pycram.designator

pycram.designator#

Exceptions#

`DesignatorError`	Implementation of designator_description errors.
`ResolutionError`	Common base class for all non-exit exceptions.

Classes#

`DesignatorDescription`
`ActionDescription`	The performable designator_description with a single element for each list of possible parameter.
`LocationDesignatorDescription`	Parent class of location designator_description descriptions.
`ObjectDesignatorDescription`	Class for object designator_description descriptions.
`BaseMotion`	Helper class that provides a standard way to create an ABC using

Module Contents#

exception pycram.designator.DesignatorError(*args, **kwargs)#

Bases: Exception

Implementation of designator_description errors.

exception pycram.designator.ResolutionError(missing_properties: typing_extensions.List[str], wrong_type: typing_extensions.Dict, current_type: typing_extensions.Any, designator: DesignatorDescription)#

Bases: Exception

Common base class for all non-exit exceptions.

error = Multiline-String#

Show Value

"""
Some required properties where missing or had the wrong type when grounding the Designator: Uninferable.
"""

missing = Multiline-String#

Show Value

"""The missing properties where: Uninferable
"""

wrong = Multiline-String#

Show Value

"""The properties with the wrong type along with the current -and right type :
"""

head = Multiline-String#

Show Value

"""Property   |   Current Type    |     Right Type
-------------------------------------------------------------
"""

tab = ''#

message = Multiline-String#

Show Value

"""
Some required properties where missing or had the wrong type when grounding the Designator: Uninferable.
"""

class pycram.designator.DesignatorDescription#

Variables:: resolve – The specialized_designators function to use for this designator_description, defaults to self.ground

resolve()#

make_dictionary(properties: typing_extensions.List[str])#

Creates a dictionary of this description with only the given properties included.

Parameters:: properties – A list of properties that should be included in the dictionary. The given properties have to be an attribute of this description.
Returns:: A dictionary with the properties as keys.

ground() → typing_extensions.Any#: Should be overwritten with an actual grounding function which infers missing properties.

get_slots() → typing_extensions.List[str]#

Returns:: a list of all slots of this description. Can be used for inspecting different descriptions and debugging.

copy() → DesignatorDescription#

get_optional_parameter() → typing_extensions.List[str]#: Returns a list of optional parameter names of this designator_description description.

get_all_parameter() → typing_extensions.List[str]#: Returns a list of all parameter names of this designator_description description.

classmethod get_type_hints() → typing_extensions.Dict[str, typing_extensions.Any]#

Returns the type hints of the __init__ method of this designator_description description.

Returns:

class pycram.designator.ActionDescription#

Bases: pycram.has_parameters.HasParameters

The performable designator_description with a single element for each list of possible parameter.

robot_position: pycram.datastructures.pose.PoseStamped#: The position of the robot at the start of the action.

robot_torso_height: float#: The torso height of the robot at the start of the action.

_robot_type: typing_extensions.Type[pycrap.ontologies.Agent]#: The type of the robot at the start of the action.

_pre_perform_callbacks = []#: List of callback functions that will be called before the action is performed.

_post_perform_callbacks = []#: List of callback functions that will be called after the action is performed.

__post_init__()#

perform() → typing_extensions.Any#

Executes the action with the single parameters from the description.

Returns:: The result of the action in the plan

abstract plan() → typing_extensions.Any#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

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

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod get_type_hints(localns=None) → typing_extensions.Dict[str, typing_extensions.Any]#

Returns the type hints of the __init__ method of this designator_description description.

Returns:

classmethod pre_perform(func) → typing_extensions.Callable#

Decorator to execute the decorated function before performing the action.

Parameters:: func – The function to be decorated.
Returns:: The decorated function.

classmethod post_perform(func) → typing_extensions.Callable#

Decorator to execute the decorated function after performing the action.

Parameters:: func – The function to be decorated.
Returns:: The decorated function.

classmethod description(*args, **kwargs) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Self]#

Abstractmethod:

__str__()#

__repr__()#

_update_robot_params(action: ActionDescription)#

class pycram.designator.LocationDesignatorDescription#

Bases: DesignatorDescription, pycram.datastructures.partial_designator.PartialDesignator

Parent class of location designator_description descriptions.

abstract ground() → pycram.datastructures.pose.PoseStamped#: Find a location that satisfies all constrains.

class pycram.designator.ObjectDesignatorDescription(names: typing_extensions.Optional[typing_extensions.List[str]] = None, types: typing_extensions.Optional[typing_extensions.List[typing_extensions.Type[pycrap.ontologies.PhysicalObject]]] = None)#

Bases: DesignatorDescription, pycram.datastructures.partial_designator.PartialDesignator

Class for object designator_description descriptions. Descriptions hold possible parameter ranges for object designators.

types: typing_extensions.Optional[typing_extensions.List[pycram.datastructures.enums.ObjectType]] = None#

names: typing_extensions.Optional[typing_extensions.List[str]] = None#

ground() → pycram.world_concepts.world_object.Object#

Return the first object from the world that fits the description.

Returns:: A executed object designator_description

__iter__() → typing_extensions.Iterator[pycram.world_concepts.world_object.Object]#

Iterate through all possible objects fitting this description

Yield:: A executed object designator_description

flatten() → typing_extensions.List#

class pycram.designator.BaseMotion#

Bases: abc.ABC

Helper class that provides a standard way to create an ABC using inheritance.

abstract perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

__post_init__()#: Checks if types are missing or wrong