Data types¶

Overview¶

In order to give a better overview of the data types which are defined by xamla_motion these are devided into five groups.

The groups are robot and environment description types, joint space data types, task space data types and state/result data types

Robot and environment description types¶

Data type	Description
`xamla_motion.data_types.JointSet`	Manages a list of joint names which describes a robot or part of it
`xamla_motion.data_types.EndEffectorDescription`	Describes an end effector of a robot
`xamla_motion.data_types.MoveGroupDescription`	Describes a robot or a subset of it by move groups, end effectors and joints
`xamla_motion.data_types.CollisionPrimitive`	Defines and describe a primitive collision object
`xamla_motion.data_types.CollisionObject`	Defines a collision object which consists of a single primitive or an assembly of them

Joint space data types¶

Data type	Description
`xamla_motion.data_types.JointValues`	Manages respective joint values for a specific joint set
`xamla_motion.data_types.JointLimits`	Manages the joint limits for a specific set of joints
`xamla_motion.data_types.JointStates`	Can hold a complete JointState (pos, vel, eff) for a specific joint set
`xamla_motion.data_types.JointPath`	Describes a path by a list of joint configurations/values
`xamla_motion.data_types.JointTrajectoryPoint`	Defines a point of a trajectory for a specific joint set
`xamla_motion.data_types.JointTrajectory`	Describes a trajectory by a list of trajectory points
`xamla_motion.data_typesPlanParameters`	Holds all constrains for joint space trajectory planning

Task space data types¶

Data type	Description
`xamla_motion.data_types.Pose`	Pose defined by three dimensional translation and rotation
`xamla_motion.data_types.EndEffectorLimits`	Holds hold task space / endeffector limits
`xamla_motion.data_types.CartesianPath`	Describes a path by a list of poses
`xamla_motion.data_types.TaskSpacePlanParameters`	Holds all constrains for task space trajectory planning

State and result data types¶

Data type	Description
`xamla_motion.data_types.MoveGripperResult`	Represents the result of a common gripper action
`xamla_motion.data_types.WsgResult`	Respresents the result of a WSG gripper action
`xamla_motion.data_types.IkResults`	Holds result of a inverse kinematics query
`xamla_motion.data_types.SteppedMotionState`	Carries a state snapshot of a stepped motion operation
`xamla_motion.data_types.JointValuesCollisions`	Represents a robot collision

Robot and environment description types¶

JointSet¶

How to use it:

Details:

class xamla_motion.data_types.JointSet(names)[source]¶

Manages a list of unique joint names

empty()[source]¶: Creates emtpy JointSet

add_prefix(prefix)[source]¶: Creates new JointSet where prefix is added to every joint name

is_subset(other)[source]¶: Checks if it is a subset of the JointSet in parameter other

is_superset(other)[source]¶: Checks if it is a superset of the JointSet in parameter other

is_similar(other)[source]¶: Checks if it contains the same joint names as in JointSet other

union(other)[source]¶: Creates new JointSet which contains the union of self and other joints

try_get_index_of(name)[source]¶: Tries to get the list index of the joint by name

get_index_of(name)[source]¶: Returns the list index of joint name specificed paramerter name

contains(name)¶: Checks if this JointSet contains a specific joint name

Initialization of the JointSet class

Parameters: names (str or Iterable[str convertable]) – The Joint set class is initializable in different ways. -by a string which only contains one joint name -by a string which contains multiple joints names separated by a comma as delimiter -Iterable container where each time is convertable to str
Returns
Return type: An instance of class JointSet

:raises TypeError : type mismatch: If input parameter names is not of type str or Iterable[str convertable]

Examples

Create an instance of JointSet by string and iterable type

>>> from xamla_motion.data_types import JointSet
>>> JointSet('Joint1, Joint2')
JointSet:
Joint1
Joint2
>>> JointSet(['Joint1','Joint2'])
JointSet:
Joint1
Joint2
>>> JointSet('Joint1,Joint1,Joint2')
JointSet:
Joint1
Joint2

add_prefix(prefix)[source]

Creates new JointSet where prefix is added to every joint name

Parameters: prefix (str) – Defines the prefix which is added in front of every joint name

:raises TypeError : type mismatch: If input parameter prefix is not of type str

Returns: The created JointSet with added prefix to joint names
Return type: JointSet

Examples

Create new JointSet instance with added prefix

>>> from xamla_motion.data_types import JointSet
>>> joint_set = JointSet('joint1, joint2')
>>> joint_set.add_prefix('robot1_')
JointSet:
robot1_joint1
robot1_joint2

difference(others)[source]¶

Creates new JointSet which contains the union of self and others joints

Parameters: others (JointSet) – JointSet with which the union is performed

:raises TypeError : type mismatch: If others is not one of expected type JointSet

Returns: The created JointSet with union joint names
Return type: JointSet

Examples

Create new JointSet instance which is the union of two existing ones

>>> from xamla_motion.data_types import JointSet
>>> joint_set1 = JointSet('joint1, joint2, joint3')
>>> joint_set2 = JointSet('joint1, joint2')
>>> joint_set1.difference(joint_set2)
JointSet:
joint3

static empty()[source]

Creates a empty JointSet

Returns: The created empty JointSet
Return type: JointSet

Examples

Create a empty JointSet instance

>>> from xamla_motion.data_types import JointSet
>>> JointSet.empty()
JointSet:

get_index_of(name)[source]

Returns the list index of joint name specificed paramerter name

namestr: joint name for which it finds the list index

Returns: index – List index of the searched joint name
Return type: int

:raises TypeError : type mismatch: If parameter name is not type of str :raises ValueError : value not exists: If joint name not exists

Examples

Get index of a specific joint in JointSet

>>> from xamla_motion.data_types import JointSet
>>> joint_set1 = JointSet('joint0')
>>> joint_set1.get_index_of('joint0')
0
>>> joint_set1.try_get_index_of('joint1')
ValueError: This JointSet not contains a joint with name: joint1

intersection(others)[source]¶

Creates new JointSet which contains the intersection of self and others joints

Parameters: others (JointSet or Iterable[JointSet]) – JointSet with which the union is performed

:raises TypeError : type mismatch: If others is not one of expected types JointSet or Iterable of JointSet

Returns: The created JointSet with intersecting joint names
Return type: JointSet

Examples

Create new JointSet instance which is the intersection of two existing ones

>>> from xamla_motion.data_types import JointSet
>>> joint_set1 = JointSet('joint1, joint2')
>>> joint_set2 = JointSet('joint2')
>>> joint_set1.intersection(joint_set2)
JointSet:
joint2

is_similar(other)[source]

Checks if it contains the same joint names as in JointSet other

The method returns true if all joint names are available in the other join set. It is not necessary that both have the same order.

Parameters: other (JointSet) – JointSet which is used for comparision
Returns: result – If this JointSet the joint names and number of joint names returns True else False
Return type: bool

:raises TypeError : type mismatch: If the parameter other is not of type JointSet

Examples

Check if one joint set is the similar to another

>>> from xamla_motion.data_types import JointSet
>>> joint_set1 = JointSet('joint1, joint2, joint3')
>>> joint_set2 = JointSet('joint1, joint3, joint2')
>>> joint_set3 = JointSet('joint1, joint3')
>>> joint_set1.is_similar(joint_set2)
True
>>> joint_set3.is_similar(joint_set1)
False

is_subset(other)[source]

Checks if it is a subset of the JointSet in parameter other

The method returns True if it is a subset or similar to other. The ordering of the joint names is not checked.

Parameters: other (JointSet) – JointSet which is used for comparision
Returns: result – If this JointSet is a subset of the other JointSet returns True else False
Return type: bool

:raises TypeError : type mismatch: If the parameter other is not of type JointSet

Examples

Check if one joint set is the subset of another

>>> from xamla_motion.data_types import JointSet
>>> joint_set1 = JointSet('joint1, joint2, joint3')
>>> joint_set2 = JointSet('joint1, joint2')
>>> joint_set2.is_subset(joint_set1)
True

is_superset(other)[source]

Checks if it is a superset of the JointSet in parameter other

The method returns True if it is a superset or similar to other. The ordering of the joint names is not checked.

