pycram.failures

pycram.failures#

Exceptions#

`PlanFailure`	Implementation of plan failures.
`KnowledgeNotAvailable`	Thrown when a knowledge source can not provide the information for a query.
`NotALanguageExpression`	Implementation of plan failures.
`FailureDiagnosis`	Implementation of plan failures.
`LowLevelFailure`	Failure thrown by low-level modules: robot or projection PMs.
`ActionlibActionTimeout`	Failure thrown by low-level modules: robot or projection PMs.
`HighLevelFailure`	Failure thrown by high-level modules, i.e. plans.
`SensorMonitoringCondition`	Thrown when a sensor monitoring condition is met.
`DeliveringFailed`	Thrown when delivering plan completely gives up.
`ManipulationLowLevelFailure`	Thrown when a low-level, i.e. hardware related, failure is detected in a manipulation action.
`EnvironmentManipulationGoalNotReached`	Thrown when door / drawer opening / closing goal is still not reached.
`ContainerManipulationError`	Thrown when container manipulation fails.
`EnvironmentManipulationImpossible`	Thrown when environment manipulation cannot be achieved.
`EnvironmentUnreachable`	Thrown when environment manipulation in collision or unreachable.
`FetchingFailed`	Thrown when fetching plan completely gives up.
`GripperLowLevelFailure`	Thrown when a failure involving the gripper hardware occurs.
`GripperIsNotOpen`	Thrown when the gripper is not open when it should be open.
`GripperClosedCompletely`	Thrown when the gripper closed completely, despite not being expected to do so (e.g. because it should have
`GripperGoalNotReached`	Thrown when the gripper does not reach its goal.
`GripperOccupied`	Thrown when the gripper is occupied by some object.
`LookingHighLevelFailure`	High-level failure produced when looking for an object, i.e. it is not a hardware issue but one relating to
`LookAtGoalNotReached`	Thrown when the look at goal is not reached.
`ManipulationGoalInCollision`	Thrown when executing a manipulation action results in a collision.
`ManipulationGoalNotReached`	Thrown when after executing the action, goal is still not reached.
`RobotInCollision`	Thrown when the robot is in collision with the environment.
`IKError`	Thrown when no inverse kinematics solution could be found
`ManipulationPoseUnreachable`	Thrown when no IK solution can be found.
`NavigationHighLevelFailure`	High-level failure produced while navigating the robot, i.e. it is not a hardware issue but one relating to
`NavigationGoalInCollision`	Navigation goal cannot be reached because the goal itself is already occupied by some other object.
`NavigationLowLevelFailure`	Low-level failure produced while navigating the robot, i.e. some kind of hardware issue.
`NavigationGoalNotReached`	Thrown when the base moved as a result of the navigation action but the goal was not reached.
`NavigationPoseUnreachable`	Thrown when the goal pose for navigation is computed to be unreachable.
`ObjectNotVisible`	Thrown when the robot cannot see an object of a given description in its surroundings.
`ObjectNotFound`	Thrown when the robot cannot find an object of a given description in its surroundings.
`LinkNotFound`	Thrown when the robot cannot find a link of a given description
`ObjectUndeliverable`	Thrown when no base positioning can assure a reachable pose to place the object from.
`ObjectPlacingError`	Thrown when the placing of the object fails.
`ObjectStillInContact`	Thrown when the object is still in contact with the robot after placing.
