pycram.robot_plans.actions.core.misc

Attributes

DetectActionDescription

Classes

DetectAction

Detects an object that fits the object description and returns an object designator_description describing the object.

Module Contents

class pycram.robot_plans.actions.core.misc.DetectAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Detects an object that fits the object description and returns an object designator_description describing the object.

If no object is found, an PerceptionObjectNotFound error is raised.

technique: pycram.datastructures.enums.DetectionTechnique

The technique that should be used for detection

state: typing_extensions.Optional[pycram.datastructures.enums.DetectionState] = None

The state of the detection, e.g Start Stop for continues perception

object_sem_annotation: typing_extensions.Type[semantic_digital_twin.world_description.world_entity.SemanticAnnotation] = None

The type of the object that should be detected, only considered if technique is equal to Type

region: typing_extensions.Optional[semantic_digital_twin.world_description.world_entity.Region] = None

The region in which the object should be detected

__post_init__()

plan() → None

Symbolic plan. Should only call motions or sub-actions.

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)

classmethod description(technique: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.DetectionTechnique], pycram.datastructures.enums.DetectionTechnique], state: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.DetectionState], pycram.datastructures.enums.DetectionState] = None, object_sem_annotation: typing_extensions.Union[typing_extensions.Iterable[typing_extensions.Type[semantic_digital_twin.world_description.world_entity.SemanticAnnotation]], typing_extensions.Type[semantic_digital_twin.world_description.world_entity.SemanticAnnotation]] = None, region: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Region], semantic_digital_twin.world_description.world_entity.Region] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[DetectAction]]

pycram.robot_plans.actions.core.misc.DetectActionDescription