pycram.datastructures.dataclasses ================================= .. py:module:: pycram.datastructures.dataclasses Attributes ---------- .. autoapisummary:: pycram.datastructures.dataclasses.VisualShapeUnion pycram.datastructures.dataclasses.ClosestPoint pycram.datastructures.dataclasses.ClosestPointsList Classes ------- .. autoapisummary:: pycram.datastructures.dataclasses.ManipulatorData pycram.datastructures.dataclasses.Color pycram.datastructures.dataclasses.Colors pycram.datastructures.dataclasses.BoundingBox pycram.datastructures.dataclasses.AxisAlignedBoundingBox pycram.datastructures.dataclasses.RotatedBoundingBox pycram.datastructures.dataclasses.CollisionCallbacks pycram.datastructures.dataclasses.MultiBody pycram.datastructures.dataclasses.VisualShape pycram.datastructures.dataclasses.BoxVisualShape pycram.datastructures.dataclasses.SphereVisualShape pycram.datastructures.dataclasses.CapsuleVisualShape pycram.datastructures.dataclasses.CylinderVisualShape pycram.datastructures.dataclasses.MeshVisualShape pycram.datastructures.dataclasses.PlaneVisualShape pycram.datastructures.dataclasses.State pycram.datastructures.dataclasses.PhysicalBodyState pycram.datastructures.dataclasses.LinkState pycram.datastructures.dataclasses.JointState pycram.datastructures.dataclasses.ObjectState pycram.datastructures.dataclasses.WorldState pycram.datastructures.dataclasses.LateralFriction pycram.datastructures.dataclasses.ContactPoint pycram.datastructures.dataclasses.ContactPointsList pycram.datastructures.dataclasses.TextAnnotation pycram.datastructures.dataclasses.VirtualJoint pycram.datastructures.dataclasses.Rotations pycram.datastructures.dataclasses.VirtualMobileBaseJoints pycram.datastructures.dataclasses.MultiverseMetaData pycram.datastructures.dataclasses.RayResult pycram.datastructures.dataclasses.MultiverseRayResult pycram.datastructures.dataclasses.MultiverseContactPoint pycram.datastructures.dataclasses.ReasoningResult pycram.datastructures.dataclasses.FrozenObject pycram.datastructures.dataclasses.FrozenLink pycram.datastructures.dataclasses.FrozenJoint Functions --------- .. autoapisummary:: pycram.datastructures.dataclasses.get_point_as_list Module Contents --------------- .. py:class:: 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. .. py:attribute:: name :type: str Name of the Manipulator. .. py:attribute:: base_link :type: str Manipulator's base link. .. py:attribute:: arm_end_link :type: str Manipulator's arm end link. .. py:attribute:: joint_names :type: typing_extensions.List[str] List of joint names. .. py:attribute:: home_joint_values :type: typing_extensions.List[float] List of joint values for the home position. (default position) .. py:attribute:: gripper_name :type: str Name of the gripper at the end of the arm. .. py:attribute:: gripper_tool_frame :type: str Name of the frame of the gripper tool. .. py:attribute:: gripper_joint_names :type: typing_extensions.List[str] List of gripper joint names. .. py:attribute:: closed_joint_values :type: typing_extensions.List[float] List of joint values for the gripper in the closed position. .. py:attribute:: open_joint_values :type: typing_extensions.List[float] List of joint values for the gripper in the open position. .. py:attribute:: opening_distance :type: float The opening distance of the gripper. .. py:attribute:: fingers_link_names :type: typing_extensions.Optional[typing_extensions.List[str]] :value: None List of link names for the fingers of the gripper. .. py:attribute:: relative_dir :type: str :value: '' Relative directory of the manipulator description file in the resources directory. .. py:attribute:: gripper_cmd_topic :type: typing_extensions.Optional[str] :value: None Gripper command topic in ROS if it has one. .. py:attribute:: gripper_open_cmd_value :type: typing_extensions.Optional[float] :value: None Grip open command value. .. py:attribute:: gripper_close_cmd_value :type: typing_extensions.Optional[float] :value: None Grip close command value. .. py:attribute:: gripper_relative_dir :type: typing_extensions.Optional[str] :value: 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. .. py:function:: get_point_as_list(point: pycram.datastructures.pose.Point) -> typing_extensions.List[float] Return the point as a list. :param point: The point. :return: The point as a list .. py:class:: 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. .. py:attribute:: R :type: float :value: 1 .. py:attribute:: G :type: float :value: 1 .. py:attribute:: B :type: float :value: 1 .. py:attribute:: A :type: float :value: 1 .. py:method:: from_list(color: typing_extensions.List[float]) :classmethod: Set the rgba_color from a list of RGBA values. :param color: The list of RGBA values .. py:method:: from_rgb(rgb: typing_extensions.List[float]) :classmethod: Set the rgba_color from a list of RGB values. :param rgb: The list of RGB values .. py:method:: from_rgba(rgba: typing_extensions.List[float]) :classmethod: Set the rgba_color from a list of RGBA values. :param rgba: The list of RGBA values .. py:method:: get_rgba() -> typing_extensions.List[float] Return the rgba_color as a list of RGBA values. :return: The rgba_color as a list of RGBA values .. py:method:: get_rgb() -> typing_extensions.List[float] Return the rgba_color as a list of RGB values. :return: The rgba_color as a list of RGB values .. py:class:: Colors Bases: :py:obj:`Color`, :py:obj:`enum.Enum` Enum for easy access to some common colors. .. py:attribute:: PINK :value: (1, 0, 1, 1) .. py:attribute:: BLACK :value: (0, 0, 0, 1) .. py:attribute:: WHITE :value: (1, 1, 1, 1) .. py:attribute:: RED :value: (1, 0, 0, 1) .. py:attribute:: GREEN :value: (0, 1, 0, 1) .. py:attribute:: BLUE :value: (0, 0, 1, 1) .. py:attribute:: YELLOW :value: (1, 1, 0, 1) .. py:attribute:: CYAN :value: (0, 1, 1, 1) .. py:attribute:: MAGENTA :value: (1, 0, 1, 1) .. py:attribute:: GREY :value: (0.5, 0.5, 0.5, 1) .. py:method:: from_string(color: str) -> Color :classmethod: Set the rgba_color from a string. If the string is not a valid color, it will return the color WHITE. :param color: The string of the color .. py:class:: BoundingBox Dataclass for storing an axis-aligned bounding box. An axis aligned bounding box is the cartesian product of the three closed intervals [min_x, max_x] x [min_y, max_y] x [min_z, max_z]. Depth is the distance between the min_x and max_x, and should always be the long side (excluding height). Width is the distance between the min_y and max_y, and should always be the short side (excluding height). Height is the distance between the min_z and max_z, "up" is according to how the object would stand on a table. Set-Algebraic operations are possible by converting the bounding box to a random event. .. py:attribute:: min_x :type: float The minimum x-coordinate of the bounding box. .. py:attribute:: min_y :type: float The minimum y-coordinate of the bounding box. .. py:attribute:: min_z :type: float The minimum z-coordinate of the bounding box. .. py:attribute:: max_x :type: float The maximum x-coordinate of the bounding box. .. py:attribute:: max_y :type: float The maximum y-coordinate of the bounding box. .. py:attribute:: max_z :type: float The maximum z-coordinate of the bounding box. .. py:attribute:: x_variable The x variable for the random-events interface. .. py:attribute:: y_variable The y variable for the random-events interface. .. py:attribute:: z_variable The z variable for the random-events interface. .. py:method:: __hash__() .. py:property:: x_interval :type: random_events.interval.SimpleInterval :return: The x interval of the bounding box. .. py:property:: y_interval :type: random_events.interval.SimpleInterval :return: The y interval of the bounding box. .. py:property:: z_interval :type: random_events.interval.SimpleInterval :return: The z interval of the bounding box. .. py:property:: simple_event :type: random_events.product_algebra.SimpleEvent :return: The bounding box as a random event. .. py:method:: from_simple_event(simple_event: random_events.product_algebra.SimpleEvent) :classmethod: Create a list of bounding boxes from a simple random event. :param simple_event: The random event. :return: The list of bounding boxes. .. py:method:: from_event(event: random_events.product_algebra.Event) -> typing_extensions.List[typing_extensions.Self] :classmethod: Create a list of bounding boxes from a random event. :param event: The random event. :return: The list of bounding boxes. .. py:method:: intersection_with(other: BoundingBox) -> typing_extensions.Optional[BoundingBox] Compute the intersection of two bounding boxes. :param other: The other bounding box. :return: The intersection of the two bounding boxes or None if they do not intersect. .. py:method:: contains(x: float, y: float, z: float) Check if the bounding box contains a point. :param x: The x-coordinate of the point. :param y: The y-coordinate of the point. :param z: The z-coordinate of the point. :return: True if the bounding box contains the point, False otherwise. .. py:method:: contains_box(other: BoundingBox) Check if the bounding box contains another bounding box. :param other: The other bounding box. :return: True if the bounding box contains the other bounding box, False otherwise. .. py:method:: merge_multiple_bounding_boxes_into_mesh(bounding_boxes: typing_extensions.List[BoundingBox], save_mesh_to: typing_extensions.Optional[str] = None, use_random_events: bool = True, plot: bool = False) -> trimesh.Trimesh :classmethod: Merge multiple axis-aligned bounding boxes into a single mesh. :param bounding_boxes: The list of axis-aligned bounding boxes. :param save_mesh_to: The file path to save the mesh to. :param use_random_events: If True, use random events to compute the new shape, otherwise use pyvista. :param plot: If True, plot the mesh. :return: The mesh of the merged bounding boxes. .. py:property:: transform :type: pycram.datastructures.pose.TransformStamped :abstractmethod: Get the transformation of the bounding box. .. py:method:: extents() -> numpy.ndarray :return: The size of the bounding box in each dimension. .. py:method:: get_mesh_from_boxes(boxes: typing_extensions.List[BoundingBox]) -> trimesh.Trimesh :staticmethod: Get the mesh from the boxes :param boxes: The list of boxes :return: The mesh. .. py:property:: as_mesh :type: trimesh.Trimesh :return: The mesh of the bounding box. .. py:method:: get_mesh_from_event(event: random_events.product_algebra.Event) -> trimesh.Trimesh :staticmethod: Get the mesh from the event. :param event: The event. :return: The mesh. .. py:method:: get_box_faces() -> typing_extensions.List[typing_extensions.List[int]] :staticmethod: .. py:method:: from_min_max(min_point: typing_extensions.Sequence[float], max_point: typing_extensions.Sequence[float]) :classmethod: Set the axis-aligned bounding box from a minimum and maximum point. :param min_point: The minimum point :param max_point: The maximum point .. py:property:: origin :type: typing_extensions.List[float] .. py:property:: base_origin :type: typing_extensions.List[float] .. py:property:: origin_point :type: pycram.datastructures.pose.Point .. py:method:: get_points_list() -> typing_extensions.List[typing_extensions.List[float]] :return: The points of the bounding box as a list of lists of floats. .. py:method:: get_points() -> typing_extensions.List[pycram.datastructures.pose.Point] :return: The points of the bounding box as a list of Point instances. .. py:method:: get_min_max_points() -> typing_extensions.Tuple[pycram.datastructures.pose.Point, pycram.datastructures.pose.Point] :return: The axis-aligned bounding box as a tuple of minimum and maximum points .. py:method:: get_min_point() -> pycram.datastructures.pose.Point :return: The axis-aligned bounding box as a minimum point .. py:method:: get_max_point() -> pycram.datastructures.pose.Point :return: The axis-aligned bounding box as a maximum point .. py:method:: get_min_max() -> typing_extensions.Tuple[typing_extensions.List[float], typing_extensions.List[float]] :return: The axis-aligned bounding box as a tuple of minimum and maximum points .. py:method:: get_min() -> typing_extensions.List[float] :return: The minimum point of the axis-aligned bounding box .. py:method:: get_max() -> typing_extensions.List[float] :return: The maximum point of the axis-aligned bounding box .. py:method:: enlarge(min_x: float = 0.0, min_y: float = 0, min_z: float = 0, max_x: float = 0.0, max_y: float = 0.0, max_z: float = 0.0) Enlarge the axis-aligned bounding box by a given amount in-place. :param min_x: The amount to enlarge the minimum x-coordinate :param min_y: The amount to enlarge the minimum y-coordinate :param min_z: The amount to enlarge the minimum z-coordinate :param max_x: The amount to enlarge the maximum x-coordinate :param max_y: The amount to enlarge the maximum y-coordinate :param max_z: The amount to enlarge the maximum z-coordinate .. py:method:: enlarge_all(amount: float) Enlarge the axis-aligned bounding box in all dimensions by a given amount in-place. :param amount: The amount to enlarge the bounding box .. py:property:: depth :type: float .. py:property:: height :type: float .. py:property:: width :type: float .. py:property:: dimensions :type: typing_extensions.List[float] According to the IAI conventions, found at https://ai.uni-bremen.de/wiki/3dmodeling/items 1. z is height, according to how the object would stand on a table 2. x is depth, representing the long side of the object 3. y is width, representing the remaining dimension .. py:method:: plot_3d_points(list_of_points: typing_extensions.List[numpy.ndarray]) :staticmethod: .. py:class:: AxisAlignedBoundingBox Bases: :py:obj:`BoundingBox` Dataclass for storing an axis-aligned bounding box. An axis aligned bounding box is the cartesian product of the three closed intervals [min_x, max_x] x [min_y, max_y] x [min_z, max_z]. Depth is the distance between the min_x and max_x, and should always be the long side (excluding height). Width is the distance between the min_y and max_y, and should always be the short side (excluding height). Height is the distance between the min_z and max_z, "up" is according to how the object would stand on a table. Set-Algebraic operations are possible by converting the bounding box to a random event. .. py:property:: transform :type: pycram.datastructures.pose.TransformStamped Get the transformation of the bounding box. .. py:method:: get_rotated_box(transform: pycram.datastructures.pose.TransformStamped) -> RotatedBoundingBox Apply a transformation to the axis-aligned bounding box and return the transformed axis-aligned bounding box. :return: The transformed axis-aligned bounding box .. py:method:: from_origin_and_half_extents(origin: pycram.datastructures.pose.Point, half_extents: pycram.datastructures.pose.Point) :classmethod: Set the axis-aligned bounding box from the origin of the body and half the size. :param origin: The origin point :param half_extents: The half size of the bounding box. .. py:method:: from_multiple_bounding_boxes(bounding_boxes: typing_extensions.List[AxisAlignedBoundingBox]) -> AxisAlignedBoundingBox :classmethod: Set the axis-aligned bounding box from multiple axis-aligned