Parameters: other (JointSet) – JointSet which is used for comparision
Returns: result – If this JointSet is a superset of the other JointSet returns True else False
Return type: bool

:raises TypeError : type mismatch: If the parameter other is not of type JointSet

Examples

Check if one joint set is the superset of another

>>> from xamla_motion.data_types import JointSet
>>> joint_set1 = JointSet('joint1, joint2, joint3')
>>> joint_set2 = JointSet('joint1, joint2')
>>> joint_set1.is_superset(joint_set2)
True

names¶

List[str] (readonly) List of joint names

Type: names

try_get_index_of(name)[source]

Tries to get the list index of the joint by name

Parameters

name (str) – joint name for which it tries to find the list index

Returns

is_found (bool) – If the index is found it resturns True else False
index (int) – If index is found returns the index else returns None

:raises TypeError : type mismatch: If parameter name is not type of str

Examples

Try to get index of a specific joint in JointSet

>>> from xamla_motion.data_types import JointSet
>>> joint_set1 = JointSet('joint0')
>>> joint_set1.try_get_index_of('joint0')
(True, 0)
>>> joint_set1.try_get_index_of('joint1')
(False, None)

union(others)[source]

Creates new JointSet which contains the union of self and others joints

Parameters: others (JointSet or Iterable[JointSet]) – JointSet with which the union is performed

:raises TypeError : type mismatch: If others is not one of expected types JointSet or Iterable of JointSet

Returns: The created JointSet with union joint names
Return type: JointSet

Examples

Create new JointSet instance which is the union of two existing ones

>>> from xamla_motion.data_types import JointSet
>>> joint_set1 = JointSet('joint1, joint2')
>>> joint_set2 = JointSet('joint2, joint3')
>>> joint_set1.union(joint_set2)
JointSet:
joint1
joint2
joint3

EndEffectorDescription¶

How to use it:

class xamla_motion.data_types.EndEffectorDescription(name, sub_move_group_ids, joint_set, move_group_name, link_name)[source]¶

Class which describes an end effector

Initialization of EndEffectorDescription class

Parameters

name (str convertable) – name of the end effector
sub_move_group_ids (Iterable[str convertable]) – ids of the sub move groups
joint_set (JointSet) – JointSet which contains all joints of the base move group (if provided)
move_group_name (str convertable) – name of the move group
link_name (str convertable) – name of the end effector link

:raises TypeError : type mismatch: If joint_set is not of type JointSet or ids or names are not iterable :raises ValueError: If a input is not convertable to str

Returns: The created EndEffectorDescription
Return type: EndEffectorDescription

Examples

Create a instance of EndEffectorDescription

>>> from xamla_motion.data_types import EndEffectorDescription
>>> joint_set = JointSet('joint0')
>>> EndEffectorDescription('tcp',[1],joint_set,['group1'],'tcp_link')
EndEffectorDescription
link_name = tcp_link
name = tcp
move_group_name = ['group1']
joint_set = JointSet:
joint0
sub_move_group_ids = ['1']

joint_set¶

JointSet (read only) JointSet which contains all joints of the base move group

Type: joint_set

link_name¶

List[str] (read only) names of the endeffector link

Type: link_name

move_group_name¶

str (read only) name of the move group

Type: move_group_name

name¶

str (read only) name of the end effector

Type: name

sub_move_group_ids¶

List[str] (read only) ids of the sub move groups

Type: sub_move_group_ids

Details:

MoveGroupDescription¶

How to use it:

Details:

class xamla_motion.data_types.MoveGroupDescription(name, sub_move_group_ids, joint_set, end_effector_names, end_effector_link_names)[source]¶

Class which describes a robot or a subset of it by move groups, end effectors and joints

Initialization of MoveGroupDescription class

Parameters

name (str convertable) – name of the base move group
sub_move_group_ids (Iterable[str convertable]) – ids of the sub move groups
joint_set (JointSet) – JointSet which contains all joints of the base move group (if provided)
end_effector_names (Iterable[str convertable]) – names of the end effectors
end_effector_link_names (Iterable[str convertable]) – names of the end effector links

:raises TypeError : type mismatch: If joint_set is not of type JointSet or ids or names are not iterable :raises ValueError: If a input is not convertable to str

Returns: The created MoveGroupDescription
Return type: MoveGroupDescription

Examples

Create a instance of MoveGroupDescription

>>> from xamla_motion.data_types import MoveGroupDescription
>>> joint_set = JointSet('joint0')
>>> MoveGroupDescription('group1',[1],joint_set,['tcp'],['tcp_link'])
MoveGroupDescription
end_effector_names = ['tcp']
sub_move_group_ids = ['1']
end_effector_link_names = ['tcp_link']
joint_set = JointSet:
joint0
name = group1

end_effector_link_names¶

List[str](read only) names of the end effector links

Type: end_effector_link_names

end_effector_names¶

List[str](read only) names of the end effectors

Type: end_effector_names

joint_set¶

JointSet(read only) JointSet which contains all joints of the base move group

Type: joint_set

name¶

str (read only) name of the base move group

Type: name

sub_move_group_ids¶

List[str](read only) ids of the sub move groups

Type: sub_move_group_ids

CollisionPrimitive¶

How to use it:

Details:

class xamla_motion.data_types.CollisionPrimitive(kind, parameters, pose)[source]¶

Class CollisionPrimitive

At the moment following simple primitives are supported: plane, box, sphere, cylinder, cone

from_shape_msg(msg, pose)[source]¶: Creates an Instance of CollisionPrimitive from moveit shape msg

create_plane(a, b, c, d, pose)[source]¶: Creates an instance of CollisionPrimitive which represents a plane

create_box(cls, x, y, z, pose)[source]¶: Creates an instance of CollisionPrimitive which represents a box

create_unit_box(pose)[source]¶: Creates an instance of CollisionPrimitive which represents unit box

create_sphere(radius, pose)[source]¶: Creates an instance of CollisionPrimitive which represents a sphere

create_unit_sphere(pose)[source]¶: Creates an instance of CollisionPrimitive which represents unit sphere

create_cylinder(height, radius, pose)[source]¶: Creates an instance of CollisionPrimitive which represents a cylinder

create_cone(height, radius, pose)[source]¶: Creates an instance of CollisionPrimitive which represents a cone

to_shape_msg()[source]¶: Creates an instance of moveit/shape_msgs.Plane for a plane primitive or an instance of moveit/shape_msgs.SolidPrimitive for all other primitive

Initialization of CollisionPrimitive

Representation of a plane, using the plane equation ax + by + cz + d = 0: a := parameters[0] b := parameters[1] c := parameters[2] d := parameters[3]
Representation of a box: x := parameters[0] y := parameters[1] z := parameters[2]

Representation of a sphere radius := parameters[0]

Representation of a cylinder: height := parameters[0] radius := parameters[1]
Representation of a cone: height := parameters[0] radius := parameters[1]

Parameters

kind (CollisionPrimitiveKind) – Specifices which kind of primitive the new instance should represent
parameters (Iterable[float convertable]) – Parameters which describe the primitive
pose (Pose) – pose describes the position and orientation of the mid point of the primitive

Returns

An Instance of collision primitive

Return type

CollisionPrimitive

Raises

TypeError – If kind is not of type CollisionPrimitiveKind If pose is not of type Pose If parameters is not of type iterable of float convertable
ValuesError – If for a specific primitive kind the wrong number of parameters are provided If kind is CollisionPrimitiveKind.plane and the normal vector is described only by zeros If kind is not CollisionPrimitveKind.plane and a parameter in parameters is smaller than zero

Examples

Create a instance of a box collision primitive which is one meter in size in all three dimensions and the origin is the origin of the world coordinate system

>>> import numpy as np
>>> from xamla_motion.data_types import CollisionPrimitive, CollisionPrimitiveKind, Pose
>>> origin = Pose.from_transformation_matrix(np.eye(4),'world')
>>> CollisionPrimitive(CollisionPrimitiveKind.box,[1.0,1.0,1.0], origin)
CollisionPrimitive
pose = Pose:
translation.x : 0.0
translation.y : 0.0
translation.z : 0.0
quaternion.w : 1.0
quaternion.x : 0.0
quaternion.y : 0.0
quaternion.z : 0.0
frame_id : world
kind = CollisionPrimitiveKind.box
parameters = [ 1.  1.  1.]

classmethod create_box(x, y, z, pose)[source]

Creates an instance of CollisionPrimitive which represents a box

Representation of box aligned with pose xyz coordinates

Parameters

x (float convertable) – x coordinate of pose
y (float convertable) – y coordinate of pose
z (float convertable) – z coordinate of pose
pose (Pose) – Pose of the midpoint of the box

