robokudo.world_descriptor
=========================

.. py:module:: robokudo.world_descriptor

.. autoapi-nested-parse::

   World descriptor for RoboKudo.

   This module provides classes for describing a world with predefined objects and regions.
   It builds semantic_digital_twin entities into a shared World instance.



Classes
-------

.. autoapisummary::

   robokudo.world_descriptor.ObjectSpec
   robokudo.world_descriptor.RegionSpec
   robokudo.world_descriptor.PredefinedObject
   robokudo.world_descriptor.BaseWorldDescriptor


Module Contents
---------------

.. py:class:: ObjectSpec

   Data structure to define typical object properties for predefined objects.
   Will be consumed by BaseWorldDescriptor.build_objects to create a world
   and the corresponding connections.


   .. py:attribute:: name
      :type:  str


   .. py:attribute:: pose
      :type:  semantic_digital_twin.spatial_types.HomogeneousTransformationMatrix


   .. py:attribute:: mesh_path
      :type:  typing_extensions.Optional[pathlib.Path]
      :value: None



   .. py:attribute:: box_scale
      :type:  typing_extensions.Optional[semantic_digital_twin.world_description.geometry.Scale]
      :value: None



   .. py:attribute:: center_mesh
      :type:  bool
      :value: True



   .. py:attribute:: color
      :type:  semantic_digital_twin.world_description.geometry.Color


.. py:class:: RegionSpec

   Data structure to define typical properties for predefined regions.
   Will be consumed by BaseWorldDescriptor.build_regions to create
   regions and their connections.


   .. py:attribute:: name
      :type:  str


   .. py:attribute:: pose
      :type:  semantic_digital_twin.spatial_types.HomogeneousTransformationMatrix


   .. py:attribute:: box_scale
      :type:  semantic_digital_twin.world_description.geometry.Scale


   .. py:attribute:: color
      :type:  semantic_digital_twin.world_description.geometry.Color


.. py:class:: PredefinedObject

   Bases: :py:obj:`semantic_digital_twin.world_description.world_entity.SemanticAnnotation`


   .. py:attribute:: body
      :type:  semantic_digital_twin.world_description.world_entity.Body
      :value: None



.. py:class:: BaseWorldDescriptor(world: typing_extensions.Optional[semantic_digital_twin.world.World] = None, root_name: str = 'descriptor_world_root', root_prefix: typing_extensions.Optional[str] = 'world')

   Base class for describing a world with predefined objects and regions.


   .. py:attribute:: world
      :value: None



   .. py:method:: _center_mesh_origin(mesh: semantic_digital_twin.world_description.geometry.Mesh) -> None
      :staticmethod:


      Shift mesh origin to the center of its local bounding box.



   .. py:method:: build_objects(root: semantic_digital_twin.world_description.world_entity.Body, specs: typing_extensions.List[typing_extensions.Any]) -> typing_extensions.Dict[str, semantic_digital_twin.world_description.connections.Connection6DoF]

      Create bodies, connections, annotations, and poses from object specs.



   .. py:method:: build_regions(root: semantic_digital_twin.world_description.world_entity.Body, specs: typing_extensions.List[RegionSpec]) -> typing_extensions.Dict[str, semantic_digital_twin.world_description.connections.Connection6DoF]

      Create regions and connections from region specs.



   .. py:method:: get_predefined_object_bodies() -> typing_extensions.List[semantic_digital_twin.world_description.world_entity.Body]

      Get list of pre-defined objects.