bounding boxes. :param bounding_boxes: The list of axis-aligned bounding boxes. .. py:method:: shift_by(shift: pycram.datastructures.pose.Point) -> AxisAlignedBoundingBox Shift the axis-aligned bounding box by a given shift. :param shift: The shift to apply :return: The shifted axis-aligned bounding box .. py:class:: RotatedBoundingBox(min_x: float, min_y: float, min_z: float, max_x: float, max_y: float, max_z: float, transform: typing_extensions.Optional[pycram.datastructures.pose.TransformStamped] = None, points: typing_extensions.Optional[typing_extensions.List[pycram.datastructures.pose.Point]] = None) Bases: :py:obj:`BoundingBox` Dataclass for storing a rotated bounding box. .. py:attribute:: _transform :type: typing_extensions.Optional[pycram.datastructures.pose.TransformStamped] :value: None .. py:attribute:: _points :type: typing_extensions.Optional[typing_extensions.List[pycram.datastructures.pose.Point]] :value: None .. py:property:: transform :type: pycram.datastructures.pose.TransformStamped Get the transformation of the bounding box. .. py:method:: from_min_max(min_point: typing_extensions.Sequence[float], max_point: typing_extensions.Sequence[float], transform: typing_extensions.Optional[pycram.datastructures.pose.TransformStamped] = None) :classmethod: Set the rotated bounding box from a minimum, maximum point, and a transformation. :param min_point: The minimum point :param max_point: The maximum point :param transform: The transformation .. py:method:: get_points() -> typing_extensions.List[pycram.datastructures.pose.Point] :return: The points of the rotated bounding box. .. py:class:: 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. .. py:attribute:: on_collision_cb :type: typing_extensions.Callable .. py:attribute:: no_collision_cb :type: typing_extensions.Optional[typing_extensions.Callable] :value: None .. py:class:: MultiBody Dataclass for storing the information of a multibody which consists of a base and multiple links with joints. .. py:attribute:: base_visual_shape_index :type: int .. py:attribute:: base_pose :type: pycram.datastructures.pose.PoseStamped .. py:attribute:: link_visual_shape_indices :type: typing_extensions.List[int] .. py:attribute:: link_poses :type: typing_extensions.List[pycram.datastructures.pose.PoseStamped] .. py:attribute:: link_masses :type: typing_extensions.List[float] .. py:attribute:: link_inertial_frame_poses :type: typing_extensions.List[pycram.datastructures.pose.PoseStamped] .. py:attribute:: link_parent_indices :type: typing_extensions.List[int] .. py:attribute:: link_joint_types :type: typing_extensions.List[pycram.datastructures.enums.JointType] .. py:attribute:: link_joint_axis :type: typing_extensions.List[pycram.datastructures.pose.Point] .. py:attribute:: link_collision_shape_indices :type: typing_extensions.List[int] .. py:class:: VisualShape Bases: :py:obj:`abc.ABC` Abstract dataclass for storing the information of a visual shape. .. py:attribute:: rgba_color :type: Color .. py:attribute:: visual_frame_position :type: typing_extensions.List[float] .. py:method:: shape_data() -> typing_extensions.Dict[str, typing_extensions.Any] :abstractmethod: :return: the shape data of the visual shape (e.g. half extents for a box, radius for a sphere) as a dictionary. .. py:property:: visual_geometry_type :type: pycram.datastructures.enums.Shape :abstractmethod: :return: The visual geometry type of the visual shape (e.g. box, sphere) as a Shape object. .. py:method:: get_axis_aligned_bounding_box() -> AxisAlignedBoundingBox :abstractmethod: :return: The axis-aligned bounding box of the visual shape. .. py:class:: BoxVisualShape Bases: :py:obj:`VisualShape` Dataclass for storing the information of a box visual shape .. py:attribute:: half_extents :type: typing_extensions.List[float] .. py:method:: shape_data() -> typing_extensions.Dict[str, typing_extensions.List[float]] :return: the shape data of the visual shape (e.g. half extents for a box, radius for a sphere) as a dictionary. .. py:property:: visual_geometry_type :type: pycram.datastructures.enums.Shape :return: The visual geometry type of the visual shape (e.g. box, sphere) as a Shape object. .. py:property:: size :type: typing_extensions.List[float] .. py:method:: get_axis_aligned_bounding_box() -> AxisAlignedBoundingBox :return: The axis-aligned bounding box of the box visual shape. .. py:class:: SphereVisualShape Bases: :py:obj:`VisualShape` Dataclass for storing the information of a sphere visual shape .. py:attribute:: radius :type: float .. py:method:: shape_data() -> typing_extensions.Dict[str, float] :return: the shape data of the visual shape (e.g. half extents for a box, radius for a sphere) as a dictionary. .. py:property:: visual_geometry_type :type: pycram.datastructures.enums.Shape :return: The visual geometry type of the visual shape (e.g. box, sphere) as a Shape object. .. py:method:: get_axis_aligned_bounding_box() -> AxisAlignedBoundingBox :return: The axis-aligned bounding box of the sphere visual shape. .. py:class:: CapsuleVisualShape Bases: :py:obj:`VisualShape` Dataclass