predicates

Classes

GripperOccupancy	Base class for predicates that check the gripper occupancy.
GripperIsFree	Checks if the gripper is holding something. Checks this by looking at the kinematic structure of the manipulator.
GripperIsNotFree	Checks if the gripper is free at the moment, so it can be used to grab something. This is checked by looking at the

Module Contents

class predicates.GripperOccupancy

Base class for predicates that check the gripper occupancy.

manipulator: semantic_digital_twin.robots.abstract_robot.Manipulator

Semantic annotation for the gripper that should be evaluated.

check_man_occupancy(condition: Callable[List[semantic_digital_twin.world_description.world_entity.Body], bool]) → bool

Checks the occupancy of the gripper against a condition. The condition get the list of bodies that are under the TCP in the kinematic structure and returns a boolean.

Parameters:

condition – The condition that should be evaluated.

Returns:

True if the condition is satisfied, False otherwise.

class predicates.GripperIsFree

Bases: GripperOccupancy, krrood.entity_query_language.predicate.Predicate

Checks if the gripper is holding something. Checks this by looking at the kinematic structure of the manipulator.

__call__() → bool

Evaluate the predicate for the supplied values.

class predicates.GripperIsNotFree

Bases: GripperOccupancy, krrood.entity_query_language.predicate.Predicate

Checks if the gripper is free at the moment, so it can be used to grab something. This is checked by looking at the kinematic structure.

__call__() → bool

Evaluate the predicate for the supplied values.