`ObjectNotPlacedAtTargetLocation`	Thrown when the object was not placed at the target location.
`ObjectUnfetchable`	Thrown when no base positioning can assure a reachable pose to grasp the object from.
`ObjectUnreachable`	Thrown when no IK found for particular base pose.
`PerceptionLowLevelFailure`	Low-level failure produced while perceiving, i.e. some kind of hardware issue.
`PerceptionObjectNotFound`	Thrown when an attempt to find an object by perception fails -- and this can still be interpreted as the robot
`PerceptionObjectNotInWorld`	Thrown when an attempt to find an object by perception fails -- and this is because the object can be assumed
`SearchingFailed`	Thrown when searching plan completely gives up.
`TorsoLowLevelFailure`	Low-level failure produced while moving the torso, i.e. some kind of hardware issue.
`TorsoGoalNotReached`	Thrown when the torso moved as a result of a torso action but the goal was not reached.
`TorsoGoalUnreachable`	Thrown when the goal for the torso is computed to be unreachable.
`Task`	Implementation of plan failures.
`Grasping`
`ObjectNotGraspedError`
`Looking`
`ObjectPoseMissestimation`	Implementation of plan failures.
`SuccessfulCompletion`	Implementation of plan failures.
`LocomotorFailure`	Implementation of plan failures.
`ArmFailure`	Implementation of plan failures.
`ObjectLost`	Implementation of plan failures.
`SensorFailure`	Implementation of plan failures.
`IllPosedGoalFailure`	Implementation of plan failures.
`CapabilityAbsenceFailure`	Implementation of plan failures.
`ReachabilityFailure`	Implementation of plan failures.
`ObjectNotInGraspingArea`
`TorsoFailure`	Implementation of plan failures.
`ConfigurationNotReached`	Implementation of plan failures.
`Timeout`	Implementation of plan failures.
`EndEffectorFailure`	Implementation of plan failures.
`ObjectUnavailable`	Implementation of plan failures.
`SustainedFailure`	Implementation of plan failures.
`ReasoningError`	Implementation of plan failures.
`CollisionError`	Implementation of plan failures.
`NavigationGoalNotReachedError`	Thrown when the navigation goal is not reached.
`ToolPoseNotReachedError`	Thrown when the tool pose is not reached.
`MultiverseFailedAPIResponse`	Exception raised when a Multiverse API call fails.
`ProspectionObjectNotFound`	Exception raised when an object was not found in the prospection world.
`ObjectAlreadyExists`	Exception raised when an object with the same name already exists in the world.
`ObjectDescriptionNotFound`	Exception raised when the description of an object was not found.
`WorldMismatchErrorBetweenAttachedObjects`	Exception raised when two objects that are attached to each other have a mismatch in the world they belong to.
`ObjectFrameNotFoundError`	Exception raised when a tf frame of an object is not found.
`MultiplePossibleTipLinks`	Exception raised when multiple tip links are found for an object.
`UnsupportedFileExtension`	Exception raised when an object mesh/description has an unsupported file extension.
`ObjectDescriptionUndefined`	Exception raised when the given object description type is not defined or couldn't be resolved to a known type.
`UnsupportedJointType`	Exception raised when an unsupported joint type is used.
`LinkHasNoGeometry`	Exception raised when a link has no geometry (i.e. no visual or collision elements).
`LinkGeometryHasNoMesh`	Exception raised when a link geometry has no mesh or is not of type mesh.

