robokudo.world

General methods to access the current World. Reasoning about alternate world states is done in the corresponding Annotators.

Attributes

this
_rk_world_lock	Lock for safe creation of the central SemDT World and entity tracker.

Functions

get_world_entity_tracker(...)	Get the entity tracker instance of for the current world.
init_world_with_entity_tracker(...)	Initialize the world and entity tracker and return the entity tracker.
init_world_entity_tracker_from_world(...)	Initialize the entity tracker from the given world and return the entity tracker.
world_instance(→ semantic_digital_twin.world.World)	Return the world state for the currently running perception pipeline.
set_world(→ None)	Clear the world state safely by overwriting it with the given instance.
unsafe_set_world(→ None)	Unsafely set the world state without acquiring the lock.
clear_world(→ None)	Clear the world state by instantiating a new World.
unsafe_clear_world(→ None)	Unsafely clear the world state without acquiring the lock.
world_has_body_by_name(→ bool)	Check whether a body with a given name exists in the given world.
setup_world_for_camera_frame(→ None)	Set up the world and camera frames if they do not exist yet.

Module Contents

robokudo.world.this

robokudo.world._rk_world_lock

Lock for safe creation of the central SemDT World and entity tracker.

robokudo.world.get_world_entity_tracker() → semantic_digital_twin.adapters.world_entity_kwargs_tracker.WorldEntityWithIDKwargsTracker

Get the entity tracker instance of for the current world.

Returns:

The current entity tracker instance.

robokudo.world.init_world_with_entity_tracker() → semantic_digital_twin.adapters.world_entity_kwargs_tracker.WorldEntityWithIDKwargsTracker

Initialize the world and entity tracker and return the entity tracker.

Returns:

The newly created entity tracker instance.

robokudo.world.init_world_entity_tracker_from_world(world: semantic_digital_twin.world.World) → semantic_digital_twin.adapters.world_entity_kwargs_tracker.WorldEntityWithIDKwargsTracker

Initialize the entity tracker from the given world and return the entity tracker.

Returns:

The newly created entity tracker instance.

robokudo.world.world_instance() → semantic_digital_twin.world.World

Return the world state for the currently running perception pipeline.

This is NOT necessarily the belief state World based on the previous analysis results.

Returns:

A singleton-like World instance.

robokudo.world.set_world(world: semantic_digital_twin.world.World) → None

Clear the world state safely by overwriting it with the given instance.

Parameters:

world – The new world state.

robokudo.world.unsafe_set_world(world: semantic_digital_twin.world.World) → None

Unsafely set the world state without acquiring the lock.

Warning

Always acquire the lock manually before calling this method. Take a look at this.set_world() or this.init_world_with_entity_tracker() for example.

Parameters:

world – The new world state to set.

robokudo.world.clear_world() → None

Clear the world state by instantiating a new World.

robokudo.world.unsafe_clear_world() → None

Unsafely clear the world state without acquiring the lock.

Warning

Always acquire the lock manually before calling this method. Take a look at this.clear_world() or this.world_instance() for examples.

robokudo.world.world_has_body_by_name(world: semantic_digital_twin.world.World, body_name: str) → bool

Check whether a body with a given name exists in the given world.

Parameters:

• world – The world to check in.

• body_name – The body name to search for.

Returns:

True if the body exists, False otherwise.

robokudo.world.setup_world_for_camera_frame(world_frame: str, camera_frame: str) → None

Set up the world and camera frames if they do not exist yet.

Parameters:

• world_frame – The name of the world frame.

• camera_frame – The name of the camera frame.