.. _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 |
|
PickAndPlaceAction | element |
>,shape=box,style=filled,fillcolor="white"];
"10" [label=< | PickAndPlaceAction |
|
Pose | pickPose |
Pose | placePose |
>,shape=box,style=filled,fillcolor="white"];
"11" [label=< | Pose |
|
Translation | translation |
Rotation | rotation |
>,shape=box,style=filled,fillcolor="white"];
"12" [label=< | Rotation |
|
FLOAT64 | qw |
FLOAT64 | qx |
FLOAT64 | qy |
FLOAT64 | qz |
ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | RobotCollisionCollection |
|
RobotCollision | element |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | RobotCollision |
|
CollisionKind | kind |
ObjectCollision | collision_detail |
>,shape=box,style=filled,fillcolor="white"];
"6" [label=< | ObjectCollision |
|
CollisionGeometry | geometry |
ASCII-STRING | object_1 |
ASCII-STRING | object_2 |
>,shape=box,style=filled,fillcolor="white"];
"7" [label=< | CollisionGeometry |
|
Translation | contact_points |
>,shape=box,style=filled,fillcolor="white"];
"8" [label=< | Translation |
|
FLOAT64 | x |
FLOAT64 | y |
FLOAT64 | z |
ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | CollisionKind |
|
SELF | 1 |
EXTERNAL | 2 |
UNKNOWN | 3 |
>,shape=box,style=filled,fillcolor="white"];
"1" [label=< | WeightsCollection |
|
Weights | element |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | Weights |
|
FLOAT32 | weights |
>,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 /home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/WeightsCollection.proto>`
.. 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 /home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/RobotCollisionCollection.proto>`
.. 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 /home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/PickAndPlaceActionCollection.proto>`
.. 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 /home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/Weights.proto>`
.. 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 /home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/RobotCollision.proto>`
.. 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 /home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/RobotCollision.proto>`
.. 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 /home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/stable/rst/robot/PickAndPlaceAction.proto>`
.. 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