robokudo.annotators.world_descriptor_bootstrap¶

Bootstrap static world descriptor content into the shared world.

Classes¶

`_WorldEntitySnapshot`	Entity IDs present in the runtime world before a descriptor merge.
`_MergedDescriptorEntities`	Entities that were added by the last descriptor merge.
`WorldDescriptorBootstrapAnnotator`	Augment the current shared world with descriptor-defined entities.

Module Contents¶

class robokudo.annotators.world_descriptor_bootstrap._WorldEntitySnapshot¶

Entity IDs present in the runtime world before a descriptor merge.

kinematic_structure_entity_ids: set[uuid.UUID]¶

connection_object_ids: set[int]¶

degree_of_freedom_ids: set[uuid.UUID]¶

semantic_annotation_ids: set[uuid.UUID]¶

class robokudo.annotators.world_descriptor_bootstrap._MergedDescriptorEntities¶

Entities that were added by the last descriptor merge.

kinematic_structure_entity_ids: set[uuid.UUID]¶

connections: list[Any] = []¶

degree_of_freedom_ids: set[uuid.UUID]¶

semantic_annotation_ids: set[uuid.UUID]¶

clear() → None¶: Forget tracked descriptor entities.

is_empty() → bool¶: Return whether no descriptor entities are currently tracked.

class robokudo.annotators.world_descriptor_bootstrap.WorldDescriptorBootstrapAnnotator(name: str = 'WorldDescriptorBootstrap', descriptor: WorldDescriptorBootstrapAnnotator | None = None)¶

Bases: robokudo.annotators.core.BaseAnnotator

Augment the current shared world with descriptor-defined entities.

class Descriptor¶

Bases: robokudo.annotators.core.BaseAnnotator.Descriptor

Configuration descriptor for world descriptor bootstrap.

class Parameters¶

Parameters for world descriptor bootstrap.

world_descriptor_ros_package: str = 'robokudo'¶

world_descriptor_name: str = 'world_iai_kitchen20'¶

reload_on_update: bool = False¶

parameters¶

_last_augmented_world_id: int | None = None¶

_merged_descriptor_entities¶

_update_tracker_if_active() → None¶: Keep tracker state synchronized after world augmentation.

static _snapshot_world_entities(world: Any) → _WorldEntitySnapshot¶: Capture all entities present before merging a descriptor world.

static _entities_added_since(world: Any, before: _WorldEntitySnapshot) → _MergedDescriptorEntities¶: Return entities that were added after a snapshot was taken.

_remove_merged_descriptor_entities(runtime_world: Any) → None¶: Remove only the entities added by the previous descriptor merge.

augment_world(world_descriptor: robokudo.world_descriptor.BaseWorldDescriptor) → None¶: Merge descriptor entities into the current shared world.

update() → py_trees.common.Status¶: Load descriptor world and merge it into the current world.