Module Contents#

exception pycram.failures.PlanFailure(*args, **kwargs)#

Bases: Exception

Implementation of plan failures.

exception pycram.failures.KnowledgeNotAvailable(*args, **kwargs)#

Bases: PlanFailure

Thrown when a knowledge source can not provide the information for a query.

exception pycram.failures.NotALanguageExpression(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.FailureDiagnosis(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.LowLevelFailure(*args, **kwargs)#

Bases: FailureDiagnosis

Failure thrown by low-level modules: robot or projection PMs.

exception pycram.failures.ActionlibActionTimeout(*args, **kwargs)#

Bases: LowLevelFailure

Failure thrown by low-level modules: robot or projection PMs.

exception pycram.failures.HighLevelFailure(*args, **kwargs)#

Bases: FailureDiagnosis

Failure thrown by high-level modules, i.e. plans.

exception pycram.failures.SensorMonitoringCondition(*args, **kwargs)#

Bases: PlanFailure

Thrown when a sensor monitoring condition is met.

exception pycram.failures.DeliveringFailed(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when delivering plan completely gives up.

exception pycram.failures.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: LowLevelFailure

Thrown when a low-level, i.e. hardware related, failure is detected in a manipulation action.

robot: pycram.world_concepts.world_object.Object#: The robot that the manipulation action was performed with.

arm: typing_extensions.List[pycram.datastructures.enums.Arms]#: The arm(s) that the manipulation action was performed with.

body: pycram.datastructures.world_entity.PhysicalBody#: The body that the manipulation action was performed on.

exception pycram.failures.EnvironmentManipulationGoalNotReached(*args, **kwargs)#

Bases: ManipulationLowLevelFailure

Thrown when door / drawer opening / closing goal is still not reached.

exception pycram.failures.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: ManipulationLowLevelFailure, abc.ABC

Thrown when container manipulation fails.

container_joint: pycram.description.Joint#: The joint of the container that should be manipulated.

manipulation_type: pycram.datastructures.enums.ContainerManipulationType#: The type of manipulation that should be performed on the container.

exception pycram.failures.EnvironmentManipulationImpossible(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when environment manipulation cannot be achieved.

exception pycram.failures.EnvironmentUnreachable(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when environment manipulation in collision or unreachable.

exception pycram.failures.FetchingFailed(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when fetching plan completely gives up.

exception pycram.failures.GripperLowLevelFailure(robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, *args, **kwargs)#

Bases: LowLevelFailure

Thrown when a failure involving the gripper hardware occurs.

robot: pycram.world_concepts.world_object.Object#: The robot that the gripper belongs to.

arm: pycram.datastructures.enums.Arms#: The arm that the gripper belongs to.

exception pycram.failures.GripperIsNotOpen(robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, *args, **kwargs)#

Bases: GripperLowLevelFailure

Thrown when the gripper is not open when it should be open.

exception pycram.failures.GripperClosedCompletely(*args, **kwargs)#

Bases: GripperLowLevelFailure

Thrown when the gripper closed completely, despite not being expected to do so (e.g. because it should have grasped something).

exception pycram.failures.GripperGoalNotReached(*args, **kwargs)#

Bases: GripperLowLevelFailure

Thrown when the gripper does not reach its goal.

exception pycram.failures.GripperOccupied(*args, **kwargs)#

Bases: GripperLowLevelFailure

Thrown when the gripper is occupied by some object.

exception pycram.failures.LookingHighLevelFailure(robot: pycram.world_concepts.world_object.Object, target: pycram.datastructures.pose.PoseStamped, *args, **kwargs)#

Bases: 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.

robot: pycram.world_concepts.world_object.Object#: The robot that performed the look at action.

target: pycram.datastructures.pose.PoseStamped#: The target pose that the robot was supposed to look at.

exception pycram.failures.LookAtGoalNotReached(robot: pycram.world_concepts.world_object.Object, target: pycram.datastructures.pose.PoseStamped, *args, **kwargs)#

Bases: LookingHighLevelFailure

Thrown when the look at goal is not reached.

exception pycram.failures.ManipulationGoalInCollision(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when executing a manipulation action results in a collision.

exception pycram.failures.ManipulationGoalNotReached(*args, **kwargs)#

Bases: ManipulationLowLevelFailure

Thrown when after executing the action, goal is still not reached.

exception pycram.failures.RobotInCollision(*args, **kwargs)#

Bases: PlanFailure

Thrown when the robot is in collision with the environment.

exception pycram.failures.IKError(pose, base_frame, tip_frame)#

Bases: PlanFailure

Thrown when no inverse kinematics solution could be found

pose: pycram.datastructures.pose.PoseStamped#: The pose for which no IK solution could be found.

base_frame: str#: The base frame in which the pose was given.

tip_frame: str#: The robot tip frame that should reach the pose.

message#

exception pycram.failures.ManipulationPoseUnreachable(*args, **kwargs)#

Bases: ManipulationLowLevelFailure

Thrown when no IK solution can be found.