Returns

Primitive which represents a box

Return type

CollisionPrimitve

Raises

TypeError – If pose is not of type Pose If a parameter is not float convertable
ValuesError – If a parameter in is smaller than zero

classmethod create_cone(height, radius, pose)[source]

Creates an instance of CollisionPrimitive which represents a cone

Parameters

height (float convertable) – height of the cone
radius (float convertable) – radius of the cone
pose (Pose) – Pose of the midpoint of the cone

Returns

Primitive which represents a cone

Return type

CollisionPrimitve

Raises

TypeError – If pose is not of type Pose If a parameter is not float convertable
ValuesError – If a parameter in is smaller than zero

classmethod create_cylinder(height, radius, pose)[source]

Creates an instance of CollisionPrimitive which represents a cylinder

Parameters

height (float convertable) – height of the cylinder
radius (float convertable) – radius of the cylinder
pose (Pose) – Pose of the midpoint of the cylinder

Returns

Primitive which represents a cylinder

Return type

CollisionPrimitve

Raises

TypeError – If pose is not of type Pose If a parameter is not float convertable
ValuesError – If a parameter in is smaller than zero

classmethod create_plane(a, b, c, d, pose)[source]

Creates an instance of CollisionPrimitive which represents a plane

Representation of a plane, using the plane equation ax + by + cz + d = 0

Parameters

a (float convertable) – a parameter of plane equation
b (float convertable) – b parameter of plane equation
c (float convertable) – c parameter of plane equation
d (float convertable) – d parameter of plane equation
pose (Pose) – Pose of the midpoint of the plane

Returns

Primitive which represents a plane

Return type

CollisionPrimitve

Raises

TypeError – If pose is not of type Pose If a parameter is not float convertable
ValuesError – If the normal vector is described only by zeros If kind is not CollisionPrimitveKind.plane and a parameter in parameters is smaller than zero

classmethod create_sphere(radius, pose)[source]

Creates an instance of CollisionPrimitive which represents a sphere

Parameters

radius (float convertable) – radius of the sphere
pose (Pose) – Pose of the midpoint of the sphere

Returns

Primitive which represents a sphere

Return type

CollisionPrimitve

Raises

TypeError – If pose is not of type Pose If a parameter is not float convertable
ValuesError – If a parameter in is smaller than zero

classmethod create_unit_box(pose)[source]

Creates an instance of CollisionPrimitive which represents unit box

Parameters

pose (Pose) – Pose of the midpoint of the box

Returns

Primitive which represents a unit box

Return type

CollisionPrimitve

Raises

TypeError – If pose is not of type Pose If a parameter is not float convertable
ValuesError – If a parameter in is smaller than zero

classmethod create_unit_sphere(pose)[source]

Creates an instance of CollisionPrimitive which represents unit sphere

Parameters

pose (Pose) – Pose of the midpoint of the sphere

Returns

Primitive which represents a unit sphere

Return type

CollisionPrimitve

Raises

TypeError – If pose is not of type Pose If a parameter is not float convertable
ValuesError – If a parameter in is smaller than zero

classmethod from_shape_msg(msg, pose)[source]

Creates an Instance of CollisionPrimitive from moveit shape msg

At the moment it can handle moveit plane and solid primitive

Parameters

msg (message type from moveit/shape_msgs) – Message from which a CollisionPrimitive should be created
pose (Pose) – Pose instance which describes the midpoint pose of primitive

kind¶

CollisionPrimitiveKind kind of the collision primitive

Type: kind

parameters¶

numpy.array(dtype.floating) parameters which describe the primitive

Type: parameters

pose¶

Pose Describes the position and orientation of the primitive for the primitive midpoint

Type: pose

to_shape_msg()[source]: Creates an instance of moveit/shape_msgs.Plane for a plane primitive or an instance of moveit/shape_msgs.SolidPrimitive for all other primitive

CollisionObject¶

How to use it:

Details:

class xamla_motion.data_types.CollisionObject(primitives, frame_id='world')[source]¶

Class CollisionObject

An Instance of this class represent a collision object. A collision object can be a simple primitive or a assembly of many primitives

from_collision_object_msg(msg)[source]¶: Create a Pose from an instance of moveit_msgs/CollisionObject

to_collision_object_msg(self, action):: Creates a ROS collision object message from this instance

Initialization of CollisionObject class

Parameters

primitives (Iterable[CollisionPrimitives] or None) – primitives which describe the collision object
frame_id (str) – Frame / coordinate system in which the collision object is described

Returns

Instance of CollisionObject

Return type

CollisionObject

Raises

TypeError – If primitives are not of type iterable of CollisionPrimitives or None or if frame_id is not str convertable

frame_id¶

str (read only) Frame / coordinate system in which the collision object is described

Type: frame_id

classmethod from_collision_object_msg(msg)[source]

Create a Pose from an instance of moveit_msgs/CollisionObject

Parameters: msg (ros message moveit_msgs/CollisionObject) – Message of moveit_msgs/CollisionObject
Returns: New instance of collision object from msg
Return type: CollisionObject
Raises: TypeError – If msg is not of type moveit_msgs/CollisionObject

primitives¶

List[CollisionPrimitives] or None (read only) primitives which describe the collision object

Type: primitives

to_collision_object_msg(action)[source]¶

Creates a ROS collision object message from this instance

Parameters: action (moveit_msg/CollisionObject operation) – Defines which action/opertation should be performed (add, remove, append, move)
Returns
Return type: moveit_msgs/CollisionObject

Joint space data types¶

JointValues¶

How to use it:

Details:

class xamla_motion.data_types.JointValues(joint_set, values)[source]¶

Manages a set of joints and the respective joint values

empty()[source]¶: Creates empty instance of JointValues

zero(joint_set)[source]¶: Creates instance of JointValues with all values 0.0

try_get_value(name)[source]¶: Tries to get joint value by joint name

reorder(new_order)[source]¶: Creates reordered instance of JointValues by the order of new_order

transform(transform_function)[source]¶: Creates a transformed version of JointValues

select(names)[source]¶: Creates a JointValue instance which only contains selected joints

set_values(joint_set, values)[source]¶: Create a new instance of JointValues with modified values

merge(others)[source]¶: Merge JointValues instance with others JointValues

from_joint_path_point_msg(joint_set, msg)[source]¶: Creates an instance of JointValues from a JointPathPoint ros message

to_joint_path_point_msg()[source]¶: Transform to xamlamoveit_msgs JointPathMessage

Initialization of the JointValues class

Parameters

joint_set (JoinSet) – JointSet for which also the values should be managed
values (iterable[float castable]) – The JointValue class can be initialized in different ways -JointSet + only on float convertable value then all joint values are set to the same float value -JointSet + an iterable type with the same number of items as number of joints in joint set. (mapping one to one)

Returns

An instance of class JointValues

Return type

JointValues

:raises TypeError : type mismatch: If joint_set is not of type JointSet or type in values is not float castable :raises ValueError : not same size: If values is list of floats and not contains the same number of items as joint_set or numpy array that has not the correct size

static empty()[source]

Creates a empty JointValues instance

Returns: joint_values – An empty instance of JointValues
Return type: JointValues

classmethod from_joint_path_point_msg(joint_set, msg)[source]

Creates an instance of JointValues from a JointPathPoint ros message

Parameters

joint_set (JointSet) – Joint set to assign joint with values
msg (JointPathPoint ros message) – Message which should be transformed to JointValues

Returns

New instance of JointValues

Return type

JointValues

Raises

TypeError – If joint_set is not of type JointSet

classmethod from_joint_values_point_msg(msg)[source]¶

Creates an instance of JointValues from JointValuesPoint message

Parameters: msg (xamlamoveit_msgs JointValuesPoint message) – Message which should be transformed to JointValues
Returns: New instance of JointValues
Return type: JointValues
Raises: AttributeError – If msg not provide needed properties and methods

joint_set¶

JointSet (readonly) A instance of JointSet managing joint names

Type: joint_set

merge(others)[source]

Merge JointValues instance with others JointValues

Parameters: others (JointValues or Iterable[JointValues]) – JointValues which are merge with current instance
Returns: New instance of JointValues with contains Values for all Joints defined in this and others JointValues instances
Return type: JointValues

:raises TypeError : type mismatch: If others is not one of expected types JointValues or Iterable[JointValues] :raises ValueError : merge conflict: If values for some joints are defined in multiple instances of JointValues which should be merged

reorder(new_order)[source]

