pycram.external_interfaces.knowrob

pycram.external_interfaces.knowrob#

Attributes#

`desig_execution_start`
`desig_execution_finished`
`desig_resolution_start`
`desig_resolution_finished`
`desig_init`
`object_desig`

Functions#

`init_object_state`()	Publishes the initial state of the objects in the world to Knowrob. Because of the lru_cache decorator, this function
`pose_to_json`(→ Dict[str, Union[float, str]])	Converts a PoseStamped object to a JSON-like dictionary.
`object_to_json`(→ Dict[str, Dict[str, str]])	Converts an object or object designator to a JSON-like dictionary containing its type.
`grasp_description_to_json`(→ Dict[str, Union[float, str]])	Converts a GraspDescription object to a JSON-like dictionary.
`kwargs_to_json`(→ dict)	Converts the keyword arguments of a DesignatorNode to a JSON-like dictionary, calls the appropriate conversion function
`designator_to_json`(→ str)	Converts a DesignatorNode to a JSON-like string representation uses the kwargs of the node for conversion.
`get_current_ros_time`(→ pycram.ros.Time)	Returns the ROS time as a ROSTime object.
`execution_start_callback`(node)	Callback function that is called when the execution of a designator starts. It publishes a message to Knowrob
`execution_finished_callback`(node)	Callback function that is called when the execution of a designator finishes. It publishes a message to Knowrob
`resolution_start_callback`(node)	Callback function that is called when the resolution of a designator starts. It publishes a message to Knowrob
`resolution_finished_callback`(node)	Callback function that is called when the resolution of a designator finishes. It publishes a message to Knowrob

Module Contents#

pycram.external_interfaces.knowrob.desig_execution_start#

pycram.external_interfaces.knowrob.desig_execution_finished#

pycram.external_interfaces.knowrob.desig_resolution_start#

pycram.external_interfaces.knowrob.desig_resolution_finished#

pycram.external_interfaces.knowrob.desig_init#

pycram.external_interfaces.knowrob.object_desig#

pycram.external_interfaces.knowrob.init_object_state()#: Publishes the initial state of the objects in the world to Knowrob. Because of the lru_cache decorator, this function will only be called once, and the result will be cached for future calls.

pycram.external_interfaces.knowrob.pose_to_json(pose: PoseStamped) → Dict[str, float | str]#

Converts a PoseStamped object to a JSON-like dictionary.

:return : A dictionary representation of the pose.

pycram.external_interfaces.knowrob.object_to_json(obj: knowrob_designator.msg.ObjectDesignator | Object) → Dict[str, Dict[str, str]]#

Converts an object or object designator to a JSON-like dictionary containing its type.

Parameters:: obj – The object or object designator to convert.
Returns:: A dictionary representation of the object.

pycram.external_interfaces.knowrob.grasp_description_to_json(grasp: GraspDescription) → Dict[str, float | str]#

Converts a GraspDescription object to a JSON-like dictionary.

Parameters:: grasp – The GraspDescription object to convert.
Returns:: A dictionary representation of the grasp.

pycram.external_interfaces.knowrob.kwargs_to_json(kwargs: Dict) → dict#

Converts the keyword arguments of a DesignatorNode to a JSON-like dictionary, calls the appropriate conversion function for each value based on its type.

Parameters:: kwargs – The keyword arguments to convert.
Returns:: A dictionary representation of the keyword arguments.

pycram.external_interfaces.knowrob.designator_to_json(node: pycram.plan.DesignatorNode) → str#

Converts a DesignatorNode to a JSON-like string representation uses the kwargs of the node for conversion.

Parameters:: node – The DesignatorNode to convert.
Returns:: A JSON-like string representation of the DesignatorNode.

pycram.external_interfaces.knowrob.get_current_ros_time() → pycram.ros.Time#

Returns the ROS time as a ROSTime object.

Returns:: The current ROS time.

pycram.external_interfaces.knowrob.execution_start_callback(node: pycram.plan.PlanNode)#: Callback function that is called when the execution of a designator starts. It publishes a message to Knowrob containing the designator that is executed.

pycram.external_interfaces.knowrob.execution_finished_callback(node: pycram.plan.PlanNode)#: Callback function that is called when the execution of a designator finishes. It publishes a message to Knowrob containing the designator that has just finished executing.

pycram.external_interfaces.knowrob.resolution_start_callback(node: pycram.plan.PlanNode)#: Callback function that is called when the resolution of a designator starts. It publishes a message to Knowrob containing the designator that is being resolved. It also sends the initial state of the objects in the world.

pycram.external_interfaces.knowrob.resolution_finished_callback(node: pycram.plan.PlanNode)#: Callback function that is called when the resolution of a designator finishes. It publishes a message to Knowrob containing the designator that has just finished resolving.