pycram.datastructures.pose ========================== .. py:module:: pycram.datastructures.pose Attributes ---------- .. autoapisummary:: pycram.datastructures.pose.Point Classes ------- .. autoapisummary:: pycram.datastructures.pose.Vector3 pycram.datastructures.pose.Quaternion pycram.datastructures.pose.Pose pycram.datastructures.pose.Header pycram.datastructures.pose.PoseStamped pycram.datastructures.pose.Transform pycram.datastructures.pose.TransformStamped pycram.datastructures.pose.GraspPose Module Contents --------------- .. py:class:: Vector3 Bases: :py:obj:`pycram.has_parameters.HasParameters` A 3D vector with x, y and z coordinates. .. py:attribute:: x :type: float :value: 0 .. py:attribute:: y :type: float :value: 0 .. py:attribute:: z :type: float :value: 0 .. py:method:: euclidean_distance(other: typing_extensions.Self) -> float The euclidian distance between this vector and another vector. :param other: The other vector to calculate the distance to. :return: The euclidian distance .. py:method:: ros_message() Convert the vector to a ROS message of type Vector3. :return: The ROS message. .. py:method:: to_list() -> typing_extensions.List[float] Convert the vector to a list. :return: A list containing the x, y and z coordinates. .. py:method:: round(decimals: int = 4) Rounds the coordinates of the vector to the specified number of decimal places. :param decimals: Number of decimal places to round to. .. py:method:: almost_equal(other: typing_extensions.Self, tolerance: float = 1e-06) -> bool Check if two vectors are almost equal within a given tolerance. :param other: The other vector to compare to. :param tolerance: The tolerance for the comparison as number of decimal places. :return: True if the vectors are almost equal, False otherwise. .. py:method:: vector_to_position(other: typing_extensions.Self) -> Vector3 Calculates a vector from this vector to another vector. :param other: The vector to calculate the vector to. :return: A new vector between this vector and the other vector. .. py:method:: to_numpy() -> numpy.ndarray Convert the vector to a numpy array. :return: A numpy array containing the x, y and z coordinates. .. py:method:: __add__(other: typing_extensions.Self) -> Vector3 Adds two vectors together. :param other: The other vector to add. :return: A new vector that is the sum of this vector and the other vector. .. py:method:: __sub__(other: typing_extensions.Self) -> Vector3 Subtracts two vectors. :param other: The other vector to subtract. :return: A new vector that is the difference of this vector and the other vector. .. py:method:: __mul__(other: float) -> Vector3 Multiplies the vector by a scalar. :param other: The scalar to multiply by. :return: A new vector that is the product of this vector and the scalar. .. py:method:: __rmul__(other: float) -> Vector3 Multiplies the vector by a scalar (right multiplication). :param other: The scalar to multiply by. :return: A new vector that is the product of this vector and the scalar. .. py:method:: from_list(vector: typing_extensions.List[float]) -> typing_extensions.Self :classmethod: Factory to create a Vector3 from a list of coordinates. :param vector: The list of coordinates. :return: A new Vector3 object. .. py:class:: Quaternion Bases: :py:obj:`pycram.has_parameters.HasParameters` A quaternion with x, y, z and w components. .. py:attribute:: x :type: float :value: 0 .. py:attribute:: y :type: float :value: 0 .. py:attribute:: z :type: float :value: 0 .. py:attribute:: w :type: float :value: 1 .. py:method:: __post_init__() .. py:method:: normalize() Normalize the quaternion in-place. .. py:method:: ros_message() .. py:method:: to_list() -> typing_extensions.List[float] Convert the quaternion to a list. :return: A list containing the x, y, z and w components. .. py:method:: to_numpy() -> numpy.ndarray Convert the quaternion to a numpy array. :return: A numpy array containing the x, y, z and w components. .. py:method:: round(decimals: int = 4) Rounds the components of the quaternion to the specified number of decimal places. :param decimals: The number of decimal places to round to. .. py:method:: almost_equal(other: typing_extensions.Self, tolerance: float = 1e-06) -> bool Check if two quaternions are almost equal within a given tolerance. :param other: The other quaternion to compare to. :param tolerance: The tolerance for the comparison as number of decimal places. :return: True if the quaternions are almost equal, False otherwise. .. py:method:: __mul__(other: typing_extensions.Self) -> Quaternion Multiplies two quaternions together. :param other: The other quaternion to multiply with. :return: A new quaternion that is the product of this quaternion and the other quaternion. .. py:method:: from_list(quaternion: typing_extensions.List[float]) -> typing_extensions.Self :classmethod: Factory to create a Quaternion from a list of components. :param quaternion: A list of components [x, y, z, w]. :return: A new Quaternion object. .. py:class:: Pose Bases: :py:obj:`pycram.has_parameters.HasParameters` A pose in 3D space. .. py:attribute:: position :type: Vector3 .. py:attribute:: orientation :type: Quaternion .. py:method:: __repr__() .. py:method:: ros_message() Convert the pose to a ROS message of type Pose. :return: The ROS message. .. py:method:: to_list() Convert the pose to a list of [position, orientation]. :return: A list containing the position and orientation of this