Creates reordered instance of JointValue by the order of new_order

Parameters: new_order (JointSet) – JointSet which defines the new order
Returns: A new Instance of JointValues containing the joints in the order definied by new_order (it is ok when new_order only holds a subset of joints)
Return type: JointValues

:raises TypeError : type mismatch: If input parameter new_order is not of type JointSet :raises ValueError :: If joint name from new_order not exists

select(names)[source]

Creates a JointValue instance which only contains selected joints

Parameters: names (str or list of str or JointSet) – Joint names which should be in the new JointValues instance
Returns: New instance of JointValues with selected joints
Return type: JointValues

:raises TypeError : type mismatch: If names is not of type str or list of str :raises ValueError :: If name not exist in joint names

set_values(joint_set, values)[source]

Create a new instance of JointValues with modified values

Parameters

joint_set (str, Iterable[str], JointSet) – joint_set defined by single string List of strings or JointSet
values (float, Iterable[float], np.ndarray) –

Returns

New instance of JointValues with modified values

Return type

JointValues

Raises

TypeError – If joint_set is not str, Iterable[str] or JointSet If values is not iterable
ValueError – If joint_set and values unequal length If joint defined in joint set not exist in the JointSet of this JointValues instance

to_joint_path_point_msg()[source]: Transform to xamlamoveit_msgs JointPathPoint message

to_joint_values_point_msg()[source]¶: Transform to xamlamoveit_msgs JointValuesPoint message

transform(transform_function)[source]

Creates a transformed version of JointValues

The transformation which is applied to every value in JointValues is defined by the transform function

Parameters: transform_function (callable or numpy.ufunc) – Function which is applied to every value in join values
Returns: A new Instance of JointValues with transformed joint values
Return type: JointValues

:raises TypeError : type mismatch: If transform function is not callable or not a numpy.ufunc and if the function dont has the signature input : floating , output : floating

try_get_value(joint_name)[source]

Tries to get joint value by joint name

Parameters

joint_name (str) – joint name for which it tries to get joint value

Returns

is_found (bool) – If joint name exists and therefore values is found True else False
value (float) – Joint value if joint name existes else None

values¶

numpy.ndarray(dtype=float64) (readonly) One dimensional numpy array holding the respective joint values

Type: valules

static zero(joint_set)[source]

Creates instance of JointValues with all values 0.0

Parameters: joint_set – JointSet which should be managed by JointValues
Returns: An JointValue instance with values initialized with 0.0
Return type: JointValues
Raises: TypeError – type mismatch: If input parameter join_set is not of type JointSet

JointLimits¶

How to use it:

Details:

class xamla_motion.data_types.JointLimits(joint_set, max_velocity=None, max_acceleration=None, min_position=None, max_position=None)[source]¶

Manages the joint limits for a set of joints

select(names)[source]¶: Creates a JointLimits instance which only contains selected joints

Initialization of JointLimits class

If a specific joint has no limits for velocity, acceleration or position than please set them to None or numpy.nan (for numpy.ndarray) the specific joint has than no constrain for this limit

Parameters

joint_set (JointSet) – Set of joints for which joint limits are required
max_velocity (Iterable[float convertable] or None) – One dimension array which defines the maximal velocity for each joint
max_acceleration (Iterable[float convertable] or None) – One dimension array which defines the maximal acceleration for each joint
min_position (Iterable[float convertable] or None) – One dimension array which defines the mininmal position for each joint
max_position (Iterable[float convertable] or None) – One dimension array which defines the maximal position for each joint

Returns

An instance of class JointLimits

Return type

JointLimits

:raises TypeError : type mismatch: If joint_set is not of type JointSet or max/min values are not of type list of float or numpy array of type floating :raises ValueError : not same size: If max/min values are list of float and not contains the same number of items as joint_set or numpy array that has not the correct size

joint_set¶

JointSet (readonly) A instance of JointSet managing joint names

Type: joint_set

max_acceleration¶

numpy.array(dtype=floating) One dimension array which defines the maximal acceleration for each joint(readonly)

Type: max_acceleration

max_position¶

numpy.array(dtype=floating) One dimension array which defines the maximal position for each joint(readonly)

Type: max_position

max_velocity¶

numpy.array(dtype=floating) One dimension array which defines the maximal velocity for each joint(readonly)

Type: max_velocity

min_position¶

numpy.array(dtype=floating) One dimension array which defines the mininmal position for each joint(readonly)

Type: min_position

select(names)[source]

Creates a JointLimits instance which only contains selected joints

Parameters: names (str or list of str) – Joint names which from the new JointLimit instance
Returns: New instance of JointLimits with selected joints
Return type: JointLimits

:raises TypeError : type mismatch: If names is not of type str or list of str :raises ValueError :: If name not exist in joint names

JointStates¶

How to use it:

Details:

class xamla_motion.data_types.JointStates(positions, velocities=None, efforts=None)[source]¶

Class which can hold a complete JointState (pos, vel, eff)

The JointState class can hold the complete information about a the state of joints of a robot. For this purpose it holds an instance of JointValues for positions, velocities, and efforts (velocities and efforts are optional)

reorder(new_order)[source]¶: Creates reordered instance of JointValue by the order of new_order

select(names)[source]¶: Creates a JointStates instance which only contains selected joints

Initialization of JointStates class

Parameters

positions (Joint_Values) – A instance of JointValues which represent the positions
velocities (Joint_Values or None (optional)) – A instance of JointValues which represent the velocities
efforts (Joint_Values or None (optional)) – A instance of JointValues which represent the efforts

Returns

Creates an instance of JointStates

Return type

JointStates

:raises TypeError : type mismatch: If arguments are not of type JointValues :raises ValueError: If instances of JointValues does not hold the same JointSets (joint names and order)

efforts¶

JointValues (read only) Joint Values which defines the efforts / acceleration of the joints

Type: efforts

joint_set¶

JointSet (read only) Set of joints for which it holds the values

Type: joint_set

positions¶

JointValues (read only) Joint Values which defines the positions of the joints

Type: positions

reorder(new_order)[source]

Creates reordered instance of JointValue by the order of new_order

Parameters: new_order (JointSet) – JointSet which defines the new order
Returns: A new Instance of JointStates containing the joints in the order definied by new_order (it is ok when new_order only holds a subset of joints)
Return type: JointStates

:raises TypeError : type mismatch: If input parameter new_order is not of type JointSet :raises ValueError :: If joint name from new_order not exists

select(names)[source]

Creates a JointStates instance which only contains selected joints

Parameters: names (str or list of str or JointSet) – Joint names which should be in the new JointValues instance
Returns: New instance of JointValues with selected joints
Return type: JointValues

:raises TypeError : type mismatch: If names is not of type str or list of str :raises ValueError :: If name not exist in joint names

velocities¶

JointValues (read only) Joint Values which defines the velocities of the joints

Type: velocities

JointPath¶

How to use it:

Details:

class xamla_motion.data_types.JointPath(joints, points)[source]¶

JointPath class describes a path by a list of joint configurations

from_one_point(point)[source]¶: Initialization of JointPath class with only one Point

from_start_stop_point(start, stop)[source]¶: Initialization of JointPath class with start, stop point

prepend(points)[source]¶: Creates new JointPath with points added in front of path points

append(points)[source]¶: Creates new JointPath with points added behind the path points

concat(other)[source]¶: Creates new JointPath with concatenated path points

transform(transform_function)[source]¶: Creates a transformed version of JointPath

Initialization of JointPath class

Parameters

joints (JointSet) – Set of joints
points (Iterable[JointValues]) – Iterable of JointValues where each JointValues instance describes a point of the path

Returns

Instance of JointPath

Return type

JointPath

:raises TypeError : type mismatch: If joints is not of type JointSet or if points is not of type list of JointValues

append(points)[source]

Creates new JointPath with points added behind the path points

Parameters: points (JointValues or Iterable[JointValues]) – Points which are added behind path points
Returns: Instance of JointPath with added points
Return type: JointPath
Raises: TypeError – If points is not one of expected types JointValues or Iterable of JointValues

concat(other)[source]

Creates new JointPath with concatenated path points

Parameters: other (JointPath) –
Raises: TypeError – If other is not of type JointPath

classmethod from_one_point(point)[source]

Initialization of JointPath class with only one Point

Parameters: point (JointValues) – Single point to initialize JointPath
Returns: Instance of JointPath
Return type: JointPath

