pycram.failures =============== .. py:module:: pycram.failures Exceptions ---------- .. autoapisummary:: pycram.failures.PlanFailure pycram.failures.KnowledgeNotAvailable pycram.failures.NotALanguageExpression pycram.failures.FailureDiagnosis pycram.failures.LowLevelFailure pycram.failures.ActionlibActionTimeout pycram.failures.HighLevelFailure pycram.failures.SensorMonitoringCondition pycram.failures.DeliveringFailed pycram.failures.ManipulationLowLevelFailure pycram.failures.EnvironmentManipulationGoalNotReached pycram.failures.ContainerManipulationError pycram.failures.EnvironmentManipulationImpossible pycram.failures.EnvironmentUnreachable pycram.failures.FetchingFailed pycram.failures.GripperLowLevelFailure pycram.failures.GripperIsNotOpen pycram.failures.GripperClosedCompletely pycram.failures.GripperGoalNotReached pycram.failures.GripperOccupied pycram.failures.LookingHighLevelFailure pycram.failures.LookAtGoalNotReached pycram.failures.ManipulationGoalInCollision pycram.failures.ManipulationGoalNotReached pycram.failures.RobotInCollision pycram.failures.IKError pycram.failures.ManipulationPoseUnreachable pycram.failures.NavigationHighLevelFailure pycram.failures.NavigationGoalInCollision pycram.failures.NavigationLowLevelFailure pycram.failures.NavigationGoalNotReached pycram.failures.NavigationPoseUnreachable pycram.failures.ObjectNotVisible pycram.failures.ObjectNotFound pycram.failures.LinkNotFound pycram.failures.ObjectUndeliverable pycram.failures.ObjectPlacingError pycram.failures.ObjectStillInContact pycram.failures.ObjectNotPlacedAtTargetLocation pycram.failures.ObjectUnfetchable pycram.failures.ObjectUnreachable pycram.failures.PerceptionLowLevelFailure pycram.failures.PerceptionObjectNotFound pycram.failures.PerceptionObjectNotInWorld pycram.failures.SearchingFailed pycram.failures.TorsoLowLevelFailure pycram.failures.TorsoGoalNotReached pycram.failures.TorsoGoalUnreachable pycram.failures.Task pycram.failures.Grasping pycram.failures.ObjectNotGraspedError pycram.failures.Looking pycram.failures.ObjectPoseMissestimation pycram.failures.SuccessfulCompletion pycram.failures.LocomotorFailure pycram.failures.ArmFailure pycram.failures.ObjectLost pycram.failures.SensorFailure pycram.failures.IllPosedGoalFailure pycram.failures.CapabilityAbsenceFailure pycram.failures.ReachabilityFailure pycram.failures.ObjectNotInGraspingArea pycram.failures.TorsoFailure pycram.failures.ConfigurationNotReached pycram.failures.Timeout pycram.failures.EndEffectorFailure pycram.failures.ObjectUnavailable pycram.failures.SustainedFailure pycram.failures.ReasoningError pycram.failures.CollisionError pycram.failures.NavigationGoalNotReachedError pycram.failures.ToolPoseNotReachedError pycram.failures.MultiverseFailedAPIResponse pycram.failures.ProspectionObjectNotFound pycram.failures.ObjectAlreadyExists pycram.failures.ObjectDescriptionNotFound pycram.failures.WorldMismatchErrorBetweenAttachedObjects pycram.failures.ObjectFrameNotFoundError pycram.failures.MultiplePossibleTipLinks pycram.failures.UnsupportedFileExtension pycram.failures.ObjectDescriptionUndefined pycram.failures.UnsupportedJointType pycram.failures.LinkHasNoGeometry pycram.failures.LinkGeometryHasNoMesh Module Contents --------------- .. py:exception:: PlanFailure(*args, **kwargs) Bases: :py:obj:`Exception` Implementation of plan failures. .. py:exception:: KnowledgeNotAvailable(*args, **kwargs) Bases: :py:obj:`PlanFailure` Thrown when a knowledge source can not provide the information for a query. .. py:exception:: NotALanguageExpression(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: FailureDiagnosis(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: LowLevelFailure(*args, **kwargs) Bases: :py:obj:`FailureDiagnosis` Failure thrown by low-level modules: robot or projection PMs. .. py:exception:: ActionlibActionTimeout(*args, **kwargs) Bases: :py:obj:`LowLevelFailure` Failure thrown by low-level modules: robot or projection PMs. .. py:exception:: HighLevelFailure(*args, **kwargs) Bases: :py:obj:`FailureDiagnosis` Failure thrown by high-level modules, i.e. plans. .. py:exception:: SensorMonitoringCondition(*args, **kwargs) Bases: :py:obj:`PlanFailure` Thrown when a sensor