for storing the information of a capsule visual shape .. py:attribute:: radius :type: float .. py:attribute:: length :type: float .. py:method:: shape_data() -> typing_extensions.Dict[str, float] :return: the shape data of the visual shape (e.g. half extents for a box, radius for a sphere) as a dictionary. .. py:property:: visual_geometry_type :type: pycram.datastructures.enums.Shape :return: The visual geometry type of the visual shape (e.g. box, sphere) as a Shape object. .. py:method:: get_axis_aligned_bounding_box() -> AxisAlignedBoundingBox :return: The axis-aligned bounding box of the capsule visual shape. .. py:class:: CylinderVisualShape Bases: :py:obj:`CapsuleVisualShape` Dataclass for storing the information of a cylinder visual shape .. py:property:: visual_geometry_type :type: pycram.datastructures.enums.Shape :return: The visual geometry type of the visual shape (e.g. box, sphere) as a Shape object. .. py:class:: MeshVisualShape Bases: :py:obj:`VisualShape` Dataclass for storing the information of a mesh visual shape .. py:attribute:: scale :type: typing_extensions.List[float] .. py:attribute:: file_name :type: str .. py:method:: shape_data() -> typing_extensions.Dict[str, typing_extensions.Union[typing_extensions.List[float], str]] :return: the shape data of the visual shape (e.g. half extents for a box, radius for a sphere) as a dictionary. .. py:property:: visual_geometry_type :type: pycram.datastructures.enums.Shape :return: The visual geometry type of the visual shape (e.g. box, sphere) as a Shape object. .. py:method:: get_axis_aligned_bounding_box(file_path: typing_extensions.Optional[str] = None) -> AxisAlignedBoundingBox :param file_path: An alternative file path. :return: The axis-aligned bounding box of the mesh visual shape. .. py:class:: PlaneVisualShape Bases: :py:obj:`VisualShape` Dataclass for storing the information of a plane visual shape .. py:attribute:: normal :type: typing_extensions.List[float] .. py:method:: shape_data() -> typing_extensions.Dict[str, typing_extensions.List[float]] :return: the shape data of the visual shape (e.g. half extents for a box, radius for a sphere) as a dictionary. .. py:property:: visual_geometry_type :type: pycram.datastructures.enums.Shape :return: The visual geometry type of the visual shape (e.g. box, sphere) as a Shape object. .. py:data:: VisualShapeUnion .. py:class:: State Bases: :py:obj:`abc.ABC` Abstract dataclass for storing the state of an entity (e.g. world, object, link, joint). .. py:class:: PhysicalBodyState Bases: :py:obj:`State` Dataclass for storing the state of a physical body. .. py:attribute:: pose :type: pycram.datastructures.pose.PoseStamped .. py:attribute:: is_translating :type: bool .. py:attribute:: is_rotating :type: bool .. py:attribute:: velocity :type: typing_extensions.List[float] .. py:attribute:: acceptable_pose_error :type: typing_extensions.Tuple[float, float] :value: (0.001, 0.001) .. py:attribute:: acceptable_velocity_error :type: typing_extensions.Tuple[float, float] :value: (0.001, 0.001) .. py:method:: __eq__(other: PhysicalBodyState) .. py:method:: pose_is_almost_equal(other: PhysicalBodyState) -> bool Check if the pose of the object is almost equal to the pose of another object. :param other: The state of the other object. :return: True if the poses are almost equal, False otherwise. .. py:method:: velocity_is_almost_equal(other: PhysicalBodyState) -> bool Check if the velocity of the object is almost equal to the velocity of another object. :param other: The state of the other object. :return: True if the velocities are almost equal, False otherwise. .. py:method:: vector_is_almost_equal(vector1: typing_extensions.List[float], vector2: typing_extensions.List[float], acceptable_error: float) -> bool :staticmethod: Check if the vector is almost equal to another vector. :param vector1: The first vector. :param vector2: The second vector. :param acceptable_error: The acceptable error. :return: True if the vectors are almost equal, False otherwise. .. py:method:: __copy__() .. py:class:: LinkState Bases: :py:obj:`State` Dataclass for storing the state of a link. .. py:attribute:: body_state :type: PhysicalBodyState .. py:attribute:: constraint_ids :type: typing_extensions.Dict[pycram.description.Link, int] .. py:method:: __eq__(other: LinkState) .. py:method:: all_constraints_exist(other: LinkState) -> bool Check if all constraints exist in the other link state. :param other: The state of the other link. :return: True if all constraints exist, False otherwise. .. py:method:: all_constraints_are_equal(other: LinkState) -> bool Check if all constraints are equal to the ones in the other link state. :param other: The state of the other link. :return: True if all constraints are equal, False otherwise. .. py:method:: __copy__() .. py:class:: JointState Bases: :py:obj:`State` Dataclass for storing the state of a joint. .. py:attribute:: position :type: float .. py:attribute:: acceptable_error :type: float .. py:method:: __eq__(other: JointState) .. py:method:: __copy__() .. py:class:: ObjectState