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.
`_tracked_objects`

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.
`update_connection_transform`(→ None)	Update the connection connecting from_name to to_name with the given transformation.
`get_object_belief_states`(...)	Get all object belief states as a map of UUID to belief state.
`_get_world_body_from_cas`(...)	Return the world-frame body referenced by the CAS, if available.
`_create_world_origin_and_scale_from_latest_bbox`(...)	Convert the latest camera-frame bbox into a world-frame SemDT origin and scale.
`_update_belief_body_from_latest_bbox`(→ None)	Update the SemDT body origin and box geometry from the latest bbox.
`add_object_hypothesis_as_belief_state`(...)	Create a new object belief from the given hypothesis and add it to the world.
`update_belief_state_with_object_hypothesis`(→ None)	Update the given object belief state with the object hypothesis.
`get_object_belief_state`(...)	Get an object belief state by UUID.

Module Contents¶

robokudo.world.this¶

robokudo.world._rk_world_lock¶: Lock for safe creation of the central SemDT World and entity tracker.

robokudo.world._tracked_objects: typing_extensions.Dict[uuid.UUID, robokudo.types.belief_state.ObjectBeliefState]¶

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.

robokudo.world.update_connection_transform(to_name: semantic_digital_twin.datastructures.prefixed_name.PrefixedName, from_name: semantic_digital_twin.datastructures.prefixed_name.PrefixedName, transform: semantic_digital_twin.spatial_types.spatial_types.HomogeneousTransformationMatrix) → None¶

Update the connection connecting from_name to to_name with the given transformation.

Parameters:

to_name – The connection target name.
from_name – The connection source name.
transform – The transformation matrix.

robokudo.world.get_object_belief_states() → typing_extensions.Dict[uuid.UUID, robokudo.types.belief_state.ObjectBeliefState]¶

Get all object belief states as a map of UUID to belief state.

Returns:: A map of all UUIDs to their object belief states.

robokudo.world._get_world_body_from_cas(cas: robokudo.cas.CAS, rk_world: semantic_digital_twin.world.World) → semantic_digital_twin.world.Body | None¶: Return the world-frame body referenced by the CAS, if available.

robokudo.world._create_world_origin_and_scale_from_latest_bbox(object_belief: robokudo.types.belief_state.ObjectBeliefState, cas: robokudo.cas.CAS, world_body: semantic_digital_twin.world.Body) → tuple[semantic_digital_twin.spatial_types.spatial_types.HomogeneousTransformationMatrix, semantic_digital_twin.world_description.geometry.Scale] | None¶: Convert the latest camera-frame bbox into a world-frame SemDT origin and scale.

robokudo.world._update_belief_body_from_latest_bbox(object_belief: robokudo.types.belief_state.ObjectBeliefState, cas: robokudo.cas.CAS, rk_world: semantic_digital_twin.world.World, world_body: semantic_digital_twin.world.Body, world_T_object_belief: semantic_digital_twin.world_description.connections.Connection6DoF, replace_existing_visuals: bool) → None¶: Update the SemDT body origin and box geometry from the latest bbox.

robokudo.world.add_object_hypothesis_as_belief_state(object_hypothesis: robokudo.types.scene.ObjectHypothesis, cas: robokudo.cas.CAS) → robokudo.types.belief_state.ObjectBeliefState¶

Create a new object belief from the given hypothesis and add it to the world.

Note

This currently assumes that all object hypotheses are rooted in the camera space.

Parameters:

object_hypothesis – The object hypothesis to create a belief from.
cas – The CAS to use for transform lookups.

Returns:

The new object belief.

robokudo.world.update_belief_state_with_object_hypothesis(object_belief: robokudo.types.belief_state.ObjectBeliefState, object_hypothesis: robokudo.types.scene.ObjectHypothesis, cas: robokudo.cas.CAS) → None¶

Update the given object belief state with the object hypothesis.

Note

This currently assumes that all object hypotheses are rooted in the camera space.

Parameters:

object_belief – Object belief state to update.
object_hypothesis – Object hypothesis state to update the belief state with.
cas – The CAS to use for transform lookups.

robokudo.world.get_object_belief_state(uuid: uuid.UUID) → robokudo.types.belief_state.ObjectBeliefState¶

Get an object belief state by UUID.

Parameters:: uuid – The UUID of the object.
Returns:: The object belief state corresponding to the given UUID.