rbs_typing
Common typing aliases used across robotblockset.
This module is based on the airo-typing module (https://github.com/airo-ugent/airo-mono).
- robotblockset.rbs_typing.ArrayLike
array-like inputs converted via rbs_type
alias of
ndarray|List[float] |List[int] |Tuple[float, …] |Tuple[int, …]
- robotblockset.rbs_typing.Vector2DType
a (2,) np array that represents a 2D position/translation/direction
- robotblockset.rbs_typing.Vector2DArrayType
a (N,2) np array that represents N 2D positions/translations/directions
- robotblockset.rbs_typing.Vectors2DType
a convenience type that represents a (2,) 2D vector or (N,2) array of 3D vectors.
- robotblockset.rbs_typing.Vector3DType
a (3,) np array that represents a 3D position/translation/direction
- robotblockset.rbs_typing.Vector3DArrayType
a (N,3) np array that represents N 3D positions/translations/directions
- robotblockset.rbs_typing.Vectors3DType
a convenience type that represents a (3,) 3D vector or (N,3) array of 3D vectors.
- robotblockset.rbs_typing.Pose3DType
a (7, ) np array that represents 3D positions/quaterion
- robotblockset.rbs_typing.Pose3DArrayType
a (N,7) np array that represents N 3D positions/quaterion
- robotblockset.rbs_typing.Poses3DType
a convenience type that represents a (7,) 3D pose or (N,7) array of 3D poses.
- robotblockset.rbs_typing.Velocity3DType
a (6, ) np array that represents 3D velocities
- robotblockset.rbs_typing.Velocity3DArrayType
a (N,6) np array that represents N 3D velocities
- robotblockset.rbs_typing.Velocities3DType
a convenience type that represents a (6,) 3D pose or (6,7) array of 3D velocities.
- robotblockset.rbs_typing.Acceleration3DType
a (6, ) np array that represents 3D accelerations
- robotblockset.rbs_typing.Acceleration3DArrayType
a (N,6) np array that represents N 3D accelerations
- robotblockset.rbs_typing.Accelerations3DType
a convenience type that represents a (6,) 3D pose or (6,7) array of 3D accelerations.
- robotblockset.rbs_typing.QuaternionObjectArrayType
Quaternionic QArray interface with an ndarray representation.
- robotblockset.rbs_typing.QuaternionType
scalar-first quaternion <w,x,y,z> that represents a rotation around the <x,y,z> axis with angle <theta>
- robotblockset.rbs_typing.QuaternionArrayType
a (N,4) npy array that represets quaternion that represents a rotation around the <x,y,z> axis with angle <theta>
- robotblockset.rbs_typing.QuaternionsType
a convenience type that represents a (4,) quaternion or (N,4) array of quaternions.
- robotblockset.rbs_typing.RotationMatrixType
3x3 rotation matrix
- robotblockset.rbs_typing.RotationMatrixArrayType
a (N, 3, 3) array of 3x3 rotation matrices
- robotblockset.rbs_typing.RotationMatricesType
a convenience type that represents a (3,3) rotation matrix or (N,3,3) array of rotation matrices.
- robotblockset.rbs_typing.EulerAnglesType
XYZ angles of rotation around the axes of the original frame (extrinsic). First rotate around X, then around Y, finally around Z.
- robotblockset.rbs_typing.AxisAngleType
a tuple of a unit vector representing the axis of rotation and a float representing the angle of rotation in radians. The rotation is right-handed around the axis.
alias of
Tuple[ndarray,float]
- robotblockset.rbs_typing.RotationVectorType
Rotation vector <x*theta,y*theta,z*theta> that represents a rotation around the <x,y,z> axis with angle <theta>. The rotation is right-handed around the axis.
- robotblockset.rbs_typing.HomogeneousMatrixType
4x4 homogeneous transform matrix <<R,T>|<0,0,0,1>> that represents the pose of a frame A in another frame B. Shorthand notation is T^A_B. The upper left 3x3 block R is the rotation matrix that represents the orientation of frame A with respect to frame B, and the upper right 3x1 block T is the translation vector that represents the position of frame A with respect to frame B, expressed in frame B.
- robotblockset.rbs_typing.HomogeneousMatrixArrayType
array (N, 4,4) of homogeneous transform matrices
- robotblockset.rbs_typing.HomogeneousMatricesType
a convenience type that represents a (4,4) homogenous matrix or (N,4,4) array of homogenous matrices.