pose. .. py:method:: copy() -> typing_extensions.Self Create a deep copy of the pose. :return: A new Pose object that is a copy of this pose. .. py:method:: round(decimals: int = 4) Rounds the components of the pose (position and orientation) to the specified number of decimal places. :param decimals: The number of decimal places to round to. .. py:method:: almost_equal(other: Pose, position_tolerance: float = 1e-06, orientation_tolerance: float = 1e-05) -> bool Check if two poses are almost equal within given tolerances for position and orientation. :param other: The other pose to compare to. :param position_tolerance: Tolerance for position comparison as number of decimal places. :param orientation_tolerance: Tolerance for orientation comparison as number of decimal places. :return: True if the poses are almost equal, False otherwise. .. py:method:: __eq__(other: typing_extensions.Self) -> bool Check if two poses are equal. Uses almost_equal with a tolerance of 1e-4 for both position and orientation. :param other: The other pose to compare to. :return: True if the poses are equal, False otherwise. .. py:method:: from_matrix(matrix: numpy.ndarray) -> typing_extensions.Self :classmethod: Create a Pose from a 4x4 transformation matrix. :param matrix: A 4x4 transformation matrix as numpy array. :return: A pose object created from the matrix. .. py:method:: from_list(position: typing_extensions.List[float], orientation: typing_extensions.List[float]) -> typing_extensions.Self :classmethod: Factory to create a Pose from a list of position and orientation. :param position: List of position [x, y, z]. :param orientation: List of orientation [x, y, z, w]. :return: A new Pose object. .. py:class:: Header A header with a timestamp. .. py:attribute:: frame_id :type: str :value: 'map' .. py:attribute:: stamp :type: datetime.datetime .. py:attribute:: sequence :type: int :value: 0 .. py:method:: ros_message() Convert the header to a ROS message of type Header. :return: The ROS message. .. py:class:: PoseStamped Bases: :py:obj:`pycram.has_parameters.HasParameters` A pose in 3D space with a timestamp. .. py:attribute:: pose :type: Pose .. py:attribute:: header :type: Header .. py:property:: position .. py:property:: orientation .. py:property:: frame_id .. py:method:: __repr__() .. py:method:: ros_message() Convert the pose to a ROS message of type PoseStamped. :return: The ROS message. .. py:method:: from_ros_message(message: ROSPoseStamped) -> typing_extensions.Self :classmethod: Create a PoseStamped from a ROS message. :param message: The PoseStamped ROS message. :return: A new PoseStamped object created from the ROS message. .. py:method:: from_list(position: typing_extensions.Optional[typing_extensions.List[float]] = None, orientation: typing_extensions.Optional[typing_extensions.List[float]] = None, frame: typing_extensions.Optional[str] = 'map') -> typing_extensions.Self :classmethod: Factory to create a PoseStamped from a list of position and orientation. :param position: Position as a list of [x, y, z]. :param orientation: Orientation as a list of [x, y, z, w]. :param frame: Frame in which the pose is defined. :return: A new PoseStamped object. .. py:method:: to_transform_stamped(child_link_id: str) -> TransformStamped Converts the PoseStamped to a TransformStamped given a frame to which the transform is pointing. :param child_link_id: Frame to which the transform is pointing. :return: A TransformStamped object. .. py:method:: round(decimals: int = 4) Rounds the components of the pose (position and orientation) to the specified number of decimal places. :param decimals: Number of decimal places to round to. .. py:method:: copy() -> typing_extensions.Self Create a deep copy of the PoseStamped object. :return: A new PoseStamped object that is a copy of this object. .. py:method:: to_list() Convert the pose to a list of [position, orientation, frame_id]. :return: A list of [pose, frame_id]. .. py:method:: calculate_closest_faces(pose_to_robot_vector: Vector3, specified_grasp_axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = None) -> typing_extensions.Tuple[pycram.datastructures.grasp.GraspDescription, pycram.datastructures.grasp.GraspDescription] :staticmethod: Determines the faces of the object based on the input vector. If `specified_grasp_axis` is None, it calculates the primary and secondary faces based on the vector's magnitude determining which sides of the object are most aligned with the robot. This will either be the x, y plane for side faces or the z axis for top/bottom faces. If `specified_grasp_axis` is provided, it only considers the specified axis and calculates the faces aligned with that axis. :param pose_to_robot_vector: A 3D vector representing one of the robot's axes in the pose's frame, with irrelevant components set to np.nan. :param specified_grasp_axis: Specifies a specific axis (e.g., X, Y, Z) to focus on. :return: A tuple of two Grasp enums representing the primary and secondary faces. .. py:method:: calculate_grasp_descriptions(robot: pycram.world_concepts.world_object.Object, grasp_alignment: typing_extensions.Optional[pycram.datastructures.grasp.PreferredGraspAlignment] = None) -> typing_extensions.List[pycram.datastructures.grasp.GraspDescription] This method determines the possible grasp configurations (approach axis and vertical alignment) of the self, taking into account the self's orientation, position, and whether the gripper should be rotated by 90°. :param robot: The