exception pycram.failures.NavigationHighLevelFailure(*args, **kwargs)#

Bases: 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.

exception pycram.failures.NavigationGoalInCollision(*args, **kwargs)#

Bases: NavigationHighLevelFailure

Navigation goal cannot be reached because the goal itself is already occupied by some other object.

exception pycram.failures.NavigationLowLevelFailure(*args, **kwargs)#

Bases: LowLevelFailure

Low-level failure produced while navigating the robot, i.e. some kind of hardware issue.

exception pycram.failures.NavigationGoalNotReached(*args, **kwargs)#

Bases: NavigationLowLevelFailure

Thrown when the base moved as a result of the navigation action but the goal was not reached.

exception pycram.failures.NavigationPoseUnreachable(*args, **kwargs)#

Bases: NavigationLowLevelFailure

Thrown when the goal pose for navigation is computed to be unreachable.

exception pycram.failures.ObjectNotVisible(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when the robot cannot see an object of a given description in its surroundings.

exception pycram.failures.ObjectNotFound(object_name: str)#

Bases: HighLevelFailure

Thrown when the robot cannot find an object of a given description in its surroundings.

exception pycram.failures.LinkNotFound(link_name: str, of_object: typing_extensions.Optional[str] = None)#

Bases: HighLevelFailure

Thrown when the robot cannot find a link of a given description

link_name: str#: The name of the link that couldn’t be found

of_object: typing_extensions.Optional[str]#: The name of the object that the link should belong to

exception pycram.failures.ObjectUndeliverable(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when no base positioning can assure a reachable pose to place the object from.

exception pycram.failures.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: HighLevelFailure

Thrown when the placing of the object fails.

obj: pycram.world_concepts.world_object.Object#: The object that should be placed.

placing_pose: pycram.datastructures.pose.PoseStamped#: The target pose at which the object should be placed.

robot: pycram.world_concepts.world_object.Object#: The robot that placed the object.

arm: pycram.datastructures.enums.Arms#: The robot arm used to place the object.

exception pycram.failures.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: ObjectPlacingError

Thrown when the object is still in contact with the robot after placing.

contact_links: typing_extensions.List[pycram.description.Link]#: The links of the robot that are still in contact with the object.

exception pycram.failures.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: ObjectPlacingError

Thrown when the object was not placed at the target location.

exception pycram.failures.ObjectUnfetchable(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when no base positioning can assure a reachable pose to grasp the object from.

exception pycram.failures.ObjectUnreachable(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when no IK found for particular base pose.

exception pycram.failures.PerceptionLowLevelFailure(object_description: pycram.designator.ObjectDesignatorDescription, technique: pycram.datastructures.enums.DetectionTechnique, region: typing_extensions.Optional[pycram.designators.location_designator.Location] = None, *args, **kwargs)#

Bases: LowLevelFailure

Low-level failure produced while perceiving, i.e. some kind of hardware issue.

object_description: pycram.designator.ObjectDesignatorDescription#: The object description that was used to search for the object.

technique: pycram.datastructures.enums.DetectionTechnique#: The detection technique that was used to search for the object.

region: typing_extensions.Optional[pycram.designators.location_designator.Location] = None#: The suggested region in which the object was searched.

exception pycram.failures.PerceptionObjectNotFound(obj_desc: pycram.designator.ObjectDesignatorDescription, technique: pycram.datastructures.enums.DetectionTechnique, region: pycram.designators.location_designator.Location, *args, **kwargs)#

Bases: 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.

exception pycram.failures.PerceptionObjectNotInWorld(*args, **kwargs)#

Bases: 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.

exception pycram.failures.SearchingFailed(*args, **kwargs)#

Bases: HighLevelFailure

Thrown when searching plan completely gives up.