- robotblockset.rbs_typing.TCPType
a TCP pose expressed as (7,), (4,4), or (3,) array
- robotblockset.rbs_typing.CartesianPathType
a (T, N) array of joint states (can be position/velocity/acceleration) that describe a path in joint space
- robotblockset.rbs_typing.WrenchType
a (6,) numpy array that represents a wrench applied on a frame and expressed in a (possibly different) frame as [Fx,Fy,Fz,Tx,Ty,Tz]. Shorthand notation is W^F_E, where F is the frame the wrench is applied on, and E is the frame the wrench is expressed in.
- robotblockset.rbs_typing.TwistType
a (6,) numpy array that represents the spatial velocity or an incremental motion of one frame as measured in another frame (and possibly expressed in a third frame). Shorthand notation is ^C T^B_A, where C is the frame the velocity is measured in, B is the frame the velocity is expressed in.
- robotblockset.rbs_typing.JointConfigurationType
an (N,) numpy array that represents the joint angles for a robot
- robotblockset.rbs_typing.JointVelocityType
an (N,) numpy array that represents the joint velocities for a robot
- robotblockset.rbs_typing.JointAccelerationType
an (N,) numpy array that represents the joint accelerations for a robot
- robotblockset.rbs_typing.JointTorqueType
an (N,) numpy array that represents the joint torques for a robot
- robotblockset.rbs_typing.JointPathType
a (T, N) array of joint states (can be position/velocity/acceleration) that describe a path in joint space
- robotblockset.rbs_typing.TimesType
a (T,) array of monotonically increasing times (float), corresponding to a path
- robotblockset.rbs_typing.JointPathConstraintType
when the constraint function’s absolute output is smaller than the tolerance, the constraint is satisfied.
- Type:
a tuple of a constraint function and a tolerance value
alias of
Tuple[Callable[[ndarray],float],float]
- robotblockset.rbs_typing.JacobianType
a (6, N) array representing the Jacobian matrix
- robotblockset.rbs_typing.ForwardKinematicsFunctionType
a function that computes the forward kinematics of a given joint configuration
alias of
Callable[[ndarray],ndarray]
- robotblockset.rbs_typing.InverseKinematicsFunctionType
a function that computes one or more inverse kinematics solutions of a given TCP pose
alias of
Callable[[ndarray],List[ndarray]]
- robotblockset.rbs_typing.JointConfigurationCheckerType
a function that checks a certain condition on a joint configuration, e.g. collision checking
alias of
Callable[[ndarray],bool]
- robotblockset.rbs_typing.OpenCVIntImageType
an image in the OpenCV format: BGR, uint8, (H,W,C)
- robotblockset.rbs_typing.NumpyFloatImageType
a float image in the numpy format: RGB, float (0-1), (H,W,C)
- robotblockset.rbs_typing.NumpyIntImageType
an int image in the numpy format: RGB, uint8 (0-255), (H,W,C)
- robotblockset.rbs_typing.TorchFloatImageType
an image in the torch format: RGB, float(0-1), (C,H,W)
- robotblockset.rbs_typing.NumpyDepthMapType
a depth map (z-buffer),float, (H,W)
- robotblockset.rbs_typing.NumpyConfidenceMapType
a confidence map (higher is more confidence), float(0-1), (H,W)
- robotblockset.rbs_typing.CameraResolutionType
a tuple of image (width, height) in pixels
alias of
Tuple[int,int]
- robotblockset.rbs_typing.CameraIntrinsicsMatrixType
3x3 camera intrinsics matrix
K = [[fx,s,cx],[0,fy,cy],[0,0,1]] see e.g. https://ksimek.github.io/2013/08/13/intrinsic/ for more details
- robotblockset.rbs_typing.CameraExtrinsicMatrixType
4x4 camera extrinsic matrix, this is the homogeneous matrix that describes the camera pose in the world frame
- robotblockset.rbs_typing.BoundingBox3DType
a tuple of two tuples that represent the min and max corners of a 3D bounding box
alias of
Tuple[Tuple[float,float,float],Tuple[float,float,float]]
- robotblockset.rbs_typing.PointCloudPositionsType
a (N,3) float32 numpy array that represents a point cloud
- robotblockset.rbs_typing.PointCloudColorsType
a (N,3) uint8 numpy array that represents the RGB colors of a point cloud
- robotblockset.rbs_typing.PointCloudAttributesType
a dictionary of numpy arrays that represent additional attributes of a point cloud, e.g. normals, confidence, etc.