monitoring condition is met. .. py:exception:: DeliveringFailed(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when delivering plan completely gives up. .. py:exception:: ManipulationLowLevelFailure(robot: pycram.world_concepts.world_object.Object, arms: typing_extensions.List[pycram.datastructures.enums.Arms], body: pycram.datastructures.world_entity.PhysicalBody, *args, **kwargs) Bases: :py:obj:`LowLevelFailure` Thrown when a low-level, i.e. hardware related, failure is detected in a manipulation action. .. py:attribute:: robot :type: pycram.world_concepts.world_object.Object The robot that the manipulation action was performed with. .. py:attribute:: arm :type: typing_extensions.List[pycram.datastructures.enums.Arms] The arm(s) that the manipulation action was performed with. .. py:attribute:: body :type: pycram.datastructures.world_entity.PhysicalBody The body that the manipulation action was performed on. .. py:exception:: EnvironmentManipulationGoalNotReached(*args, **kwargs) Bases: :py:obj:`ManipulationLowLevelFailure` Thrown when door / drawer opening / closing goal is still not reached. .. py:exception:: ContainerManipulationError(robot: pycram.world_concepts.world_object.Object, arms: typing_extensions.List[pycram.datastructures.enums.Arms], body: pycram.datastructures.world_entity.PhysicalBody, container_joint: pycram.description.Joint, manipulation_type: pycram.datastructures.enums.ContainerManipulationType, *args, **kwargs) Bases: :py:obj:`ManipulationLowLevelFailure`, :py:obj:`abc.ABC` Thrown when container manipulation fails. .. py:attribute:: container_joint :type: pycram.description.Joint The joint of the container that should be manipulated. .. py:attribute:: manipulation_type :type: pycram.datastructures.enums.ContainerManipulationType The type of manipulation that should be performed on the container. .. py:exception:: EnvironmentManipulationImpossible(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when environment manipulation cannot be achieved. .. py:exception:: EnvironmentUnreachable(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when environment manipulation in collision or unreachable. .. py:exception:: FetchingFailed(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when fetching plan completely gives up. .. py:exception:: GripperLowLevelFailure(robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, *args, **kwargs) Bases: :py:obj:`LowLevelFailure` Thrown when a failure involving the gripper hardware occurs. .. py:attribute:: robot :type: pycram.world_concepts.world_object.Object The robot that the gripper belongs to. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms The arm that the gripper belongs to. .. py:exception:: GripperIsNotOpen(robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, *args, **kwargs) Bases: :py:obj:`GripperLowLevelFailure` Thrown when the gripper is not open when it should be open. .. py:exception:: GripperClosedCompletely(*args, **kwargs) Bases: :py:obj:`GripperLowLevelFailure` Thrown when the gripper closed completely, despite not being expected to do so (e.g. because it should have grasped something). .. py:exception:: GripperGoalNotReached(*args, **kwargs) Bases: :py:obj:`GripperLowLevelFailure` Thrown when the gripper does not reach its goal. .. py:exception:: GripperOccupied(*args, **kwargs) Bases: :py:obj:`GripperLowLevelFailure` Thrown when the gripper is occupied by some object. .. py:exception:: LookingHighLevelFailure(robot: pycram.world_concepts.world_object.Object, target: pycram.datastructures.pose.PoseStamped, *args, **kwargs) Bases: :py:obj:`HighLevelFailure` High-level failure produced when looking for an object, i.e. it is not a hardware issue but one relating to the looking task, its parameters, and how they relate to the environment. .. py:attribute:: robot :type: pycram.world_concepts.world_object.Object The robot that performed the look at action. .. py:attribute:: target :type: pycram.datastructures.pose.PoseStamped The target pose that the robot was supposed to look at. .. py:exception:: LookAtGoalNotReached(robot: pycram.world_concepts.world_object.Object, target: pycram.datastructures.pose.PoseStamped, *args, **kwargs) Bases: :py:obj:`LookingHighLevelFailure` Thrown when the look at goal is not reached. .. py:exception:: ManipulationGoalInCollision(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when executing a manipulation action results in a collision. .. py:exception:: ManipulationGoalNotReached(*args, **kwargs) Bases: :py:obj:`ManipulationLowLevelFailure` Thrown when after executing the action, goal is still not reached. .. py:exception:: RobotInCollision(*args, **kwargs) Bases: :py:obj:`PlanFailure` Thrown when the robot is in collision with the environment. .. py:exception:: IKError(pose, base_frame, tip_frame) Bases: :py:obj:`PlanFailure` Thrown when no inverse kinematics solution could be found .. py:attribute:: pose :type: pycram.datastructures.pose.PoseStamped The pose for which no IK solution could be found. .. py:attribute:: base_frame :type: str The base frame in which the pose was given. .. py:attribute:: tip_frame :type: str The robot tip frame that should reach the pose. .. py:attribute:: message .. py:exception:: ManipulationPoseUnreachable(*args, **kwargs) Bases: :py:obj:`ManipulationLowLevelFailure` Thrown when no IK solution can be found. .. py:exception:: NavigationHighLevelFailure(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` High-level failure produced while navigating the robot, i.e. it is not a hardware issue but one relating to the navigation task, its parameters, and how they relate to the environment. .. py:exception:: NavigationGoalInCollision(*args, **kwargs) Bases: :py:obj:`NavigationHighLevelFailure` Navigation goal cannot be reached because the goal itself is already occupied by some other object. .. py:exception:: NavigationLowLevelFailure(*args, **kwargs) Bases: :py:obj:`LowLevelFailure` Low-level failure produced while navigating the robot, i.e. some kind of hardware issue. .. py:exception:: NavigationGoalNotReached(*args, **kwargs) Bases: :py:obj:`NavigationLowLevelFailure` Thrown when the base moved as a result of the navigation action but the goal was not reached. .. py:exception:: NavigationPoseUnreachable(*args, **kwargs) Bases: :py:obj:`NavigationLowLevelFailure` Thrown when the goal pose for navigation is computed to be unreachable. .. py:exception:: ObjectNotVisible(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when the robot cannot see an object of a given description in its surroundings. .. py:exception:: ObjectNotFound(object_name: str) Bases: :py:obj:`HighLevelFailure` Thrown when the robot cannot find an object of a given description in its surroundings. .. py:exception:: LinkNotFound(link_name: str, of_object: typing_extensions.Optional[str] = None) Bases: :py:obj:`HighLevelFailure` Thrown when the robot cannot find a link of a given description .. py:attribute:: link_name :type: str The name of the link that couldn't be found .. py:attribute:: of_object :type: typing_extensions.Optional[str] The name of the object that the link should belong to .. py:exception:: ObjectUndeliverable(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when no base positioning can assure a reachable pose to place the object from. .. py:exception:: ObjectPlacingError(obj: pycram.world_concepts.world_object.Object, placing_pose: pycram.datastructures.pose.PoseStamped, robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, *args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when the placing of the object fails. .. py:attribute:: obj :type: pycram.world_concepts.world_object.Object The object that should be placed. .. py:attribute:: placing_pose :type: pycram.datastructures.pose.PoseStamped The target pose at which the object should be placed. .. py:attribute:: robot :type: pycram.world_concepts.world_object.Object The robot that placed the object. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms The robot arm used to place the object. .. py:exception:: ObjectStillInContact(obj: pycram.world_concepts.world_object.Object, contact_links: typing_extensions.List[pycram.description.Link], placing_pose: pycram.datastructures.pose.PoseStamped, robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, *args, **kwargs) Bases: :py:obj:`ObjectPlacingError` Thrown when the object is still in contact with the robot after placing. .. py:attribute:: contact_links :type: typing_extensions.List[pycram.description.Link] The links of the robot that are still in contact with the object. .. py:exception:: ObjectNotPlacedAtTargetLocation(obj: pycram.world_concepts.world_object.Object, placing_pose: pycram.datastructures.pose.PoseStamped, robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, *args, **kwargs) Bases: :py:obj:`ObjectPlacingError` Thrown when the object was not placed at the target location. .. py:exception:: ObjectUnfetchable(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when no base positioning can assure a reachable pose to grasp the object from. .. py:exception:: ObjectUnreachable(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when no IK found for particular base pose. .. py:exception:: PerceptionLowLevelFailure(object_description: pycram.designator.ObjectDesignatorDescription, technique: pycram.datastructures.enums.DetectionTechnique, region: typing_extensions.Optional[pycram.designators.location_designator.Location] = None, *args, **kwargs) Bases: :py:obj:`LowLevelFailure` Low-level failure produced while perceiving, i.e. some kind of hardware issue. .. py:attribute:: object_description :type: pycram.designator.ObjectDesignatorDescription The object description that was used to search for the object. .. py:attribute:: technique :type: pycram.datastructures.enums.DetectionTechnique The detection technique that was used to search for the object. .. py:attribute:: region :type: typing_extensions.Optional[pycram.designators.location_designator.Location] :value: None The suggested region in which the object was searched. .. py:exception:: PerceptionObjectNotFound(obj_desc: pycram.designator.ObjectDesignatorDescription, technique: pycram.datastructures.enums.DetectionTechnique, region: pycram.designators.location_designator.Location, *args, **kwargs) Bases: :py:obj:`PerceptionLowLevelFailure` Thrown when an attempt to find an object by perception fails -- and this can still be interpreted as the robot not looking in the right direction, as opposed to the object being absent. .. py:exception:: PerceptionObjectNotInWorld(*args, **kwargs) Bases: :py:obj:`PerceptionLowLevelFailure` Thrown when an attempt to find an object by perception fails -- and this is because the object can be assumed absent or perhaps is known absent because of the setup of a simulation. .. py:exception:: SearchingFailed(*args, **kwargs) Bases: :py:obj:`HighLevelFailure` Thrown when searching plan completely gives up. .. py:exception:: TorsoLowLevelFailure(goal_validator: typing_extensions.Optional[pycram.validation.goal_validator.MultiJointPositionGoalValidator] = None, *args, **kwargs) Bases: :py:obj:`LowLevelFailure` Low-level failure produced while moving the torso, i.e. some kind of hardware issue. .. py:attribute:: goal_validator :type: typing_extensions.Optional[pycram.validation.goal_validator.MultiJointPositionGoalValidator] :value: None The goal validator that was used to check if the goal was reached. .. py:exception:: TorsoGoalNotReached(goal_validator: typing_extensions.Optional[pycram.validation.goal_validator.MultiJointPositionGoalValidator] = None, *args, **kwargs) Bases: :py:obj:`TorsoLowLevelFailure` Thrown when the torso moved as a result of a torso action but the goal was not reached. .. py:exception:: TorsoGoalUnreachable(goal_validator: typing_extensions.Optional[pycram.validation.goal_validator.MultiJointPositionGoalValidator] = None, *args, **kwargs) Bases: :py:obj:`TorsoLowLevelFailure` Thrown when the goal for the torso is computed to be unreachable. .. py:exception:: Task(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: Grasping(obj: pycram.world_concepts.world_object.Object, robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, grasp: typing_extensions.Optional[pycram.datastructures.enums.Grasp] = None, *args, **kwargs) Bases: :py:obj:`Task` .. py:attribute:: obj :type: pycram.world_concepts.world_object.Object The object to be grasped. .. py:attribute:: robot :type: pycram.world_concepts.world_object.Object The robot that should grasp the object. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms The arm used to grasp the object. .. py:attribute:: grasp :type: typing_extensions.Optional[pycram.datastructures.enums.Grasp] The grasp type used to grasp the object. .. py:exception:: ObjectNotGraspedError(obj: pycram.world_concepts.world_object.Object, robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, grasp=None, *args, **kwargs) Bases: :py:obj:`Grasping` .. py:exception:: Looking(*args, **kwargs) Bases: :py:obj:`Task` .. py:exception:: ObjectPoseMissestimation(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: SuccessfulCompletion(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: LocomotorFailure(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: ArmFailure(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: ObjectLost(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: SensorFailure(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: IllPosedGoalFailure(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: CapabilityAbsenceFailure(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: ReachabilityFailure(obj: pycram.world_concepts.world_object.Object, robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, grasp: pycram.datastructures.enums.Grasp, *args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:attribute:: obj :type: pycram.world_concepts.world_object.Object The object that should be reachable. .. py:attribute:: robot :type: pycram.world_concepts.world_object.Object The robot that should reach the object. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms The arm that should reach the object. .. py:attribute:: grasp :type: typing_extensions.Optional[pycram.datastructures.enums.Grasp] :value: None The grasp/gripper orientation that should be used to reach the object. .. py:exception:: ObjectNotInGraspingArea(obj: pycram.world_concepts.world_object.Object, robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, grasp, *args, **kwargs) Bases: :py:obj:`ReachabilityFailure` .. py:exception:: TorsoFailure(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: ConfigurationNotReached(goal_validator: pycram.validation.goal_validator.MultiJointPositionGoalValidator, configuration_type: pycram.datastructures.enums.StaticJointState, *args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:attribute:: goal_validator :type: pycram.validation.goal_validator.MultiJointPositionGoalValidator The goal validator that was used to check if the goal was reached. .. py:attribute:: configuration_type :type: pycram.datastructures.enums.StaticJointState The configuration type that should be reached. .. py:exception:: Timeout(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: EndEffectorFailure(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: ObjectUnavailable(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: SustainedFailure(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: ReasoningError(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: CollisionError(*args, **kwargs) Bases: :py:obj:`PlanFailure` Implementation of plan failures. .. py:exception:: NavigationGoalNotReachedError(current_pose: pycram.datastructures.pose.PoseStamped, goal_pose: pycram.datastructures.pose.PoseStamped, *args, **kwargs) Bases: :py:obj:`PlanFailure` Thrown when the navigation goal is not reached. .. py:attribute:: current_pose :type: pycram.datastructures.pose.PoseStamped The current pose of the robot. .. py:attribute:: goal_pose :type: pycram.datastructures.pose.PoseStamped The goal pose of the robot. .. py:exception:: ToolPoseNotReachedError(current_pose: pycram.datastructures.pose.PoseStamped, goal_pose: pycram.datastructures.pose.PoseStamped, *args, **kwargs) Bases: :py:obj:`PlanFailure` Thrown when the tool pose is not reached. .. py:attribute:: current_pose :type: pycram.datastructures.pose.PoseStamped The current pose of the tool. .. py:attribute:: goal_pose :type: pycram.datastructures.pose.PoseStamped The goal pose of the tool. .. py:exception:: MultiverseFailedAPIResponse(api_response: typing_extensions.List[str], api_name: pycram.datastructures.enums.MultiverseAPIName, *args, **kwargs) Bases: :py:obj:`Exception` Exception raised when a Multiverse API call fails. .. py:attribute:: api_response :type: typing_extensions.List[str] The