pycram.designators.object_designator

Module Contents

Classes

BelieveObject

Description for Objects that are only believed in.

ObjectPart

Object Designator Descriptions for Objects that are part of some other object.

LocatedObject

Description for KnowRob located objects.

RealObject

Object designator representing an object in the real world, when resolving this object designator description ]
class pycram.designators.object_designator.BelieveObject(names: typing_extensions.Optional[typing_extensions.List[str]] = None, types: typing_extensions.Optional[typing_extensions.List[pycram.datastructures.enums.ObjectType]] = None, resolver: typing_extensions.Optional[typing_extensions.Callable] = None)

Bases: pycram.designator.ObjectDesignatorDescription

Description for Objects that are only believed in.

Base of all object designator descriptions. Every object designator has the name and type of the object.

Parameters:

  • names – A list of names that could describe the object

  • types – A list of types that could represent the object

  • resolver – An alternative resolver that returns an object designator for the list of names and types

class Object

Bases: pycram.designator.ObjectDesignatorDescription.Object

Concrete object that is believed in.

to_sql() → pycram.orm.object_designator.BelieveObject

Create an ORM object that corresponds to this description.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.session.Session) → pycram.orm.object_designator.BelieveObject

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

session – Session with a database that is used to add and commit the objects

Returns:

The completely instanced ORM object

class pycram.designators.object_designator.ObjectPart(names: typing_extensions.List[str], part_of: pycram.designator.ObjectDesignatorDescription.Object, type: typing_extensions.Optional[str] = None, resolver: typing_extensions.Optional[typing_extensions.Callable] = None)

Bases: pycram.designator.ObjectDesignatorDescription

Object Designator Descriptions for Objects that are part of some other object.

Describing the relationship between an object and a specific part of it.

Parameters:

  • names – Possible names for the part

  • part_of – Parent object of which the part should be described

  • type – Type of the part

  • resolver – An alternative resolver to resolve the input parameter to an object designator

class Object

Bases: pycram.designator.ObjectDesignatorDescription.Object

A single element that fits the description.

part_pose: pycram.datastructures.pose.Pose
to_sql() → pycram.orm.object_designator.ObjectPart

Create an ORM object that corresponds to this description.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.session.Session) → pycram.orm.object_designator.ObjectPart

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

session – Session with a database that is used to add and commit the objects

Returns:

The completely instanced ORM object

ground() → Object

Default resolver, returns the first result of the iterator of this instance.

Returns:

A resolved object designator

__iter__()

Iterates through every possible solution for the given input parameter.

Yield:

A resolved Object designator

class pycram.designators.object_designator.LocatedObject(names: typing_extensions.List[str], types: typing_extensions.List[str], reference_frames: typing_extensions.List[str], timestamps: typing_extensions.List[float], resolver: typing_extensions.Optional[typing_extensions.Callable] = None)

Bases: pycram.designator.ObjectDesignatorDescription

Description for KnowRob located objects. Currently has no resolver

Describing an object resolved through knowrob.

Parameters:

  • names – List of possible names describing the object

  • types – List of possible types describing the object

  • reference_frames – Frame of reference in which the object position should be

  • timestamps – Timestamps for which positions should be returned

  • resolver – An alternative resolver that resolves the input parameter to an object designator.

class Object

Bases: pycram.designator.ObjectDesignatorDescription.Object

A single element that fits the description.

reference_frame: str

Reference frame in which the position is given

timestamp: float

Timestamp at which the position was valid

class pycram.designators.object_designator.RealObject(names: typing_extensions.Optional[typing_extensions.List[str]] = None, types: typing_extensions.Optional[typing_extensions.List[str]] = None, world_object: pycram.world_concepts.world_object.Object = None, resolver: typing_extensions.Optional[typing_extensions.Callable] = None)

Bases: pycram.designator.ObjectDesignatorDescription

Object designator representing an object in the real world, when resolving this object designator description ] RoboKudo is queried to perceive an object fitting the given criteria. Afterward the resolver tries to match the found object to an Object in the World.

Parameters:

  • names –

  • types –

  • world_object –

  • resolver –

class Object

Bases: pycram.designator.ObjectDesignatorDescription.Object

A single element that fits the description.

pose: pycram.datastructures.pose.Pose

Pose of the perceived object

__iter__()

Queries RoboKudo for objects that fit the description and then iterates over all World objects that have the same type to match a World object to the real object.

Yield:

A resolved object designator with reference world object