robokudo.io.semantic_digital_twin¶

Classes¶

`Object`	A wrapper around perception data that is used to store data used for object comparison.
`TrackedObject`
`AddCollisionCommand`
`UpdateCollisionCommand`
`RemoveCollisionCommand`
`WorldDiff`	Base class for protocol classes.
`AddObjectDiff`
`UpdateObjectDiff`
`RemoveObjectDiff`
`SemanticDigitalTwinAdapter`	Class to convert RoboKudo concepts to the SemanticWorld.

Module Contents¶

class robokudo.io.semantic_digital_twin.Object¶

A wrapper around perception data that is used to store data used for object comparison.

data: typing_extensions.Dict[str, typing_extensions.Any]¶: The actual data that is used for comparison.

__eq__(other: object) → bool¶

class robokudo.io.semantic_digital_twin.TrackedObject¶

obj: Object¶: Object that stores relevant perception data for comparison with other objects.

body: semantic_digital_twin.world_description.world_entity.Body¶: Reference to the body representing the object in the world.

semantic_annotations: typing_extensions.List[semantic_digital_twin.world_description.world_entity.SemanticAnnotation]¶: References to semantic annotations attached to the bodies.

conns: typing_extensions.List[semantic_digital_twin.world_description.connections.Connection6DoF]¶: References to the connections used by the bodies.

uid: uuid.UUID¶: Unique identifier for the tracked object.

__eq__(other: object) → bool¶

class robokudo.io.semantic_digital_twin.AddCollisionCommand(body: semantic_digital_twin.world_description.world_entity.Body, new_collision: semantic_digital_twin.world_description.geometry.Shape)¶

Bases: semantic_digital_twin.world_description.world_modification.WorldModification

body¶: The body to add the collision to.

new_collision¶: The collision to add to the body.

classmethod from_kwargs(kwargs: typing_extensions.Dict[str, typing_extensions.Any]) → typing_extensions.Self¶

apply(world: semantic_digital_twin.world.World) → None¶

undo(world: semantic_digital_twin.world.World) → None¶

class robokudo.io.semantic_digital_twin.UpdateCollisionCommand(old_collision: semantic_digital_twin.world_description.geometry.Shape, new_collision: semantic_digital_twin.world_description.geometry.Shape)¶

Bases: semantic_digital_twin.world_description.world_modification.WorldModification

collision¶: The collision to update.

old_collision¶: A deep copy of the old collision for undo.

new_collision¶: The new collision to update to.

classmethod from_kwargs(kwargs: typing_extensions.Dict[str, typing_extensions.Any]) → typing_extensions.Self¶

apply(world: semantic_digital_twin.world.World) → None¶

undo(world: semantic_digital_twin.world.World) → None¶

class robokudo.io.semantic_digital_twin.RemoveCollisionCommand(body: semantic_digital_twin.world_description.world_entity.Body, old_collision: semantic_digital_twin.world_description.geometry.Shape)¶

Bases: semantic_digital_twin.world_description.world_modification.WorldModification

body¶: The body to remove the collision from.

old_collision¶: The collision to remove from the body.

classmethod from_kwargs(kwargs: typing_extensions.Dict[str, typing_extensions.Any]) → typing_extensions.Self¶

apply(world: semantic_digital_twin.world.World) → None¶

undo(world: semantic_digital_twin.world.World) → None¶

class robokudo.io.semantic_digital_twin.WorldDiff¶

Bases: typing_extensions.Protocol

Base class for protocol classes.

Protocol classes are defined as:

class Proto(Protocol):
    def meth(self) -> int:
        ...

