robokudo.annotators.world_descriptor_bootstrap¶

Bootstrap static world descriptor content into the shared world.

Exceptions¶

WorldDescriptorBootstrapError

Raised when world descriptor bootstrap fails.

Classes¶

WorldDescriptorBootstrapAnnotator

Augment the current shared world with descriptor-defined entities.

Module Contents¶

exception robokudo.annotators.world_descriptor_bootstrap.WorldDescriptorBootstrapError¶

Bases: RuntimeError

Raised when world descriptor bootstrap fails.

class robokudo.annotators.world_descriptor_bootstrap.WorldDescriptorBootstrapAnnotator(name: str = 'WorldDescriptorBootstrap', descriptor: WorldDescriptorBootstrapAnnotator = Descriptor())¶

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'¶

parameters¶

module_loader¶

_last_augmented_world_id: int | None = None¶

load_world_descriptor() → robokudo.world_descriptor.BaseWorldDescriptor¶: Load the configured world descriptor module.

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

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.