alias of
Dict[str,ndarray]
- class robotblockset.rbs_typing.PointCloud(points: numpy.ndarray, colors: numpy.ndarray | None = None, attributes: Dict[str, numpy.ndarray] | None = None)[source]
Bases:
object- points: ndarray
- colors: ndarray | None = None
- attributes: Dict[str, ndarray] | None = None
Attributes
array-like inputs converted via rbs_type |
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a (2,) np array that represents a 2D position/translation/direction |
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a (N,2) np array that represents N 2D positions/translations/directions |
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a convenience type that represents a (2,) 2D vector or (N,2) array of 3D vectors. |
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a (3,) np array that represents a 3D position/translation/direction |
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a (N,3) np array that represents N 3D positions/translations/directions |
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a convenience type that represents a (3,) 3D vector or (N,3) array of 3D vectors. |
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a (7, ) np array that represents 3D positions/quaterion |
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a (N,7) np array that represents N 3D positions/quaterion |
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a convenience type that represents a (7,) 3D pose or (N,7) array of 3D poses. |
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a (6, ) np array that represents 3D velocities |
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a (N,6) np array that represents N 3D velocities |
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a convenience type that represents a (6,) 3D pose or (6,7) array of 3D velocities. |
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a (6, ) np array that represents 3D accelerations |
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a (N,6) np array that represents N 3D accelerations |
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a convenience type that represents a (6,) 3D pose or (6,7) array of 3D accelerations. |
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Quaternionic QArray interface with an ndarray representation. |
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scalar-first quaternion <w,x,y,z> that represents a rotation around the <x,y,z> axis with angle <theta> |
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a (N,4) npy array that represets quaternion that represents a rotation around the <x,y,z> axis with angle <theta> |
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a convenience type that represents a (4,) quaternion or (N,4) array of quaternions. |
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3x3 rotation matrix |
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a (N, 3, 3) array of 3x3 rotation matrices |
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a convenience type that represents a (3,3) rotation matrix or (N,3,3) array of rotation matrices. |
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XYZ angles of rotation around the axes of the original frame (extrinsic). |
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a tuple of a unit vector representing the axis of rotation and a float representing the angle of rotation in radians. |
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Rotation vector <x*theta,y*theta,z*theta> that represents a rotation around the <x,y,z> axis with angle <theta>. |
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4x4 homogeneous transform matrix <<R,T>|<0,0,0,1>> that represents the pose of a frame A in another frame B. |
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array (N, 4,4) of homogeneous transform matrices |
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a convenience type that represents a (4,4) homogenous matrix or (N,4,4) array of homogenous matrices. |
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a TCP pose expressed as (7,), (4,4), or (3,) array |
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a (T, N) array of joint states (can be position/velocity/acceleration) that describe a path in joint space |
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a (6,) numpy array that represents a wrench applied on a frame and expressed in a (possibly different) frame as [Fx,Fy,Fz,Tx,Ty,Tz]. |
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a (6,) numpy array that represents the spatial velocity or an incremental motion of one frame as measured in another frame (and possibly expressed in a third frame). |
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an (N,) numpy array that represents the joint angles for a robot |
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an (N,) numpy array that represents the joint velocities for a robot |
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an (N,) numpy array that represents the joint accelerations for a robot |
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an (N,) numpy array that represents the joint torques for a robot |
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a (T, N) array of joint states (can be position/velocity/acceleration) that describe a path in joint space |
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a (T,) array of monotonically increasing times (float), corresponding to a path |
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when the constraint function's absolute output is smaller than the tolerance, the constraint is satisfied. |
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a (6, N) array representing the Jacobian matrix |
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a function that computes the forward kinematics of a given joint configuration |
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a function that computes one or more inverse kinematics solutions of a given TCP pose |
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a function that checks a certain condition on a joint configuration, e.g. collision checking. |
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an image in the OpenCV format: BGR, uint8, (H,W,C) |
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a float image in the numpy format: RGB, float (0-1), (H,W,C) |
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an int image in the numpy format: RGB, uint8 (0-255), (H,W,C) |
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an image in the torch format: RGB, float(0-1), (C,H,W) |
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a depth map (z-buffer),float, (H,W) |
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a confidence map (higher is more confidence), float(0-1), (H,W) |
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a tuple of image (width, height) in pixels |
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3x3 camera intrinsics matrix |
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4x4 camera extrinsic matrix, this is the homogeneous matrix that describes the camera pose in the world frame |
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a tuple of two tuples that represent the min and max corners of a 3D bounding box |
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a (N,3) float32 numpy array that represents a point cloud |
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a (N,3) uint8 numpy array that represents the RGB colors of a point cloud |
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a dictionary of numpy arrays that represent additional attributes of a point cloud, e.g. normals, confidence, etc. |
Classes
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