concepts.dm.crowhat.world.planning_world_interface.PlanningWorldInterface#

class PlanningWorldInterface[source]#

Bases: object

Methods

`add_attachment`(a, a_link, b, b_link[, a_to_b])	Set the attachment between object a and object b.
`check_collision`([a, b, ...])	Check if there is a collision between the object with the given identifiers.
`check_collision_pairs`(pairs[, ...])	Check if there is a collision between the pairs of objects.
`check_collision_with_other_objects`(object_id)	Check if there is a collision between the object with the given identifier and other objects.
`checkpoint_world`()
`get_contact_points`([a, b, max_distance, ...])	Get the contact points of the object between a and b, which are the identifiers of two objects.
`get_link_pose`(body_id, link_id)	Get the pose of the link with the given body and link identifiers.
`get_object_mesh`(identifier[, mode])	Get the mesh of the object with the given identifier.
`get_object_name`(identifier)	Get the name of the object with the given identifier.
`get_object_point_cloud`(identifier, **kwargs)	Get the point cloud of the object with the given identifier.
`get_object_pose`(identifier)	Get the pose of the object with the given identifier.
`get_objects`()	Get a list of objects in the world.
`get_single_contact_normal`(object_id, ...[, ...])
`remove_attachment`(a, a_link, b, b_link)	Remove the attachment between object a and object b.
`restore_world`(world)	Restore the world state from the given world state.
`save_world`()	Save the current world state.
`set_object_pose`(identifier, pose)	Set the pose of the object with the given identifier.

__init__()#

__new__(**kwargs)#

add_attachment(a, a_link, b, b_link, a_to_b=None)[source]#

Set the attachment between object a and object b. This is an optional functionality that can be implemented in subclasses

Parameters:

a (str | int) – the identifier of the first object.
a_link (str | int) – the link index of the first object.
b (str | int) – the identifier of the second object.
b_link (str | int) – the link index of the second object.
pose – the pose of the attachment. If None, it will use the current pose of the objects.
a_to_b (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray] | None)

Returns:

an identifier of the attachment.

Return type:

Any

check_collision(a=None, b=None, ignored_collision_bodies=None, max_distance=None)[source]#

Check if there is a collision between the object with the given identifiers.

Parameters:

a (int | str | None) – the identifier of the first object.
b (int | str | None) – the identifier of the second object.
ignored_collision_bodies (List[str | int] | None) – a list of identifiers of the bodies to ignore.
max_distance (float | None)

Returns:

True if there is a collision, False otherwise.

Return type:

bool

check_collision_pairs(pairs, ignored_collision_bodies=None)[source]#

Check if there is a collision between the pairs of objects.

Parameters:

pairs (List[Tuple[str | int, str | int]]) – a list of pairs of objects.
ignored_collision_bodies (List[str | int] | None) – a list of identifiers of the bodies to ignore.

Returns:

True if there is a collision, False otherwise.

Return type:

bool

check_collision_with_other_objects(object_id, ignore_self_collision=True, ignored_collision_bodies=None, max_distance=None, return_list=False, verbose=False)[source]#

Check if there is a collision between the object with the given identifier and other objects.

Parameters:

object_id (str | int) – the identifier of the object.
ignore_self_collision (bool) – whether to ignore the collision between the object and itself.
ignored_collision_bodies (List[str | int] | None) – a list of identifiers of the bodies to ignore.
max_distance (float | None) – the maximum distance to consider a collision.
return_list (bool) – whether to return the list of identifiers of the colliding objects.
verbose (bool)

Returns:

True if there is a collision, False otherwise. If return_list is True, it will return the list of identifiers of the colliding objects.

Return type:

bool | List[str | int]

checkpoint_world()[source]#

Return type:: Iterator[Any]

get_contact_points(a=None, b=None, max_distance=None, ignored_collision_bodies=None)[source]#

Get the contact points of the object between a and b, which are the identifiers of two objects. If either a or b is None, it will return the contact points of the object with the given identifier. When both a and b are None, it will return all the contact points in the world.

Parameters:

a (int | str | None) – the identifier of the first object.
b (int | str | None) – the identifier of the second object.
ignored_collision_bodies (List[str | int] | None) – a list of identifiers of the bodies to ignore.
max_distance (float | None)

Returns:

a list of contact points.

Return type:

List[GeometricContactInfo]

get_link_pose(body_id, link_id)[source]#

Get the pose of the link with the given body and link identifiers.

Parameters:

body_id (str | int) – the identifier of the body.
link_id (str | int) – the identifier of the link.

Returns:

a tuple of the position and quaternion of the link.

Return type:

Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]

get_object_mesh(identifier, mode='open3d', **kwargs)[source]#

Get the mesh of the object with the given identifier.

Parameters:

identifier (str | int) – the identifier of the object.
mode (str) – the mode of the mesh. Default is ‘open3d’.

Returns:

the mesh of the object.

Return type:

open3d.geometry.TriangleMesh | trimesh.Trimesh

get_object_name(identifier)[source]#

Get the name of the object with the given identifier.

Parameters:: identifier (str | int) – the identifier of the object.
Returns:: the name of the object.
Return type:: str

get_object_point_cloud(identifier, **kwargs)[source]#

Get the point cloud of the object with the given identifier.

Parameters:: identifier (str | int) – the identifier of the object.
Returns:: the point cloud of the object.
Return type:: open3d.geometry.PointCloud

get_object_pose(identifier)[source]#

Get the pose of the object with the given identifier.

Parameters:: identifier (str | int) – the identifier of the object.
Returns:: a tuple of the position and quaternion of the object.
Return type:: Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]

get_objects()[source]#

Get a list of objects in the world.

Returns:: a list of objects in the world.
Return type:: List[Any]

get_single_contact_normal(object_id, support_object_id, deviation_tol=0.05, return_center=False)[source]#

Parameters:

object_id (str | int)
support_object_id (str | int)
deviation_tol (float)
return_center (bool)

Return type:

ndarray | Tuple[ndarray, ndarray]

remove_attachment(a, a_link, b, b_link)[source]#

Remove the attachment between object a and object b. This is an optional functionality that can be implemented in subclasses.

Parameters:

a (str | int) – the identifier of the first object.
a_link (str | int) – the link index of the first object.
b (str | int) – the identifier of the second object.
b_link (str | int) – the link index of the second object.

restore_world(world)[source]#

Restore the world state from the given world state.

Parameters:: world (Any)

save_world()[source]#

Save the current world state.

Return type:: Any

set_object_pose(identifier, pose)[source]#

Set the pose of the object with the given identifier.

Parameters:

identifier (str | int) – the identifier of the object.
pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]) – the new pose of the object.