designator_description is part of.

property robot_view: semantic_digital_twin.robots.abstract_robot.AbstractRobot#: Returns the robot that this designator_description is part of.

property world: semantic_digital_twin.world.World#: Returns the world that this designator_description is part of.

resolve()#

ground() → typing_extensions.Any#: Should be overwritten with an actual grounding function which infers missing properties.

copy() → DesignatorDescription#

get_optional_parameter() → typing_extensions.List[str]#: Returns a list of optional parameter names of this designator_description description.

get_all_parameter() → typing_extensions.List[str]#: Returns a list of all parameter names of this designator_description description.

classmethod get_type_hints() → typing_extensions.Dict[str, typing_extensions.Any]#

Returns the type hints of the __init__ method of this designator_description description.

Returns:

class pycram.designator.LocationDesignatorDescription#

Bases: DesignatorDescription, pycram.datastructures.partial_designator.PartialDesignator

Parent class of location designator_description descriptions.

abstract ground() → pycram.datastructures.pose.PoseStamped#: Find a location that satisfies all constrains.

class pycram.designator.ObjectDesignatorDescription(names: typing_extensions.Optional[typing_extensions.List[str]] = None)#

Bases: DesignatorDescription, pycram.datastructures.partial_designator.PartialDesignator

Class for object designator_description descriptions. Descriptions hold possible parameter ranges for object designators.

names: typing_extensions.Optional[typing_extensions.List[str]] = None#

ground() → semantic_digital_twin.world_description.world_entity.Body#

Return the first object from the world that fits the description.

Returns:: A executed object designator_description

__iter__() → typing_extensions.Iterator[semantic_digital_twin.world_description.world_entity.Body]#

Iterate through all possible objects fitting this description

Yield:: A executed object designator_description

flatten() → typing_extensions.List#

class pycram.designator.EQLObjectDesignator(eql_query)#

Bases: DesignatorDescription

Description for objects found via an EQL query.

eql_query#

__iter__() → typing_extensions.Iterator[semantic_digital_twin.world_description.world_entity.Body]#

class pycram.designator.NamedObject(name: typing_extensions.Union[typing_extensions.Iterable[str], str])#

Bases: ObjectDesignatorDescription, pycram.datastructures.partial_designator.PartialDesignator

Description for objects with a specific name.

__iter__() → typing_extensions.Iterator[semantic_digital_twin.world_description.world_entity.Body]#

Iterate through all possible objects fitting this description

Yield:: A executed object designator_description