.. _package-rst-robot: =================== Package rst.robot =================== This package contains data type definitions that are specific robot sensing, control etc. and do thus not fit into more general categories such as dynamics or navigation. Messages ======== .. container:: mess4ge-multi .. container:: mess4ge-graph .. digraph:: message_graph fontname="Arial"; fontsize=11; stylesheet="../_static/graphs.css"; node [fontsize=11,fontname="Arial"] edge [fontsize=11,fontname="Arial"] "9" [label=<
PickAndPlaceActionCollection
PickAndPlaceActionelement
>,shape=box,style=filled,fillcolor="white"]; "10" [label=<
PickAndPlaceAction
PosepickPose
PoseplacePose
>,shape=box,style=filled,fillcolor="white"]; "11" [label=<
Pose
Translationtranslation
Rotationrotation
>,shape=box,style=filled,fillcolor="white"]; "12" [label=<
Rotation
FLOAT64qw
FLOAT64qx
FLOAT64qy
FLOAT64qz
ASCII-STRINGframe_id
>,shape=box,style=filled,fillcolor="white"]; "3" [label=<
RobotCollisionCollection
RobotCollisionelement
>,shape=box,style=filled,fillcolor="white"]; "4" [label=<
RobotCollision
CollisionKindkind
ObjectCollisioncollision_detail
>,shape=box,style=filled,fillcolor="white"]; "6" [label=<
ObjectCollision
CollisionGeometrygeometry
ASCII-STRINGobject_1
ASCII-STRINGobject_2
>,shape=box,style=filled,fillcolor="white"]; "7" [label=<
CollisionGeometry
Translationcontact_points
>,shape=box,style=filled,fillcolor="white"]; "8" [label=<
Translation
FLOAT64x
FLOAT64y
FLOAT64z
ASCII-STRINGframe_id
>,shape=box,style=filled,fillcolor="white"]; "5" [label=<
CollisionKind
SELF1
EXTERNAL2
UNKNOWN3
>,shape=box,style=filled,fillcolor="white"]; "1" [label=<
WeightsCollection
Weightselement
>,shape=box,style=filled,fillcolor="white"]; "2" [label=<
Weights
FLOAT32weights
>,shape=box,style=filled,fillcolor="white"]; "9":element -> "10"[]; "10":placePose -> "11"[]; "10":pickPose -> "11"[]; "11":rotation -> "12"[]; "11":translation -> "8"[]; "3":element -> "4"[]; "4" -> "5"[dir=both,arrowtail=odiamond]; "4":collision_detail -> "6"[]; "4":kind -> "5"[]; "6":geometry -> "7"[]; "7":contact_points -> "8"[]; "1":element -> "2"[]; .. container:: mess4ge-list .. container:: messages * :ref:`WeightsCollection ` * :ref:`RobotCollisionCollection ` * :ref:`PickAndPlaceActionCollection ` * :ref:`Weights ` * :ref:`RobotCollision ` * :ref:`PickAndPlaceAction ` .. container:: clearer clearer: should be made invisible via css .. _message-rst-robot-weightscollection: Message WeightsCollection ------------------------- .. container:: message-rst-robot-weightscollection-multi .. container:: message-rst-robot-weightscollection-documentation .. py:class:: rst.robot.WeightsCollection Collection of :py:class:`Weights ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.robot.Weights` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-robot-weightscollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/WeightsCollection.proto :lines: 14-24 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-robot-robotcollisioncollection: Message RobotCollisionCollection -------------------------------- .. container:: message-rst-robot-robotcollisioncollection-multi .. container:: message-rst-robot-robotcollisioncollection-documentation .. py:class:: rst.robot.RobotCollisionCollection Collection of :py:class:`RobotCollision ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.robot.RobotCollision` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-robot-robotcollisioncollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/RobotCollisionCollection.proto :lines: 14-24 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-robot-pickandplaceactioncollection: Message PickAndPlaceActionCollection ------------------------------------ .. container:: message-rst-robot-pickandplaceactioncollection-multi .. container:: message-rst-robot-pickandplaceactioncollection-documentation .. py:class:: rst.robot.PickAndPlaceActionCollection Collection of :py:class:`PickAndPlaceAction ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.robot.PickAndPlaceAction` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-robot-pickandplaceactioncollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/PickAndPlaceActionCollection.proto :lines: 14-24 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-robot-weights: Message Weights --------------- .. container:: message-rst-robot-weights-multi .. container:: message-rst-robot-weights-documentation .. py:class:: rst.robot.Weights A sequence of weights. .. codeauthor:: Niels Dehio @create_collection .. py:attribute:: weights :type: array of :py:class:`FLOAT32` Weights Order is important and represents the described underlying object. @unit() .. container:: message-rst-robot-weights-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/Weights.proto :lines: 13-24 :language: protobuf :emphasize-lines: 10-10 .. _message-rst-robot-robotcollision: Message RobotCollision ---------------------- .. container:: message-rst-robot-robotcollision-multi .. container:: message-rst-robot-robotcollision-documentation .. py:class:: rst.robot.RobotCollision Holds information about a collision between a robot and an object. .. codeauthor:: Daniel Seidel @create_collection .. py:attribute:: kind :type: :py:class:`rst.robot.RobotCollision.CollisionKind` Kind of collision. Determines interpretation of :py:attr:`collision_detail `. .. py:attribute:: collision_detail :type: :py:class:`rst.kinematics.ObjectCollision` Object and geometry information for the collision. For self collisions (:ref:`SELF `), and designate the colliding parts of the robot. For collisions with environment objects (:ref:`EXTERNAL `), and designate the colliding robot part and the environment object respectively. .. container:: message-rst-robot-robotcollision-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/RobotCollision.proto :lines: 15-61 :language: protobuf :emphasize-lines: 31-31,45-45 .. _message-rst-robot-robotcollision-collisionkind: Message CollisionKind --------------------- .. container:: message-rst-robot-robotcollision-collisionkind-multi .. container:: message-rst-robot-robotcollision-collisionkind-documentation .. py:class:: rst.robot.RobotCollision.CollisionKind Possible kinds of collisions. .. py:attribute:: SELF = 1 Two parts of the robot collide with each other. .. py:attribute:: EXTERNAL = 2 The robot collides with an environment object which is not part of the robot. .. py:attribute:: UNKNOWN = 3 The kind of the collision is not known. .. container:: message-rst-robot-robotcollision-collisionkind-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/RobotCollision.proto :lines: 20-38 :language: protobuf :emphasize-lines: 6-6,12-12,17-17 .. _message-rst-robot-pickandplaceaction: Message PickAndPlaceAction -------------------------- .. container:: message-rst-robot-pickandplaceaction-multi .. container:: message-rst-robot-pickandplaceaction-documentation .. py:class:: rst.robot.PickAndPlaceAction PickAndPlaceAction data consisting of two Poses, a pick-Pose and a place-Pose, for picking and placing objects. Both poses are expressed in world coordinates. .. codeauthor:: Christian Emmerich @create_collection .. py:attribute:: pickPose :type: :py:class:`rst.geometry.Pose` A rst.geometry.Pose representing a grip-Pose to grip an object. .. py:attribute:: placePose :type: :py:class:`rst.geometry.Pose` A rst.geometry.Pose where to place the object. .. container:: message-rst-robot-pickandplaceaction-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/PickAndPlaceAction.proto :lines: 17-29 :language: protobuf :emphasize-lines: 6-6,11-11