timor.task.Obstacle

Classes

Obstacle

A wrapper class to integrate hppfcl obstacles in custom Environments.

Module Contents

class timor.task.Obstacle.Obstacle(ID, collision, visual=None, name=None)

A wrapper class to integrate hppfcl obstacles in custom Environments.

Generate an obstacle:

Parameters:

• ID (str) – Unique identifier

• collision (timor.Geometry.Geometry) – The collision geometry of the object

• visual (Optional[timor.Geometry.Geometry]) – The visual geometry of the object. Defaults to the collision geometry.

• name (Optional[str]) – Optional display name

abstractmethod __copy__()

Not supported!

__eq__(other)

Compare two obstacles by their ID, name, and geometry

__getstate__()

Return objects which will be pickled and saved.

__hash__()

The ID is sufficient to hash an obstacle

__setstate__(state)

Take object from parameter and use it to retrieve class state.

static _deduce_package_dir(filepath, content)

Logic for deducing the package directory if the JSONable object is loaded from a file.

Parameters:

• filepath (pathlib.Path) – The path to the file.

• content (Union[Dict, List]) – The content of the file parsed into a dictionary.

Note:

This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.

Return type:

pathlib.Path

_id = ''

_visual = None

collides(other)

Check if this obstacle collides with another obstacle.

Be careful, this is probably slow due to the initialisation of a new request/result pair and should only be used for debugging. Use the collision checking of the environment / robot instead.

Parameters:

other (Obstacle) – The other obstacle

Returns:

True if the obstacles collide, False otherwise

Return type:

bool

collision

property display_name: str

Used for visualization and debugging. If a diplay name is explicitly given, use it, if not, it’s the ID.

Return type:

str

classmethod from_hppfcl(ID, fcl, visual_representation=None, name=None)

Create a Timor obstacle from a hppfcl obstacle

A helper function that transforms a generic hppfcl collision object to an Obstacle with the according geometry.

(Which allows plotting, composing a task of multiple obstacles, …)

Parameters:

• ID (str) – The id that shall be given to the Obstacle.

• fcl (hppfcl.hppfcl.CollisionObject) – The hppfcl collision object

• visual_representation (Optional[hppfcl.hppfcl.CollisionObject]) – An optional, differing visual representation of the collision object.

• name (Optional[str]) – The obstacle display name

Returns:

An instance of the according Obstacle class, based on the kind of collision object handed over.

Return type:

Obstacle

classmethod from_json_data(d, *args, **kwargs)

Takes a json geometry specification and returns the according Obstacle.

Parameters:

d (Dict[str, Union[str, dict]]) –

The serialized obstacle information, containing:

• ID: The obstacle unique ID

• collision: A Geometry used for collision detection

• visual: A Geometry for visualization of this Obstacle - defaults to collision if not given

• name: The obstacle display name

Returns:

The obstacle class instance that matches the specification

Return type:

Obstacle

classmethod from_json_file(filepath, *args, **kwargs)

Factory method to load a class instance from a json file.

Parameters:

• filepath (Union[pathlib.Path, str]) – The path to the json file.

• args – Additional arguments to pass to the from_json_data factory method of the specific class.

• kwargs – Additional arguments to pass to the from_json_data factory method of the specific class.

classmethod from_json_string(s, *args, **kwargs)

Create from a json string.

Parameters:

s (str)

property id: str

Returns the ID of the obstacle

Return type:

str

mesh_material

mesh_material_vertex_color

name: str | None = None

to_json_data()

Interface to write a list of geometry-dictionaries that is serializable to json.

Returns:

A dictionary of the format described in the task documentation

Return type:

Dict[str, Union[str, dict]]

to_json_file(save_at, *args, **kwargs)

Writes the instance to a json file.

Parameters:

save_at (Union[pathlib.Path, str]) – File location or folder to write the class to.

to_json_string()

Return the json string representation.

Return type:

str

property visual: timor.Geometry.Geometry

Defaults to collision

Return type:

timor.Geometry.Geometry

visualize(viz, material=None)

A custom visualization should be implemented by children.

Parameters:

• viz (pinocchio.visualize.MeshcatVisualizer) – MeshcatVisualizer to add this obstacle to.

• material (Optional[meshcat.geometry.Material]) – Material to use for this obstacle; default: light red / mesh color if provided