response of the API call that failed. .. py:attribute:: api_name :type: pycram.datastructures.enums.MultiverseAPIName The name of the API that failed. .. py:exception:: ProspectionObjectNotFound(obj: pycram.world_concepts.world_object.Object) Bases: :py:obj:`KeyError` Exception raised when an object was not found in the prospection world. .. py:attribute:: obj :type: pycram.world_concepts.world_object.Object The object that was not found in the prospection world. .. py:exception:: ObjectAlreadyExists(obj: pycram.world_concepts.world_object.Object) Bases: :py:obj:`Exception` Exception raised when an object with the same name already exists in the world. .. py:attribute:: obj :type: pycram.world_concepts.world_object.Object The object that already exists in the world. .. py:exception:: ObjectDescriptionNotFound(object_name: str, path: str, extension: str) Bases: :py:obj:`KeyError` Exception raised when the description of an object was not found. .. py:attribute:: object_name :type: str The name of the object whose description was not found. .. py:attribute:: path :type: str The path of the object whose description was not found. .. py:attribute:: extension :type: str The description extension of the object whose description was not found. .. py:exception:: WorldMismatchErrorBetweenAttachedObjects(obj_1: pycram.world_concepts.world_object.Object, obj_2: pycram.world_concepts.world_object.Object) Bases: :py:obj:`Exception` Exception raised when two objects that are attached to each other have a mismatch in the world they belong to. .. py:attribute:: obj_1 :type: pycram.world_concepts.world_object.Object The first object that has a mismatch in the world. .. py:attribute:: obj_2 :type: pycram.world_concepts.world_object.Object The second object that has a mismatch in the world. .. py:exception:: ObjectFrameNotFoundError(frame_name: str) Bases: :py:obj:`KeyError` Exception raised when a tf frame of an object is not found. .. py:attribute:: frame_name :type: str The name of the frame that was not found. .. py:exception:: MultiplePossibleTipLinks(object_name: str, start_link: str, tip_links: typing_extensions.List[str]) Bases: :py:obj:`Exception` Exception raised when multiple tip links are found for an object. .. py:attribute:: object_name :type: str The name of the object that has multiple tip links. .. py:attribute:: start_link :type: str The start link of the object that has multiple tip links. .. py:attribute:: tip_links :type: typing_extensions.List[str] The list of tip links that are found for the object. .. py:exception:: UnsupportedFileExtension(object_name: str, path: str) Bases: :py:obj:`Exception` Exception raised when an object mesh/description has an unsupported file extension. .. py:attribute:: object_name :type: str The name of the object that has an unsupported file extension. .. py:attribute:: path :type: str The path of the object description/mesh that has an unsupported file extension. .. py:attribute:: extension :type: str The unsupported file extension of the object description/mesh. .. py:exception:: ObjectDescriptionUndefined(object_name: str) Bases: :py:obj:`Exception` Exception raised when the given object description type is not defined or couldn't be resolved to a known type. .. py:attribute:: object_name :type: str The name of the object that has an undefined description. .. py:exception:: UnsupportedJointType(joint_type: pycram.datastructures.enums.JointType) Bases: :py:obj:`Exception` Exception raised when an unsupported joint type is used. .. py:attribute:: joint_type :type: pycram.datastructures.enums.JointType The unsupported joint type that was used. .. py:exception:: LinkHasNoGeometry(link_name: str) Bases: :py:obj:`Exception` Exception raised when a link has no geometry (i.e. no visual or collision elements). .. py:attribute:: link_name :type: str The name of the link that has no geometry. .. py:exception:: LinkGeometryHasNoMesh(link_name: str, geometry_type: str) Bases: :py:obj:`Exception` Exception raised when a link geometry has no mesh or is not of type mesh. .. py:attribute:: link_name :type: str The name of the link that has no mesh. .. py:attribute:: geometry_type :type: str The type of the link geometry.