pycram.helper

pycram.helper#

Implementation of helper functions and classes for internal usage only.

Classes: Singleton – implementation of singleton metaclass

Classes#

Singleton

Metaclass for singletons

Functions#

get_robot_urdf_and_mjcf_file_paths(...)

Get the paths to the MJCF and URDF files of a robot from the Multiverse resources directory.

parse_mjcf_actuators(→ typing_extensions.Dict[str, str])

Parse the actuator elements from an MJCF file.

get_robot_description_path(...)

Get the path to the description file of a robot.

find_multiverse_resources_path(...)

find_multiverse_path(→ typing_extensions.Optional[str])

perform(action_instance)

Executes the perform logic for a given action instance.

an(designator)

Resolve the first available action from the designator.

Module Contents#

class pycram.helper.Singleton#

Bases: type

Metaclass for singletons

_instances#

Dictionary of singleton child classes inheriting from this metaclass, keyed by child class objects.

__call__(*args, **kwargs)#
pycram.helper.get_robot_urdf_and_mjcf_file_paths(robot_name: str, robot_relative_dir: str, multiverse_resources: typing_extensions.Optional[str] = None) → typing_extensions.Tuple[typing_extensions.Optional[str], typing_extensions.Optional[str]]#

Get the paths to the MJCF and URDF files of a robot from the Multiverse resources directory.

Parameters:

  • robot_name – The name of the robot.

  • robot_relative_dir – The relative directory of the robot in the Multiverse resources/robots directory.

  • multiverse_resources – The path to the Multiverse resources directory.

pycram.helper.parse_mjcf_actuators(file_path: str) → typing_extensions.Dict[str, str]#

Parse the actuator elements from an MJCF file.

Parameters:

file_path – The path to the MJCF file.

pycram.helper.get_robot_description_path(robot_relative_dir: str, robot_name: str, description_type: pycram.datastructures.enums.DescriptionType = DescriptionType.MJCF, file_name: typing_extensions.Optional[str] = None, resources_dir: typing_extensions.Optional[str] = None) → typing_extensions.Optional[str]#

Get the path to the description file of a robot.

Parameters:

  • robot_relative_dir – The relative directory of the robot in the resources/robots directory.

  • robot_name – The name of the robot.

  • description_type – The type of the description (URDF, MJCF).

  • file_name – The name of the XML file of the robot.

  • resources_dir – The path to the Multiverse resources directory.

Returns:

The path to the description file of the robot if it exists, otherwise None.

pycram.helper.find_multiverse_resources_path() → typing_extensions.Optional[str]#
Returns:

The path to the Multiverse resources directory.

pycram.helper.find_multiverse_path() → typing_extensions.Optional[str]#
Returns:

the path to the Multiverse installation.

pycram.helper.perform(action_instance)#

Executes the perform logic for a given action instance.

Parameters:

action_instance – An instance of an action class.

pycram.helper.an(designator)#

Resolve the first available action from the designator.

Parameters:

designator – The designator description instance.

Returns:

The first resolved action instance.

Contents