:raises TypeError : type mismatch: If points is not of type JointValues

classmethod from_start_stop_point(start, stop)[source]

Initialization of JointPath class with start, stop point

Parameters

start (JointValues) – start point of the joint path
stop (JointValues) – stop point of the joint path

Returns

Instance of JointPath

Return type

JointPath

:raises TypeError : type mismatch: If start or stop is not of type JointValues

joint_set¶

JointSet (readonly) JointSet which represent the joints for which JointPath describes a path

Type: joint_set

points¶

Deque[JointValues] (readonly) A deque of JointValues which represent the joint configurations which are describe the path

Type: points

prepend(points)[source]

Creates new JointPath with points added in front of path points

Parameters: points (JointValues or Iterable[JointValues]) – Points which are added in front of path points
Returns: Instance of JointPath with added points
Return type: JointPath
Raises: TypeError – If points is not one of expected types JointValues or Iterable of JointValues

transform(transform_function)[source]

Creates a transformed version of JointPath

The transformation which is applied to every point in JointPath is defined by the transform function

Parameters: transform_function (callable or numpy.ufunc) – Function which is applied to every point value
Returns: A new Instance of JointPath with transformed point values
Return type: JointPath

:raises TypeError : type mismatch: If transform function is not callable or not a numpy.ufunc and if the function dont has the signature input : floating , output : floating

JointTrajectoryPoint¶

How to use it:

Details:

class xamla_motion.data_types.JointTrajectoryPoint(time_from_start, positions, velocities=None, accelertations=None, efforts=None)[source]¶

Class JointTrajectoryPoint

from_joint_trajectory_point_msg(joint_set, msg)[source]¶: Creates an instance of JointTrajectoryPoint from ros message

add_time_offset(offset)[source]¶: Creates a new instance of this JointTrajectoryPoint with same position, vel, acc, eff but with a modified time_from_start

merge(others)[source]¶: Creates a new instance of JointTrajectory as a result of the merge operation

to_joint_trajectory_point_msg()[source]¶: Converts JointTrajectoryPoint to JointTrajectoryPoint ros message

Initialize JointTrajectoryPoint class

Parameters

time_from_start (datatime.timedelta) – duration between start of trajectory and this point
positions (JointValues) – joint positions
velocities (JointValues or None) – joint velocities
accelerations (JointValues) – joint accelerations
efforts (JointValues) – joint force for a prismatic joint or torque for a rotational joint

Returns

Instance of JointTrajectoryPoint

Return type

JointTrajectoryPoint

:raises TypeError : type mismatch: If time_from_start is not of expected type datatime.timedelta or if positions is not of expected type JointValues or if velocities, accelerations or efforts ist not one of the expected types None or JointValues :raises ValueError: If the joint set of positions and if not None velocities, accelerations and efforts is not equal

accelerations¶

JointValues (readonly) If defined available joint accelerations of this trajectory point else None

Type: accelerations

add_time_offset(offset)[source]

Creates a new instance of JointTrajectoryPoint with applied time offset

adds a time offset to time_from_start

Parameters: offset (datatime.timedelta) – time offset as datatime timedelta
Returns
Return type: Instance of JointTrajectoryPoint with modified time_from_start
Raises: TypeError – If offset ist not of expected type datatime.timedelta

efforts¶

JointValues (readonly) If defined available joint efforts of this trajectory point else None

Type: efforts

classmethod from_joint_trajectory_point_msg(joint_set, msg)[source]

Creates an instance of JointTrajectoryPoint from ros message

Creates an instance of JointTrajectoryPoint from the ros message trajectory_msgs/JointTrajectoryPoint

Parameters

joint_set (JointSet) – Set of joints for which the trajectroy point is defined
msg (trajectory_msgs/JointTrajectoryPoint) – Instance of ros message that should be converted to JointTrajectoryPoint

Returns

New instance of JointTrajectoryPoint with the values of the ros message

Return type

JointTrajectoryPoint

:raises TypeError : type mismatch: If values from msg are not convertable to numpy array of type floating or if joint_set is not of expected type JointSet

interpolate_cubic(other, time)[source]¶

Interpolate cubic between self and other trajectory point

Parameters

other (JointTrajectoryPoint) – Second trajectory point for interpolation
time (timedelta) – time for which interpolation is performed

Returns

Return type

JointTrajectoryPoint

Raises

ValueError – If time from start of point is smaller than time from start of self If joint sets of point and self are not equal

joint_set¶

JointSet Set of joints for which the trajectory point contains values

Type: joint_set

merge(others)[source]

Creates a new instance of JointTrajectoryPoint as a result of the merge operation

Parameters: others (JointTrajectoryPoint or Iterable[JointTrajectoryPoint]) – TrajectoryPoints to merge with the current TrajectoryPoint
Returns: New instance of JointTrajectoryPoint which contains the merged JointTrajectoryPoints
Return type: JointTrajectoryPoint

:raises TypeError : type mismatch: If other not one of excpeted types JointTrajectoryPoint or Iterable[JointTrajectoryPoint] :raises ValueError: If time_from_start in self and others dont match If JointSets of self and others are not mergeable If self and others define more or less properties of JointTrajectoryPoint

positions¶

JointValues (readonly) Joint positions of this trajectory point

Type: positions

time_from_start¶

datetime.timedelta (readonly) Time span between trajectory start and this trajectory point as a instance of datetime.timedelta

Type: time_from_start

to_joint_trajectory_point_msg()[source]

Converts JointTrajectoryPoint to JointTrajectoryPoint ros message

trajectory_msgs/JointTrajectoryPoint.msg

Returns: New instance of JointTrajectoryPoint with the values of the ros message
Return type: JointTrajectoryPoint msg

velocities¶

JointValues (readonly) If defined available joint velocites of this trajectory point else None

Type: velocities

with_time_from_start(time)[source]¶

Set time from start

Parameters: time (timedelta) – time form start to set
Returns
Return type: JointTrajectoryPoint

JointTrajectory¶

How to use it:

Details:

class xamla_motion.data_types.JointTrajectory(joint_set, points, valid=True)[source]¶

Class JointTrajectory

empty()[source]¶: Creates a empty JointTrajectory instance

to_joint_trajectory_msg(self, seq=0, frame_id='')[source]¶: Converts JointTrajectory to JointTrajectory ros message

Initialize class JointTrajectory

Parameters

joint_set (JointSet) – Set of joints for which JointTrajectory should be defined
points (Iterable[JointTrajectoryPoint]) – An Iterable of JointTrajectoryPoint which concretely defines the trajectory
valid (bool (optinal)) – Defines if trajectory is avalid trajectory or not

Returns

An instance of JointTrajectory

Return type

JointTrajectory

Raises

TypeError – If joint_set is not of type JointSet or if points is not of type iterable of JointTrajectoryPoints or None
ValueError – If time from start is no ascending between points or joint set of points is not the same as of this JointTrajectory

accelerations¶

List[JointValues] List of JointValues where each item is the accelerations field of JointTrajectoryPoints

Type: accelerations

append(other, delay=datetime.timedelta(0))[source]¶

Append a JointTrajectory to current trajectory

Parameters

other (JointTrajectory) – joint trajectory to append
delay (timedelta) – time between last point of current trajectory and first point of other trajectory

Returns

Return type

JointTrajectory

duration¶

timedelta duration of trajectory

Type: duration

efforts¶

List[JointValues] List of JointValues where each item is the efforts field of JointTrajectoryPoints

Type: efforts

static empty()[source]: Creates a empty JointTrajectory instance

evaluate_at(time)[source]¶

Evaluates the trajectory at a given time

Parameters: time (timedetla) – The time at which the trajectory should be evaluated

get_point_before(time, return_index=False)[source]¶

Find and return JointTrajectoryPoint nearest and before defined time

Parameters

time (timedelta) – defines time for which the nearest and before point is required
return_index (bool (default False)) – If True return index instead of JointTrajectoryPoint

Returns

If return_index True returns index instead of JointTrajectoryPoint

Return type

JointTrajectoryPoint or int

has_acceleration¶

bool (readonly) True if trajectory has accelerations for every point

Type: is_acceleration

has_effort¶

bool (readonly) True if trajectory has efforts for every point

Type: has_effort

has_velocity¶

bool (readonly) True if trajectory has velocities for every point

Type: has_velocity

is_valid¶

bool (readonly) True if trajectory is a valid trajectory

Type: is_valid

joint_set¶

JointSet (readonly) Set of joints for which the trajectory contains values

Type: joint_set

merge(other, delay_self=None, delay_other=None)[source]¶

Merge self and other joint trajectory

Parameters

other (JointTrajectory) – Other trajectory to merge
delay_self (Union[timedelta,None] (default=None)) – If defined delay which is applied to self trajectory
delay_other (Union[timedelta,None] (default=None)) – If defined delay which is applied to other trajectory