Such classes are primarily used with static type checkers that recognize structural subtyping (static duck-typing), for example:

class C:
    def meth(self) -> int:
        return 0

def func(x: Proto) -> int:
    return x.meth()

func(C())  # Passes static type check

See PEP 544 for details. Protocol classes decorated with @typing.runtime_checkable act as simple-minded runtime protocols that check only the presence of given attributes, ignoring their type signatures. Protocol classes can be generic, they are defined as:

class GenProto(Protocol[T]):
    def meth(self) -> T:
        ...

apply() → None¶: Apply the diff to the word stored in the adapter.

undo() → None¶: Undo the diff in the world stored in the adapter.

class robokudo.io.semantic_digital_twin.AddObjectDiff(adapter: SemanticDigitalTwinAdapter, new_object: Object)¶

adapter¶: SemDT adapter instance that is used to store the diff.

new_object¶: The newly created object data.

tracked_object¶: A tracked object created from the newly created object data.

commands: typing_extensions.List[semantic_digital_twin.world_description.world_modification.WorldModification] = []¶: The commands to apply with this diff.

apply() → None¶

undo() → None¶

class robokudo.io.semantic_digital_twin.UpdateObjectDiff(adapter: SemanticDigitalTwinAdapter, old_object: TrackedObject, new_object: Object)¶

adapter¶: SemDT adapter instance used to store the diff.

old_tracked_object¶: The tracked object instance that will be updated.

old_object¶: A copy of the old object data that will be overwritten in the update.

new_object¶: The new object data that will be updated to.

new_tracked_object¶: The new object data as a tracked object for easier diff creation.

commands: typing_extensions.List[semantic_digital_twin.world_description.world_modification.WorldModification] = []¶: The commands to apply with this diff.

apply() → None¶

undo() → None¶

class robokudo.io.semantic_digital_twin.RemoveObjectDiff(adapter: SemanticDigitalTwinAdapter, old_object: TrackedObject)¶

adapter¶: The SemDT adapter instance used to store the diff.

old_object¶: The object to remove.

commands: typing_extensions.List[semantic_digital_twin.world_description.world_modification.WorldModification] = []¶: The commands to be executed by this diff.

apply() → None¶

undo() → None¶

class robokudo.io.semantic_digital_twin.SemanticDigitalTwinAdapter(cas_fn: typing_extensions.Callable[Ellipsis, robokudo.cas.CAS], urdf_path: typing_extensions.Optional[str] = None, semantic_annotation_sources: typing_extensions.Optional[typing_extensions.List] = None)¶

Class to convert RoboKudo concepts to the SemanticWorld.

world¶: World instance that will be modified by this adapter.

rk_logger = None¶: Logger instance for this adapter.

cas_fn¶: Callable that returns a cas instance when called.

tracked_objects: list[TrackedObject] = []¶: List of world objects currently tracked by the adapter.

comparators¶: Mapping of data keys to comparators that are used to compare objects.

semantic_color_to_rgb¶: Mapping of color names to actual color values used for visuals in created objects.

compute_diffs(new_objects: list[Object]) → typing_extensions.List[WorldDiff]¶

Compute a list of diffs between the current tracked objects and the novel objects provided.

Parameters:: new_objects – List of new objects to compare to the current tracked objects.
Returns:: List of diffs between the current tracked objects and the novel objects provided.

compute_obj_diff(old_object: Object, new_object: Object) → float¶

Compute similarity value between a known object and a novel object.

Parameters:

old_object – The known object to compare to.
new_object – The novel object to check for similarity with.

object_to_tracked_object(obj: Object) → TrackedObject¶

Creates a TrackedObject from a RoboKudo object.

Parameters:: obj – Object to wrap into a TrackedObject.
Returns:: The object wrapped into a TrackedObject instance.

static class_to_semantic_annotation(class_name: str, **kwargs: typing_extensions.Any) → semantic_digital_twin.world_description.world_entity.SemanticAnnotation¶

Convert a classification name to a SemanticWorld SemanticAnnotation.

Parameters:: class_name – Class to convert to a semantic annotation.
Returns:: SemanticAnnotation instance.
Raises:: ValueError – If there is no class name equivalent semantic annotation.

static apply_diffs(diffs: typing_extensions.List[WorldDiff]) → None¶

Applies all the given diffs to the world stored in the adapter.

Parameters:: diffs – The diffs to apply to the world instance.