robokudo.io.semantic_digital_twin¶

Classes¶

`Object`
`TrackedObject`
`UpdateSemanticAnnotationCommand`
`AddCollisionCommand`
`UpdateCollisionCommand`
`RemoveCollisionCommand`
`AddObjectDiff`
`UpdateObjectDiff`
`RemoveObjectDiff`
`SemanticDigitalTwinAdapter`	Class to convert RoboKudo concepts to the SemanticWorld.

Functions¶

load_semantic_annotation_extensions()

Module Contents¶

class robokudo.io.semantic_digital_twin.Object¶

data: dict¶

class robokudo.io.semantic_digital_twin.TrackedObject¶

obj: Object¶

body: semantic_digital_twin.world_description.world_entity.Body¶

semantic_annotations: list¶

conns: list¶

uid: uuid.UUID¶

class robokudo.io.semantic_digital_twin.UpdateSemanticAnnotationCommand(adapter: SemanticDigitalTwinAdapter, old_semantic_annotation: semantic_digital_twin.world_description.world_entity.SemanticAnnotation, new_semantic_annotation: semantic_digital_twin.world_description.world_entity.SemanticAnnotation)¶

adapter¶

semantic_annotation¶

old_semantic_annotation¶

new_semantic_annotation¶

abstract apply(world)¶

abstract undo(world)¶

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

adapter¶

body¶

new_collision¶

apply(world)¶

undo(world)¶

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

adapter¶

collision¶

old_collision¶

new_collision¶

apply(world)¶

undo(world)¶

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

adapter¶

body¶

old_collision¶

apply(world)¶

undo(world)¶

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

adapter¶

new_object¶

tracked_object¶

commands = []¶

apply()¶

undo()¶

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

adapter¶

old_object¶

new_object¶

tracked_object¶

commands = []¶

apply()¶

undo()¶

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

adapter¶

old_object¶

commands = []¶

apply()¶

undo()¶

robokudo.io.semantic_digital_twin.load_semantic_annotation_extensions()¶

class robokudo.io.semantic_digital_twin.SemanticDigitalTwinAdapter(cas, urdf_path: str = None, semantic_annotation_sources: list = None)¶

Class to convert RoboKudo concepts to the SemanticWorld.

cas¶

tracked_objects: list[TrackedObject] = []¶

comparators¶

semantic_color_to_rgb¶

compute_diffs(new_objects: list[Object]) → list¶

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

object_to_tracked_object(obj: Object) → TrackedObject¶: Creates a TrackedObject from a RoboKudo object.

static class_to_semantic_annotation(class_name: str, **kwargs) → semantic_digital_twin.world_description.world_entity.SemanticAnnotation¶: Convert a classification name to a SemanticWorld SemanticAnnotation.

static apply_diffs(diffs: list)¶