robot for which the grasp configurations are being calculated. :return: A sorted list of GraspDescription instances representing all grasp permutations. .. py:method:: almost_equal(other: PoseStamped, position_tolerance: float = 1e-06, orientation_tolerance: float = 1e-05) -> bool Check if two PoseStamped objects are almost equal within given tolerances for position and orientation and if the frame_id is the same. :param other: The other PoseStamped object to compare to. :param position_tolerance: Tolerance for position comparison as number of decimal places. :param orientation_tolerance: Tolerance for orientation comparison as number of decimal places. :return: True if the PoseStamped objects are almost equal, False otherwise. .. py:method:: rotate_by_quaternion(quaternion: typing_extensions.List[float]) Rotates the orientation of the pose by a given quaternion. :param quaternion: A list representing the quaternion [x, y, z, w]. .. py:method:: is_facing_2d_axis(pose_b: PoseStamped, axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = AxisIdentifier.X, threshold_deg=82) -> typing_extensions.Tuple[bool, float] Check if this pose is facing another pose along a specific axis (X or Y) within a given angular threshold. :param pose_b: The target pose to compare against. :param axis: The axis to check alignment with ('x' or 'y'). Defaults to 'x'. :param threshold_deg: The maximum angular difference in degrees to consider as 'facing'. Defaults to 82 degrees. :return: Tuple of (True/False if facing, signed angular difference in radians). .. py:method:: is_facing_x_or_y(pose_b: PoseStamped) -> bool Check if this pose is facing another pose along either the X or Y axis within a default angular threshold. :param pose_b: The target pose to compare against. :return: True if this pose is facing the target along either X or Y axis, False otherwise. .. py:class:: Transform Bases: :py:obj:`Pose` A pose in 3D space. .. py:property:: translation .. py:property:: rotation .. py:method:: to_matrix() -> numpy.ndarray Converts the transform to a 4x4 transformation matrix. :return: A numpy array representing the transformation matrix. .. py:method:: __invert__() -> Transform Inverts the transform, returning a new Transform object. :return: The inverted Transform object. .. py:method:: __mul__(other: Transform) -> Transform Multiplies two transforms together, returning a new Transform object. :param other: The other Transform object to multiply with. :return: A new Transform object that is the product of this transform and the other transform. .. py:method:: from_pose(pose: Pose) -> typing_extensions.Self :classmethod: Create a Transform from a Pose object. :param pose: The pose to convert to a Transform. :return: A new Transform object created from the Pose. .. py:method:: ros_message() Convert the transform to a ROS message of type Transform. :return: The ROS message. .. py:class:: TransformStamped Bases: :py:obj:`PoseStamped` A pose in 3D space with a timestamp. .. py:attribute:: child_frame_id :type: str :value: '' Target frame id of the transform. .. py:attribute:: pose :type: Transform The transform of the transform. .. py:property:: transform :type: Transform .. py:property:: translation .. py:property:: rotation .. py:method:: __invert__() -> typing_extensions.Self Inverts the transform, returning a new TransformStamped object which points from child_frame_id to frame_id. :return: A new TransformStamped object that is the inverse of this transform. .. py:method:: __mul__(other) -> typing_extensions.Self Multiplies two TransformStamped objects together, returning a new TransformStamped object. :param other: The other TransformStamped object to multiply with. :return: A new TransformStamped object that is the product of this transform and the other transform. .. py:method:: from_list(translation: typing_extensions.List[float] = None, rotation: typing_extensions.List[float] = None, frame: str = 'map', child_frame_id='') -> typing_extensions.Self :classmethod: Factory to create a TransformStamped from a list of position and orientation. :param translation: Translation as a list of [x, y, z]. :param rotation: Rotation as a list of [x, y, z, w]. :param frame: Original frame in which the transform is defined. :param child_frame_id: Target frame id of the transform. :return: A new TransformStamped object. .. py:method:: ros_message() Convert the TransformStamped to a ROS message of type TransformStamped. :return: The ROS message. .. py:method:: to_pose_stamped() -> PoseStamped Converts the TransformStamped to a PoseStamped object. :return: A PoseStamped object created from the TransformStamped. .. py:method:: inverse_times(other: TransformStamped) -> typing_extensions.Self Multiply this TransformStamped by the inverse of another TransformStamped. Essentially, this is the same as "subtracting" another TransformStamped from this one. :param other: The other TransformStamped to subtract. :return: A new TransformStamped object that is the result of this transform minus the other transform. .. py:class:: GraspPose Bases: :py:obj:`PoseStamped` A pose from which a grasp can be performed along with the respective arm and grasp description. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms :value: None Arm corresponding to the grasp pose. .. py:attribute:: grasp_description :type: pycram.datastructures.grasp.GraspDescription :value: None Grasp description corresponding to the grasp pose. .. py:data:: Point