robokudo.world_descriptor¶

World descriptor for RoboKudo.

This module provides classes for describing a world with predefined objects and regions. It builds semantic_digital_twin entities into a shared World instance.

Classes¶

`ObjectSpec`	Data structure to define typical object properties for predefined objects.
`RegionSpec`	Data structure to define typical properties for predefined regions.
`PredefinedObject`
`BaseWorldDescriptor`	Base class for describing a world with predefined objects and regions.

Module Contents¶

class robokudo.world_descriptor.ObjectSpec¶

Data structure to define typical object properties for predefined objects. Will be consumed by BaseWorldDescriptor.build_objects to create a world and the corresponding connections.

name: str¶

pose: semantic_digital_twin.spatial_types.HomogeneousTransformationMatrix¶

mesh_path: typing_extensions.Optional[pathlib.Path] = None¶

box_scale: typing_extensions.Optional[semantic_digital_twin.world_description.geometry.Scale] = None¶

center_mesh: bool = True¶

color: semantic_digital_twin.world_description.geometry.Color¶

class robokudo.world_descriptor.RegionSpec¶

Data structure to define typical properties for predefined regions. Will be consumed by BaseWorldDescriptor.build_regions to create regions and their connections.

name: str¶

pose: semantic_digital_twin.spatial_types.HomogeneousTransformationMatrix¶

box_scale: semantic_digital_twin.world_description.geometry.Scale¶

color: semantic_digital_twin.world_description.geometry.Color¶

class robokudo.world_descriptor.PredefinedObject¶

Bases: semantic_digital_twin.world_description.world_entity.SemanticAnnotation

body: semantic_digital_twin.world_description.world_entity.Body = None¶

class robokudo.world_descriptor.BaseWorldDescriptor(world: typing_extensions.Optional[semantic_digital_twin.world.World] = None, root_name: str = 'descriptor_world_root', root_prefix: typing_extensions.Optional[str] = 'world')¶

Base class for describing a world with predefined objects and regions.

world = None¶

static _center_mesh_origin(mesh: semantic_digital_twin.world_description.geometry.Mesh) → None¶: Shift mesh origin to the center of its local bounding box.

build_objects(root: semantic_digital_twin.world_description.world_entity.Body, specs: typing_extensions.List[typing_extensions.Any]) → typing_extensions.Dict[str, semantic_digital_twin.world_description.connections.Connection6DoF]¶: Create bodies, connections, annotations, and poses from object specs.

build_regions(root: semantic_digital_twin.world_description.world_entity.Body, specs: typing_extensions.List[RegionSpec]) → typing_extensions.Dict[str, semantic_digital_twin.world_description.connections.Connection6DoF]¶: Create regions and connections from region specs.

get_predefined_object_bodies() → typing_extensions.List[semantic_digital_twin.world_description.world_entity.Body]¶: Get list of pre-defined objects.