Returns

Merged joint trajectory

Return type

JointTrajectory

points¶

List[JointTrajectoryPoints] (readonly) List of JointTrajectoryPoints which define the trajectory

Type: points

positions¶

List[JointValues] List of JointValues where each item is the positions field of JointTrajectoryPoints

Type: positions

prepend(other, delay=datetime.timedelta(0))[source]¶

Prepend a JointTrajectory to current trajectory

Parameters

other (JointTrajectory) – joint trajectory to prepend
delay (timedelta) – time between last point of other trajectory and first point of current trajectory

Returns

Return type

JointTrajectory

time_from_start¶

List[datatime.timedelta] List of timedeltas where each item is the time_from_start field of JointTrajectoryPoints

Type: timedelta

to_joint_trajectory_msg(seq=0, frame_id='')[source]

Converts JointTrajectory to JointTrajectory ros message

trajectory_msgs/JointTrajectory.msg

Parameters

seq (int(default 0)) – set seq field of message header
frame_id (int(default 0)) – set frame_id field of message header

Returns

Instance of JointTrajectory ros message

Return type

JointTrajectory ros message

transform(transform_function)[source]¶

Apply transformation to trajectory points

Parameters: transform_function (Callable[[JointTrajectoryPoint], JointTrajectoryPoint]) – Function which defines the transformation which is applied on each joint trajectory point
Returns: Joint Trajectory with transformed points
Return type: JointTrajectory

velocities¶

List[JointValues] List of JointValues where each item is the velocities field of JointTrajectoryPoints

Type: velocities

PlanParameters¶

How to use it:

Details:

class xamla_motion.data_types.PlanParameters(move_group_name, joint_limits, **kwargs)[source]¶

PlanParameter holds all constrains for joint space trajectory planning

from_arguments(move_group_name, joint_set, max_velocity,: max_acceleration, min_position, max_position, **kwargs)

Creates instance of PlanParameters from limit numpy arrays

Initialization of PlanParameters class

Parameters

move_group_name (str convertable) – name of the move group for which the plan parameters are created
joint_limits (JointLimits) – Defines the joint limits of the move group
argv (dict) – The argv dict is used to set parameters which have default values this are sample_resolution (default = 0.008 / 125 hz), collision_check (default = True), max_deviation (default = 0.2)

Returns

Return type

Instance of PlanParameters

:raises TypeError : type mismatch: If joint_limits is not of expected type JointLimts

Examples

>>> joints = ['Joint1','Joint2']
>>> joint_set = JointSet(joints)
>>> max_v = np.array([1.0, 1.5])
>>> max_a = np.array([0.2, 0.4])
>>> min_p = np.array([10, None])
>>> max_p = np.array([None, None])
>>> joint_limits = JointLimits(joint_set, max_v, max_a, min_p, max_p)
>>> p = PlanParameters('left_arm', joint_Limits, scale_velocity=0.5)

collision_check¶

bool defines if collision check should be performed

Type: collision_check

classmethod from_arguments(move_group_name, joint_set, max_velocity, max_acceleration, min_position, max_position, **kwargs)[source]¶

Initialization of PlanParameters class limit arrays

Parameters

move_group_name (str convertable) – name of the move group for which the plan parameters are created
joint_set (JointSet) – Set of joints for which joint limits are required
max_velocity (list of float or numpy.array(dtype=floating)) – One dimension array which defines the maximal velocity for each joint
max_acceleration (list of float or numpy.array(dtype=floating)) – One dimension array which defines the maximal acceleration for each joint
min_position (list of float or numpy.array(dtype=floating)) – One dimension array which defines the mininmal position for each joint
max_position (list of float or numpy.array(dtype=floating)) – One dimension array which defines the maximal position for each joint
kwargs (dict) – The argv dict is used to set parameters which have default values this are sample_resolution (default = 0.008), collision_check (default = True), max_deviation (default = 0.2)

Returns

Return type

Instance of PlanParameters

classmethod from_builder(builder)[source]¶

Initilization of PlanParameters from PlanParameters Builder

Parameters: builder – Instance of PlanParameter Builder
Returns
Return type: Instance of PlanParameters
Raises: TypeError – If builder is not of expected type PlanParameters Builder

joint_limits¶

JointLimits(read only) define the joint constraints

Type: joint_limits

joint_set¶

JointSet (read only) set of joints for which the limits are defined

Type: joint_set

max_acceleration¶

numpy.array(dtype=floating) (read only) maximal acceleration

Type: max_acceleration

max_deviation¶

float defines the maximal deviation from trajectory points when it is a fly-by-point in joint space

Type: max_deviation

max_position¶

numpy.array(dtype=floating) (read only) position limit maximum

Type: max_position

max_velocity¶

numpy.array(dtype=floating) (read only) maximal velocities

Type: max_velocity

min_position¶

numpy.array(dtype=floating) (read only) position limit minimum

Type: min_position

move_group_name¶

str (read only) Name of the move group for which plan parameters are applied

Type: move_group_name

sample_resolution¶

float sampling resolution in Hz

Type: sample_resolution

to_builder()[source]¶

Create an instance of PlanParameter Builder

Returns: Instance of PlanParameter Builder
Return type: PlanParameter Builder

with_collision_check(value)[source]¶

Create an instance of PlanParameters with collision check value

Parameters: value (bool) – New value of collision check
Returns: Instance of PlanParameters with new collision check value
Return type: PlanParameters
Raises: TypeError – If value is not of type bool

with_max_deviation(value)[source]¶

Create an instance of PlanParameters with max deviation value

Parameters: value (bool) – New value of max deviation
Returns: Instance of PlanParameters with new max deviation value
Return type: PlanParameters
Raises: TypeError – If value is not convertable to float

with_sample_resolution(value)[source]¶

Create an instance of PlanParameters with sample resolution value

Parameters: value (bool) – New value of sample resolution
Returns: Instance of PlanParameters with new sample resolution value
Return type: PlanParameters
Raises: TypeError – If value is not convertable to float

Task space data types¶

Pose¶

How to use it:

Details:

class xamla_motion.data_types.Pose(translation, rotation, frame_id='world', normalize_rotation=False)[source]¶

Pose defined by three dimensional translation and rotation

The translation is representated by a three dimensional row vector. The rotation is represented by a quaternion. The pose itself is defined in coordinate system which is defined in frame_id (default world)

from_transformation_matrix(matrix, frame_id='', normalize_rotation=False)[source]¶: Creates an instance of Pose from a transformation matrix

from_posestamped_msg(msg)[source]¶: Initialize Pose from ROS posestamped message

from_pose_msg(msg, frame_id='')[source]¶: Initialize Pose from ROS pose message

normalize_rotation()[source]¶: Creates an instance of Pose with normalized quaternion

is_rotation_normalized()[source]¶: Return True if quaternion is normalized

rotation_matrix()[source]¶: Returns the rotation matrix(3x3 numpy array)

transformation_matrix()[source]¶: Returns the transformation matrix in homogenous coordinates (4x4 numpy array)

inverse(new_frame_id)[source]¶: Creates an instance which contains the inverse of this pose

translate(translation)[source]¶: Translate pose

rotate(rotation)[source]¶: Rotate pose

to_posestamped_msg()[source]¶: Creates an instance of the ROS message PoseStamped from Pose

Initialization of the pose class

For the internal quaternion representation and also to initialize the the class the library pyquaternion is used : https://kieranwynn.github.io/pyquaternion/

Parameters

translation (convertable to numpy array of shape (3,)) – translation or position the pose describes
rotation (pyquaternion.Quaternion) – rotation the pose describes as Quaternion
frame_id (str (optinal defaul = 'world')) – name of the coordinate system the pose is defined
normalize_rotation (bool (optinal default = False)) – If true quaternion normalization is performed in the initialization process

Returns

pose – An instance of class Pose

Return type

Pose

:raises TypeError : type mismatch: If tranlation vector could not converted to a numpy array of shape (3,) with d type floating and the quaternion is not of type Quaternion. If frame_id is not of type str If normalize_rotation is not of type bool :raises ValueError: If the quaternion initalization from translation matrix went wrong