Bases: :py:obj:`State` Dataclass for storing the state of an object. .. py:attribute:: body_state :type: PhysicalBodyState .. py:attribute:: attachments :type: typing_extensions.Dict[pycram.world_concepts.world_object.Object, pycram.world_concepts.constraints.Attachment] .. py:attribute:: link_states :type: typing_extensions.Dict[int, LinkState] .. py:attribute:: joint_states :type: typing_extensions.Dict[int, JointState] .. py:method:: __eq__(other: ObjectState) .. py:property:: pose :type: pycram.datastructures.pose.PoseStamped .. py:method:: all_attachments_exist(other: ObjectState) -> bool Check if all attachments exist in the other object state. :param other: The state of the other object. :return: True if all attachments exist, False otherwise. .. py:method:: all_attachments_are_equal(other: ObjectState) -> bool Check if all attachments are equal to the ones in the other object state. :param other: The state of the other object. :return: True if all attachments are equal, False otherwise .. py:method:: __copy__() .. py:class:: WorldState Bases: :py:obj:`State` Dataclass for storing the state of the world. .. py:attribute:: object_states :type: typing_extensions.Dict[str, ObjectState] .. py:attribute:: simulator_state_id :type: typing_extensions.Optional[int] :value: None .. py:method:: __eq__(other: WorldState) .. py:method:: simulator_state_is_equal(other: WorldState) -> bool Check if the simulator state is equal to the simulator state of another world state. :param other: The state of the other world. :return: True if the simulator states are equal, False otherwise. .. py:method:: all_objects_exist(other: WorldState) -> bool Check if all objects exist in the other world state. :param other: The state of the other world. :return: True if all objects exist, False otherwise. .. py:method:: all_objects_states_are_equal(other: WorldState) -> bool Check if all object states are equal to the ones in the other world state. :param other: The state of the other world. :return: True if all object states are equal, False otherwise. .. py:method:: __copy__() .. py:class:: LateralFriction Dataclass for storing the information of the lateral friction. .. py:attribute:: lateral_friction :type: float .. py:attribute:: lateral_friction_direction :type: typing_extensions.List[float] .. py:class:: ContactPoint Dataclass for storing the information of a contact point between two bodies. .. py:attribute:: body_a :type: pycram.datastructures.world_entity.PhysicalBody .. py:attribute:: body_b :type: pycram.datastructures.world_entity.PhysicalBody .. py:attribute:: position_on_body_a :type: typing_extensions.Optional[typing_extensions.List[float]] :value: None .. py:attribute:: position_on_body_b :type: typing_extensions.Optional[typing_extensions.List[float]] :value: None .. py:attribute:: normal_on_body_b :type: typing_extensions.Optional[typing_extensions.List[float]] :value: None .. py:attribute:: distance :type: typing_extensions.Optional[float] :value: None .. py:attribute:: normal_force :type: typing_extensions.Optional[float] :value: None .. py:attribute:: lateral_friction_1 :type: typing_extensions.Optional[LateralFriction] :value: None .. py:attribute:: lateral_friction_2 :type: typing_extensions.Optional[LateralFriction] :value: None .. py:property:: normal :type: typing_extensions.List[float] .. py:property:: bodies :type: typing_extensions.Tuple[pycram.datastructures.world_entity.PhysicalBody, pycram.datastructures.world_entity.PhysicalBody] .. py:method:: __str__() .. py:method:: __repr__() .. py:data:: ClosestPoint The closest point between two objects which has the same structure as ContactPoint. .. py:class:: ContactPointsList Bases: :py:obj:`list` A list of contact points. .. py:method:: get_bodies_that_got_removed(previous_points: ContactPointsList) -> typing_extensions.List[pycram.datastructures.world_entity.PhysicalBody] Return the bodies that are not in the current points list but were in the initial points list. :param previous_points: The initial points list. :return: A list of bodies that got removed. .. py:method:: get_all_bodies(excluded: typing_extensions.List[pycram.datastructures.world_entity.PhysicalBody] = None) -> typing_extensions.List[pycram.datastructures.world_entity.PhysicalBody] :return: A list of all involved bodies in the points. .. py:method:: check_if_two_objects_are_in_contact(obj_a: pycram.world_concepts.world_object.Object, obj_b: pycram.world_concepts.world_object.Object) -> bool Check if two objects are in contact. :param obj_a: An instance of the Object class that represents the first object. :param obj_b: An instance of the Object class that represents the second object. :return: True if the objects are in contact, False otherwise. .. py:method:: is_body_in_object(body: pycram.datastructures.world_entity.PhysicalBody, obj: pycram.world_concepts.world_object.Object) -> bool :staticmethod: Check if the body belongs to the object. :param body: The body. :param obj: The object. :return: True if the body belongs to the object, False