semantic_digital_twin.robots.daisy

Classes

DAiSyJoint	Names of the DAiSy's commandable connections, as spelled in its URDF.
DAiSyLeftGripperLeftFinger	A finger is a kinematic chain attached to a gripper to manipulate objects.
DAiSyLeftGripperRightFinger	A finger is a kinematic chain attached to a gripper to manipulate objects.
DAiSyRightGripperLeftFinger	A finger is a kinematic chain attached to a gripper to manipulate objects.
DAiSyRightGripperRightFinger	A finger is a kinematic chain attached to a gripper to manipulate objects.
DAiSyLeftGripper	Abstract base class of robot end effector.
DAiSyRightGripper	Abstract base class of robot end effector.
DAiSyLeftArm	An arm is a kinematic chain that has an end effector attached to it.
DAiSyRightArm	An arm is a kinematic chain that has an end effector attached to it.
DAiSyCamera	DAiSy does not currently have a dedicated camera.
DAiSy	Represents two UR5 Arms mounted on a table.

Module Contents

class semantic_digital_twin.robots.daisy.DAiSyJoint

Bases: enum.StrEnum

Names of the DAiSy’s commandable connections, as spelled in its URDF.

Members are usable wherever a connection name is expected, so a configuration keyed by them stays a plain mapping of names to positions.

LEFT_SHOULDER_PAN = 'left_shoulder_pan_joint'

LEFT_SHOULDER_LIFT = 'left_shoulder_lift_joint'

LEFT_ELBOW = 'left_elbow_joint'

LEFT_WRIST_1 = 'left_wrist_1_joint'

LEFT_WRIST_2 = 'left_wrist_2_joint'

LEFT_WRIST_3 = 'left_wrist_3_joint'

LEFT_GRIPPER_FINGER = 'left_gripper_finger_joint'

LEFT_GRIPPER_RIGHT_FINGER = 'left_gripper_right_finger_joint'

RIGHT_SHOULDER_PAN = 'right_shoulder_pan_joint'

RIGHT_SHOULDER_LIFT = 'right_shoulder_lift_joint'

RIGHT_ELBOW = 'right_elbow_joint'

RIGHT_WRIST_1 = 'right_wrist_1_joint'

RIGHT_WRIST_2 = 'right_wrist_2_joint'

RIGHT_WRIST_3 = 'right_wrist_3_joint'

RIGHT_GRIPPER_FINGER = 'right_gripper_finger_joint'

RIGHT_GRIPPER_RIGHT_FINGER = 'right_gripper_right_finger_joint'

class semantic_digital_twin.robots.daisy.DAiSyLeftGripperLeftFinger

Bases: semantic_digital_twin.robots.robot_parts.Finger

A finger is a kinematic chain attached to a gripper to manipulate objects.

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSyLeftGripperRightFinger

Bases: semantic_digital_twin.robots.robot_parts.Finger

A finger is a kinematic chain attached to a gripper to manipulate objects.

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSyRightGripperLeftFinger

Bases: semantic_digital_twin.robots.robot_parts.Finger

A finger is a kinematic chain attached to a gripper to manipulate objects.

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSyRightGripperRightFinger

Bases: semantic_digital_twin.robots.robot_parts.Finger

A finger is a kinematic chain attached to a gripper to manipulate objects.

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSyLeftGripper

Bases: semantic_digital_twin.robots.robot_parts.EndEffector, semantic_digital_twin.robots.robot_part_mixins.HasTwoFingers[DAiSyLeftGripperLeftFinger, DAiSyLeftGripperRightFinger]

Abstract base class of robot end effector.

Always has a tool frame.

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSyRightGripper

Bases: semantic_digital_twin.robots.robot_parts.EndEffector, semantic_digital_twin.robots.robot_part_mixins.HasTwoFingers[DAiSyRightGripperLeftFinger, DAiSyRightGripperRightFinger]

Abstract base class of robot end effector.

Always has a tool frame.

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSyLeftArm

Bases: semantic_digital_twin.robots.robot_parts.Arm[DAiSyLeftGripper]

An arm is a kinematic chain that has an end effector attached to it.

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSyRightArm

Bases: semantic_digital_twin.robots.robot_parts.Arm[DAiSyRightGripper]

An arm is a kinematic chain that has an end effector attached to it.

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSyCamera

Bases: semantic_digital_twin.robots.robot_parts.Camera

DAiSy does not currently have a dedicated camera.

Setup a fake camera link in URDF to satisfy SemDT

setup_hardware_interfaces()

Sets up a default hardware interface for this robot part by setting the has_hardware_interface flag to True for relevant connections of this robot part.

Implement as “pass” if this robot part does not have any hardware interfaces.

setup_joint_states() → List[semantic_digital_twin.datastructures.joint_state.JointState]

Sets up default joint states for this robot part.

Implement as “return []” if this robot part does not have any important joint states.

classmethod setup_default_configuration_in_world_below_robot_root(robot_root: semantic_digital_twin.world_description.world_entity.KinematicStructureEntity) → Self

Sets up a default configuration of this robot part in the world, below the given robot root.

This is used to set up a default configuration of the robot part in the world after parsing a URDF.

class semantic_digital_twin.robots.daisy.DAiSy

Bases: semantic_digital_twin.robots.robot_parts.AbstractRobot, semantic_digital_twin.robots.robot_part_mixins.HasLeftRightArm[DAiSyLeftArm, DAiSyRightArm], semantic_digital_twin.robots.robot_part_mixins.HasSensors[DAiSyCamera]

Represents two UR5 Arms mounted on a table.

The arms are equipped with WEISS WPG 300-120 grippers

classmethod get_ros_file_path() → str

Returns a ROS file path pointing to the description of this robot, for example a URDF file.

get_end_effectors() → list[semantic_digital_twin.robots.robot_parts.EndEffector]