Examples

Create a Pose by translation and quaternion and perform normalization >>> quaternion = Quaternion(matrix=np.eye(3)) >>> translation = np.array([1.0,1.0,1.0]) >>> p1 = Pose(translation, quaternion, _, True)

frame_id¶

str (readonly) Id of the coordinate system / frame

Type: frame_id

classmethod from_pose_msg(msg, frame_id='world')[source]

Initialize Pose from ros geometry_msgs/Pose

Parameters: msg (Pose from geometry_msgs) – pose message
Returns: pose – Instance of Pose from pose message
Return type: Pose
Raises: TypeError – If msg is not of type Pose

classmethod from_posestamped_msg(msg)[source]

Initialize Pose from ROS posestamped message

Parameters: msg (PoseStamped from ROS geometry_msgs) – posestamped message
Returns: pose – Instance of Pose generated from PoseStamped message
Return type: Pose
Raises: TypeError – If msg is not of type PoseStamped

classmethod from_transformation_matrix(matrix, frame_id='world', normalize_rotation=False)[source]

Initialization of the pose class from transformation matrix

Parameters

matrix (numpy.ndarray((4,4),np.dtype=floating)) – A transformation matrix in homogenous coordinates
frame_id (str (defaul = 'world')) – name of the coordinate system the pose is defined
normalize_rotation (bool (optional default = False)) – If true quaternion normalization is performed in the initialization process

Returns

pose – An instance of class Pose

Return type

Pose

:raises TypeError : type mismatch: If tranformation matrix is not a 4x4 numpy array with dtype floating

Examples

Create a Pose instance from transformation matrix and set frame_id >>> transformation_matrix = np.eye(4) >>> p0 = Pose.from_transformation_matrix(transformation_matrix, “global”)

classmethod identity(frame_id='world')[source]¶

Creates a instance of Pose from idenity matrix

Parameters: frame_id (str (optional defaul = 'world')) – name of the coordinate system the pose is defined
Returns: pose – An instance of class Pose
Return type: Pose

inverse(new_frame_id)[source]

Creates an instance which contains the inverse of this pose

Parameters: new_frame_id (str convertable) – name of the coordinate system in which pose is now defined
Returns: inv_pose – pose which is the inverse of self
Return type: Pose

:raises TypeError : type mismatch: If new_frame_id is not of type str

is_rotation_normalized()[source]

Returns True is rotation is normalized

Returns: result – True is rotation is normalized else False
Return type: bool

normalize_rotation()[source]

Creates an instance of Pose with normalized quaternion

Returns: pose – Instance of Pose with normalized quaternion / rotation
Return type: Pose

quaternion¶

Quaternion(pyquaternion lib) (readonly) Quaternion which describes the rotation

Type: quaternion

rotate(rotation)[source]

Rotate pose

Parameters: rotation ((Quaternion or np.ndarray)) – defines rotation by Quaternion or 3x3 rotation matrix
Returns: rotated_pose – pose which is rotated by rotation
Return type: Pose

:raises TypeError : type mismatch: If rotation is not one of expected types 3x3 np.ndarray or pyquaternion.Quaternion :raises ValueError: If initialization of Quaternion is not possible

rotation_matrix()[source]

Returns the rotation matrix (3x3 numpy array)

Returns: rotation_matrix – A 3x3 numpy array with dtype float which represents the rotation matrix
Return type: np.ndarray

to_pose_msg()[source]¶

Creates an instance of the ROS message Pose

Returns

Instance of ROS message Pose
geometry_msgs/Pose

to_posestamped_msg()[source]

Creates an instance of the ROS message PoseStamped

Returns

Instance of ROS message PoseStamped (seq and time are not set)
docs.ros.org/kinetic/api/geometry_msgs/html/msg/PoseStamped.html

transformation_matrix()[source]

Return the transformation martix in homogenous coordinates (4x4 numpy array)

Returns: transformation_matrix – A 4x4 numpy array with dtype float which represents the transformation matrix in homogenous coordinates
Return type: np.ndarray

translate(translation)[source]

Translate pose

Parameters: translation (Iterable) – translation which defines the change in x,y,z
Returns: translated_pose – pose which is translated by translate vector
Return type: Pose

:raises TypeError : type mismatch: If translation is not convertable to np.ndarray :raises ValueError: If translation is not of size 3 (x,y,z)

translation¶

numpy.array((3,) dtype=floating) (readonly) numpy row array of size 3 which describes the translation

Type: translation

EndEffectorLimits¶

How to use it:

Details:

class xamla_motion.data_types.EndEffectorLimits(max_xyz_velocity, max_xyz_acceleration, max_angular_velocity, max_angular_acceleration)[source]¶

Class which holds hold task space / endeffector limits

Initialization of class EndeffectorLimits

Parameters

max_xyz_velocity (float convertable or None) – Defines the maximal xyz velocity [m/s]
max_xyz_acceleration (float convertable) – Defines the maximal xyz acceleration [m/s^2]
max_angular_velocity (float convertable or None) – Defines the maximal angular velocity [rad/s]
max_angular_acceleration (float convertable or None) – Defines the maximal angular acceleration [rad/s^2]

Returns

Instance of class EndeffectorLimits

Return type

EndEffectorLimits

:raises TypeError : type mismatch: If one of the parameters is not convertable to float

max_angular_acceleration¶

float or None(read only) Max angular acceleration[rad/(s ^ 2)]

Type: max_angular_acceleration

max_angular_velocity¶

float or None(read only) Max angular velocity[rad/s]

Type: max_angular_velocity

max_xyz_acceleration¶

float or None(read only) Max xyz acceleration [m/(s^2)]

Type: max_xyz_acceleration

max_xyz_velocity¶

float or None(read only) Maximal xyz velocity [m/s]

Type: max_xyz_velocity

CartesianPath¶

How to use it:

Details:

class xamla_motion.data_types.CartesianPath(points)[source]¶

CartesianPath class describes a path by a list of joint configurations

from_one_point(point)[source]¶: Initialization of CartesianPath class with only one Point

from_start_stop_point(start, stop)[source]¶: Initialization of CartesianPath class with start, stop point

prepend(points)[source]¶: Creates new CartesianPath with points added in front of path points

append(points)[source]¶: Creates new CartesianPath with points added behind the path points

concat(other)[source]¶: Creates new CartesianPath with concatenated path points

transform(transform_function)[source]¶: Creates a transformed version of CartesianPath

Initialization of CartesianPath class

Parameters: points (Iterable[Pose]) – List of Pose where each Pose instance describes a point of the path
Returns: Instance of CartesianPath
Return type: CartesianPath

:raises TypeError : type mismatch: If points is not of type iterable of Pose

append(points)[source]

Creates new CartesianPath with points added behind the path points

Parameters: points (Pose or Iterable[Pose]) – Points which are added behind path points
Returns: Instance of CartesianPath with added points
Return type: CartesianPath
Raises: TypeError – If points is not one of expected types Pose or Iterable of Pose

concat(other)[source]

Creates new CartesianPath with concatenated path points

Parameters: other (CartesianPath) –
Raises: TypeError – If other is not of type CartesianPath

classmethod from_cartesian_path_msg(msg)[source]¶

Create instance from cartesian path message

Parameters: msg (xamlamoveit_msgs.msg CartesianPath.msg) – ROS cartesian path message
Returns: New instance of CartesianPath
Return type: CartesianPath

classmethod from_one_point(point)[source]

Initialization of CartesianPath class with only one Point

Parameters: point (Pose) – Single point to initialize CartesianPath
Returns: Instance of CartesianPath
Return type: CartesianPath

:raises TypeError : type mismatch: If points is not of type Pose

classmethod from_start_stop_point(start, stop)[source]

Initialization of CartesianPath class with start, stop point

Parameters

start (Pose) – start point of the joint path
stop (Pose) – stop point of the joint path

Returns

Instance of CartesianPath

Return type

CartesianPath

:raises TypeError : type mismatch: If start or stop is not of type Pose

orientations¶

List[pyquaternion.Quaternion] orientations as Quaternion from pyquaternion

Type: orientations

points¶

Deque[Pose] (readonly) A deque of Pose which represent the cartesian poses which are describe the path

Type: points

positions¶

List[np.array((3,),dtype=floating) positions in x,y,z coordinates

Type: positions

prepend(points)[source]