exception pycram.failures.TorsoLowLevelFailure(goal_validator: typing_extensions.Optional[pycram.validation.goal_validator.MultiJointPositionGoalValidator] = None, *args, **kwargs)#

Bases: LowLevelFailure

Low-level failure produced while moving the torso, i.e. some kind of hardware issue.

goal_validator: typing_extensions.Optional[pycram.validation.goal_validator.MultiJointPositionGoalValidator] = None#: The goal validator that was used to check if the goal was reached.

exception pycram.failures.TorsoGoalNotReached(goal_validator: typing_extensions.Optional[pycram.validation.goal_validator.MultiJointPositionGoalValidator] = None, *args, **kwargs)#

Bases: TorsoLowLevelFailure

Thrown when the torso moved as a result of a torso action but the goal was not reached.

exception pycram.failures.TorsoGoalUnreachable(goal_validator: typing_extensions.Optional[pycram.validation.goal_validator.MultiJointPositionGoalValidator] = None, *args, **kwargs)#

Bases: TorsoLowLevelFailure

Thrown when the goal for the torso is computed to be unreachable.

exception pycram.failures.Task(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.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: Task

obj: pycram.world_concepts.world_object.Object#: The object to be grasped.

robot: pycram.world_concepts.world_object.Object#: The robot that should grasp the object.

arm: pycram.datastructures.enums.Arms#: The arm used to grasp the object.

grasp: typing_extensions.Optional[pycram.datastructures.enums.Grasp]#: The grasp type used to grasp the object.

exception pycram.failures.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: Grasping

exception pycram.failures.Looking(*args, **kwargs)#: Bases: Task

exception pycram.failures.ObjectPoseMissestimation(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.SuccessfulCompletion(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.LocomotorFailure(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.ArmFailure(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.ObjectLost(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.SensorFailure(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.IllPosedGoalFailure(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.CapabilityAbsenceFailure(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.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: PlanFailure

Implementation of plan failures.

obj: pycram.world_concepts.world_object.Object#: The object that should be reachable.

robot: pycram.world_concepts.world_object.Object#: The robot that should reach the object.

arm: pycram.datastructures.enums.Arms#: The arm that should reach the object.

grasp: typing_extensions.Optional[pycram.datastructures.enums.Grasp] = None#: The grasp/gripper orientation that should be used to reach the object.

exception pycram.failures.ObjectNotInGraspingArea(obj: pycram.world_concepts.world_object.Object, robot: pycram.world_concepts.world_object.Object, arm: pycram.datastructures.enums.Arms, grasp, *args, **kwargs)#: Bases: ReachabilityFailure

exception pycram.failures.TorsoFailure(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.ConfigurationNotReached(goal_validator: pycram.validation.goal_validator.MultiJointPositionGoalValidator, configuration_type: pycram.datastructures.enums.StaticJointState, *args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

goal_validator: pycram.validation.goal_validator.MultiJointPositionGoalValidator#: The goal validator that was used to check if the goal was reached.

configuration_type: pycram.datastructures.enums.StaticJointState#: The configuration type that should be reached.

exception pycram.failures.Timeout(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.EndEffectorFailure(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.ObjectUnavailable(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.SustainedFailure(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.ReasoningError(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.CollisionError(*args, **kwargs)#

Bases: PlanFailure

Implementation of plan failures.

exception pycram.failures.NavigationGoalNotReachedError(current_pose: pycram.datastructures.pose.PoseStamped, goal_pose: pycram.datastructures.pose.PoseStamped, *args, **kwargs)#

Bases: PlanFailure

Thrown when the navigation goal is not reached.

current_pose: pycram.datastructures.pose.PoseStamped#: The current pose of the robot.

goal_pose: pycram.datastructures.pose.PoseStamped#: The goal pose of the robot.

exception pycram.failures.ToolPoseNotReachedError(current_pose: pycram.datastructures.pose.PoseStamped, goal_pose: pycram.datastructures.pose.PoseStamped, *args, **kwargs)#