otherwise. .. py:method:: get_normals_of_object(obj: pycram.world_concepts.world_object.Object) -> typing_extensions.List[typing_extensions.List[float]] Get the normals of the object. :param obj: An instance of the Object class that represents the object. :return: A list of float vectors that represent the normals of the object. .. py:method:: get_normals() -> typing_extensions.List[typing_extensions.List[float]] Get the normals of the points. :return: A list of float vectors that represent the normals of the contact points. .. py:method:: get_links_in_contact_of_object(obj: pycram.world_concepts.world_object.Object) -> typing_extensions.List[pycram.datastructures.world_entity.PhysicalBody] Get the links in contact of the object. :param obj: An instance of the Object class that represents the object. :return: A list of Link instances that represent the links in contact of the object. .. py:method:: get_points_of_object(obj: pycram.world_concepts.world_object.Object) -> ContactPointsList Get the points of the object. :param obj: An instance of the Object class that represents the object that the points are related to. :return: A ContactPointsList instance that represents the contact points of the object. .. py:method:: get_points_of_link(link: pycram.description.Link) -> ContactPointsList Get the points of the link. :param link: An instance of the Link class that represents the link that the points are related to. :return: A ContactPointsList instance that represents the contact points of the link. .. py:method:: get_points_of_body(body: pycram.datastructures.world_entity.PhysicalBody) -> ContactPointsList Get the points of the body. :param body: An instance of the PhysicalBody class that represents the body that the points are related to. :return: A ContactPointsList instance that represents the contact points of the body. .. py:method:: get_objects_that_got_removed(previous_points: ContactPointsList) -> typing_extensions.List[pycram.world_concepts.world_object.Object] Return the object that is not in the current points list but was in the initial points list. :param previous_points: The initial points list. :return: A list of Object instances that represent the objects that got removed. .. py:method:: get_new_objects(previous_points: ContactPointsList) -> typing_extensions.List[pycram.world_concepts.world_object.Object] Return the object that is not in the initial points list but is in the current points list. :param previous_points: The initial points list. :return: A list of Object instances that represent the new objects. .. py:method:: is_object_in_the_list(obj: pycram.world_concepts.world_object.Object) -> bool Check if the object is one of the objects that have points in the list. :param obj: An instance of the Object class that represents the object. :return: True if the object is in the list, False otherwise. .. py:method:: get_names_of_objects_that_have_points() -> typing_extensions.List[str] Return the names of the objects that have points in the list. :return: A list of strings that represent the names of the objects that have points in the list. .. py:method:: get_objects_that_have_points() -> typing_extensions.List[pycram.world_concepts.world_object.Object] Return the objects that have points in the list. :return: A list of Object instances that represent the objects that have points in the list. .. py:method:: __str__() Return str(self). .. py:method:: __repr__() Return repr(self). .. py:data:: ClosestPointsList The list of closest points which has same structure as ContactPointsList. .. py:class:: TextAnnotation Dataclass for storing text annotations that can be displayed in the simulation. .. py:attribute:: text :type: str .. py:attribute:: position :type: typing_extensions.List[float] .. py:attribute:: id :type: int .. py:attribute:: color :type: Color .. py:attribute:: size :type: float :value: 0.1 .. py:class:: VirtualJoint A virtual (not real) joint that is most likely used for simulation purposes. .. py:attribute:: name :type: str .. py:attribute:: type_ :type: pycram.datastructures.enums.JointType .. py:attribute:: axes :type: typing_extensions.Optional[pycram.datastructures.pose.Point] :value: None .. py:property:: type .. py:property:: is_virtual .. py:method:: __hash__() .. py:class:: Rotations Bases: :py:obj:`typing_extensions.Dict`\ [\ :py:obj:`typing_extensions.Optional`\ [\ :py:obj:`typing_extensions.Union`\ [\ :py:obj:`pycram.datastructures.enums.Grasp`\ , :py:obj:`bool`\ ]\ ]\ , :py:obj:`typing_extensions.List`\ [\ :py:obj:`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° .. py:attribute:: SIDE_ROTATIONS .. py:attribute:: VERTICAL_ROTATIONS .. py:attribute:: HORIZONTAL_ROTATIONS .. py:class:: VirtualMobileBaseJoints Dataclass for storing the names, types and axes of the virtual mobile base joints of a mobile robot. .. py:attribute:: translation_x :type: typing_extensions.Optional[VirtualJoint] .. py:attribute:: translation_y :type: typing_extensions.Optional[VirtualJoint] .. py:attribute:: angular_z :type: typing_extensions.Optional[VirtualJoint] .. py:property:: names :type: typing_extensions.List[str] Return the names of the virtual mobile base joints. .. py:method:: get_types() -> typing_extensions.Dict[str, pycram.datastructures.enums.JointType] Return the joint types of the virtual mobile base joints. .. py:method:: 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. .. py:class:: MultiverseMetaData Meta data for the Multiverse Client, the simulation_name should be non-empty and unique for each simulation .. py:attribute:: world_name :type: str :value: 'world' .. py:attribute:: simulation_name :type: str :value: 'cram' .. py:attribute:: length_unit :type: str :value: 'm' .. py:attribute:: angle_unit :type: str :value: 'rad' .. py:attribute:: mass_unit :type: str :value: 'kg' .. py:attribute:: time_unit :type: str :value: 's' .. py:attribute:: handedness :type: str :value: 'rhs' .. py:class:: RayResult A dataclass to store the ray result. The ray result contains the body name that the ray intersects with and the distance from the ray origin to the intersection point. .. py:attribute:: obj_id :type: int The object id of the body that the ray intersects with. .. py:attribute:: link_id :type: int :value: -1 The link id of the body that the ray intersects with, -1 if root link or None. .. py:attribute:: _hit_fraction :type: typing_extensions.Optional[float] :value: None The fraction of the ray length at which the intersection point is located a range in [0, 1]. .. py:attribute:: hit_position :type: typing_extensions.Optional[typing_extensions.List[float]] :value: None The intersection point in cartesian world coordinates. .. py:attribute:: hit_normal :type: typing_extensions.Optional[typing_extensions.List[float]] :value: None The normal at the intersection point in cartesian world coordinates. .. py:attribute:: distance :type: typing_extensions.Optional[float] :value: None The distance from the ray origin to the intersection point. .. py:property:: intersected :type: bool Check if the ray intersects with a body. return: Whether the ray intersects with a body. .. py:property:: hit_fraction :type: typing_extensions.Optional[float] .. py:method:: update_distance(from_position: typing_extensions.List[float], to_position: typing_extensions.Optional[typing_extensions.List[float]] = None) -> float The distance from the ray origin to the intersection point. .. py:class:: MultiverseRayResult A dataclass to store the ray result. The ray result contains the body name that the ray intersects with and the distance from the ray origin to the intersection point. .. py:attribute:: body_name :type: str .. py:attribute:: distance :type: float .. py:method:: intersected() -> bool Check if the ray intersects with a body. return: Whether the ray intersects with a body. .. py:class:: MultiverseContactPoint A dataclass to store all the contact data returned from Multiverse for a single object. .. py:attribute:: body_1 :type: str .. py:attribute:: body_2 :type: str .. py:attribute:: position :type: typing_extensions.List[float] .. py:attribute:: normal :type: typing_extensions.List[float] .. py:class:: ReasoningResult Result of a reasoning result of knowledge source .. py:attribute:: success :type: bool .. py:attribute:: reasoned_parameter :type: typing_extensions.Dict[str, typing_extensions.Any] .. py:class:: FrozenObject .. py:attribute:: name :type: str Name of this Object .. py:attribute:: concept :type: typing_extensions.Type[pycrap.ontologies.PhysicalObject] The Concept of the Object as the PyCRAP concept .. py:attribute:: path :type: typing_extensions.Optional[str] :value: None The path to the source file .. py:attribute:: description :type: typing_extensions.Optional[pycram.description.ObjectDescription] :value: None The description of the object, this is a combination of links and joints .. py:attribute:: pose :type: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] The pose at which this object is placed .. py:attribute:: links :type: typing_extensions.Optional[typing_extensions.Dict[str, FrozenLink]] :value: None A dictionary with the link name as key and the link object as value .. py:attribute:: joints :type: typing_extensions.Optional[typing_extensions.Dict[str, FrozenJoint]] :value: None A dictionary of all joints, with the joint name as key and the joint object as value .. py:class:: FrozenLink .. py:attribute:: name :type: str Name of this FrozenLink .. py:attribute:: pose :type: pycram.datastructures.pose.PoseStamped Pose of this Link in the world frame .. py:attribute:: geometry :type: typing_extensions.Union[VisualShape, typing_extensions.List[VisualShape]] The geometry of this link .. py:class:: FrozenJoint .. py:attribute:: name :type: str Name of this FrozenJoints .. py:attribute:: type :type: pycram.datastructures.enums.JointType The type of this joint .. py:attribute:: children :type: typing_extensions.Sequence[str] A sequence of the names of all children .. py:attribute:: parent :type: typing_extensions.Optional[str] The name of the parent joint or None if there is no parent joint .. py:attribute:: state :type: float State of the joint