Bases: PlanFailure

Thrown when the tool pose is not reached.

current_pose: pycram.datastructures.pose.PoseStamped#: The current pose of the tool.

goal_pose: pycram.datastructures.pose.PoseStamped#: The goal pose of the tool.

exception pycram.failures.MultiverseFailedAPIResponse(api_response: typing_extensions.List[str], api_name: pycram.datastructures.enums.MultiverseAPIName, *args, **kwargs)#

Bases: Exception

Exception raised when a Multiverse API call fails.

api_response: typing_extensions.List[str]#: The response of the API call that failed.

api_name: pycram.datastructures.enums.MultiverseAPIName#: The name of the API that failed.

exception pycram.failures.ProspectionObjectNotFound(obj: pycram.world_concepts.world_object.Object)#

Bases: KeyError

Exception raised when an object was not found in the prospection world.

obj: pycram.world_concepts.world_object.Object#: The object that was not found in the prospection world.

exception pycram.failures.ObjectAlreadyExists(obj: pycram.world_concepts.world_object.Object)#

Bases: Exception

Exception raised when an object with the same name already exists in the world.

obj: pycram.world_concepts.world_object.Object#: The object that already exists in the world.

exception pycram.failures.ObjectDescriptionNotFound(object_name: str, path: str, extension: str)#

Bases: KeyError

Exception raised when the description of an object was not found.

object_name: str#: The name of the object whose description was not found.

path: str#: The path of the object whose description was not found.

extension: str#: The description extension of the object whose description was not found.

exception pycram.failures.WorldMismatchErrorBetweenAttachedObjects(obj_1: pycram.world_concepts.world_object.Object, obj_2: pycram.world_concepts.world_object.Object)#

Bases: Exception

Exception raised when two objects that are attached to each other have a mismatch in the world they belong to.

obj_1: pycram.world_concepts.world_object.Object#: The first object that has a mismatch in the world.

obj_2: pycram.world_concepts.world_object.Object#: The second object that has a mismatch in the world.

exception pycram.failures.ObjectFrameNotFoundError(frame_name: str)#

Bases: KeyError

Exception raised when a tf frame of an object is not found.

frame_name: str#: The name of the frame that was not found.

exception pycram.failures.MultiplePossibleTipLinks(object_name: str, start_link: str, tip_links: typing_extensions.List[str])#

Bases: Exception

Exception raised when multiple tip links are found for an object.

object_name: str#: The name of the object that has multiple tip links.

start_link: str#: The start link of the object that has multiple tip links.

tip_links: typing_extensions.List[str]#: The list of tip links that are found for the object.

exception pycram.failures.UnsupportedFileExtension(object_name: str, path: str)#

Bases: Exception

Exception raised when an object mesh/description has an unsupported file extension.

object_name: str#: The name of the object that has an unsupported file extension.

path: str#: The path of the object description/mesh that has an unsupported file extension.

extension: str#: The unsupported file extension of the object description/mesh.

exception pycram.failures.ObjectDescriptionUndefined(object_name: str)#

Bases: Exception

Exception raised when the given object description type is not defined or couldn’t be resolved to a known type.

object_name: str#: The name of the object that has an undefined description.

exception pycram.failures.UnsupportedJointType(joint_type: pycram.datastructures.enums.JointType)#

Bases: Exception

Exception raised when an unsupported joint type is used.

joint_type: pycram.datastructures.enums.JointType#: The unsupported joint type that was used.

exception pycram.failures.LinkHasNoGeometry(link_name: str)#

Bases: Exception

Exception raised when a link has no geometry (i.e. no visual or collision elements).

link_name: str#: The name of the link that has no geometry.

exception pycram.failures.LinkGeometryHasNoMesh(link_name: str, geometry_type: str)#

Bases: Exception

Exception raised when a link geometry has no mesh or is not of type mesh.

link_name: str#: The name of the link that has no mesh.

geometry_type: str#: The type of the link geometry.