Creates new CartesianPath with points added in front of path points

Parameters: points (Pose or Iterable[Pose]) – Points which are added in front of path points
Returns: Instance of CartesianPath with added points
Return type: CartesianPath
Raises: TypeError – If points is not one of expected types Pose or Iterable of Pose

to_cartesian_path_msg()[source]¶: Generates a xamlamoveit_msgs.msg CartesianPath.msg from this CartesianPath instance

transform(transform_function)[source]

Creates a transformed version of CartesianPath

The transformation which is applied to every point in CartesianPath is defined by the transform function

Parameters: transform_function (callable) – Function which is applied to every pose
Returns: A new Instance of CartesianPath with transformed poses
Return type: CartesianPath

:raises TypeError : type mismatch: If transform function is not callable and if the function dont has the signature input : Pose , output : Pose

TaskSpacePlanParameters¶

How to use it:

Details:

class xamla_motion.data_types.TaskSpacePlanParameters(end_effector_name, end_effector_limits, **kwargs)[source]¶

TaskSpace holds all constrains for task space trajectory planning

from_arguments(end_effector_name, max_xyz_velocity,: max_xyz_acceleration, max_angular_velocity, max_angular_acceleration, **kwargs)

Creates a instance or TaskSpacePlanParameters from single limit arguments

Initialization of TaskSpacePlanParameters class

Parameters

end_effector_name (str convertable) – Name of the end effector
end_effector_limits (EndEffectorLimits) – Limits of the end effector in task space
kwargs (dict) – The argv dict is used to set parameters which have default values this are sample_resolution (default = 0.008 / 125 Hz), collision_check (default = True), max_deviation (default = 0.2), ik_jump_threshold (default = 1.2)

Returns

Return type

Instance of TaskSpacePlanParameters

:raises TypeError : type mismatch: If end_effector_limits is not of expected type EndEffectorLimits

Examples

>>> end_effector_limits = EndeffectorLimits(1.0, 1.0, 1.0, 1.0)
>>> p = TaskSpacePlanParameters('tool1', end_effector_limits, max_deviation=0.1)

collision_check¶

bool defines if collision check should be performed

Type: collision_check

end_effector_limits¶

EndeffectorLimits(read only) define the task space constraints

Type: end_effector_limits

end_effector_name¶

str (read only) Name of the move group for which plan parameters are applied

Type: end_effector_name

classmethod from_arguments(end_effector_name, max_xyz_velocity, max_xyz_acceleration, max_angular_velocity, max_angular_acceleration, **kwargs)[source]¶

Initialization of TaskSpacePlanParameters by single limits

Parameters

end_effector_name (str) – Name of the end effector
max_xyz_velocity (float convertable) – Defines the maximal xyz velocity [m/s]
max_xyz_acceleration (float convertable (read only)) – Defines the maximal xyz acceleration [m/s^2]
max_angular_velocity (float convertable (read only)) – Defines the maximal angular velocity [rad/s]
max_angular_acceleration (float convertable (read only)) – Defines the maximal angular acceleration [rad/s^2]
kwargs (dict) – The argv dict is used to set parameters which have default values this are sample_resolution (default = 0.008), collision_check (default = True), max_deviation (default = 0.2), ik_jump_threshold (default = 1.2)

Returns

Instance of TaskSpacePlanParameters

Return type

TaskSpacePlanParameters

Raises

ArgumentError – If instance of EndeffectorLimits could not be created due to wrong type or format of the arguments

Examples

>>> p = TaskSpacePlanParameters('tool1', 1.0, 1.0, 1.0, 1.0, max_deviation=0.1)

classmethod from_builder(builder)[source]¶

Initilization of TaskSpacePlanParameters from TaskSpacePlanParameters Builder

Parameters: builder – Instance of TaskSpacePlanParameter Builder
Returns
Return type: Instance of TaskSpacePlanParameters
Raises: TypeError – If builder is not of expected type TaskSpacePlanParameters Builder

ik_jump_threshold¶

float defines the inverse kinematic jump threshold

Type: ik_jump_threshold

max_angular_acceleration¶

float(read only) max angular acceleration

Type: max_angular_acceleration

max_angular_velocity¶

float(read only) max angular velocity

Type: max_angular_velocity

max_deviation¶

float defines the maximal deviation from trajectory points when fly-by-points in joint space

Type: max_deviation

max_xyz_acceleration¶

float(read only) max translational acceleration

Type: max_xyz_acceleration

max_xyz_velocity¶

float(read only) max translational velocity

Type: max_xyz_velocity

sample_resolution¶

float sampling resolution in Hz

Type: sample_resolution

to_builder()[source]¶

Create an instance of TaskSpacePlanParameters Builder

Returns: Instance of TaskSpacePlanParameters Builder
Return type: TaskSpacePlanParameters Builder

with_collision_check(value)[source]¶

Create an instance of TaskSpacePlanParameters with collision check value

Parameters: value (bool) – New value of collision check
Returns: Instance of TaskSpacePlanParameters with new collision check value
Return type: TaskSpacePlanParameters
Raises: TypeError – If value is not of type bool

with_ik_jump_threshold(value)[source]¶

Create an instance of TaskSpacePlanParameters with ik jump threshold value

Parameters: value (bool) – New value of ik jump threshold
Returns: Instance of TaskSpacePlanParameters with new ik jump threshold value
Return type: TaskSpacePlanParameters
Raises: TypeError – If value is not convertable to float

with_max_deviation(value)[source]¶

Create an instance of TaskSpacePlanParameters with max deviation value

Parameters: value (bool) – New value of max deviation
Returns: Instance of TaskSpacePlanParameters with new max deviation value
Return type: TaskSpacePlanParameters
Raises: TypeError – If value is not convertable to float

with_sample_resolution(value)[source]¶

Create an instance of TaskSpacePlanParameters with sample resolution value

Parameters: value (bool) – New value of sample resolution
Returns: Instance of TaskSpacePlanParameters with new sample resolution value
Return type: TaskSpacePlanParameters
Raises: TypeError – If value is not convertable to float

State and result data types¶

MoveGripperResult¶

How to use it:

Details:

class xamla_motion.data_types.MoveGripperResult(position, reached_goal, stalled, effort)[source]¶

Class which represents the result of a gripper action

effort¶

float The current effort exerted (in Newtons)

Type: effort

position¶

float The current gripper gap size (in meters)

Type: position

reached_goal¶

bool True iff the gripper position has reached the commanded setpoint

Type: reached_goal

stalled¶

bool True iff the gripper is exerting max effort and not moving

Type: stalled

WsgResult¶

How to use it:

Details:

class xamla_motion.data_types.WsgResult(state, width, force, status)[source]¶

Class which respresents the result of a WSG gripper action

force¶

float The current effort exerted (in Newtons)

Type: force

width¶

float The current gripper gap size (in meters)

Type: width

IkResults¶

How to use it:

Details:

class xamla_motion.data_types.IkResults(path, error_codes)[source]¶

Class with hold result of a inverse kinematics query

error_codes¶

List[ErrorCodes] error codes

Type: error_code

path¶

JointPath solutions from the inverse kinematics

Type: path

SteppedMotionState¶

How to use it:

Details:

class xamla_motion.data_types.SteppedMotionState(goal_id, error_message, error_code, progress)[source]¶

Class which carries a state snapshot of a stepped motion operation

Initialize class SteppedMotionState

Parameters

goal_id (str) – Goal id of the ROS action which is used to perform the stepped motion operation
error_message (str) – String representation of the error
error_code (int) – Numerical representation if the error
progress (float) – Progess of the stepped motion operation in percent range [0.0-1.0]

Returns

An instance of SteppedMotionState

Return type

SteppedMotionState

error_code¶

xamla_motion.data_types.ErroCodes Numerical representation if the error

Type: error_code

error_message¶

str String representation of the error

Type: error_message

goal_id¶

str Goal id of the ROS action which is used to perform the stepped motion operation

Type: goal_id

progress¶

float Progess of the stepped motion operation in percent range [0.0-1.0]

Type: progress

JointValuesCollisions¶

How to use it:

Details:

class xamla_motion.data_types.JointValuesCollisions(index, error_code, error_message)[source]¶

Class which represents a robot collision

error_code¶

int (readonly) STATE_VALID = 1 STATE_SELF_COLLISION = -1 STATE_SCENE_COLLISION =-2 INVALID_JOINTS = -11 INVALID_MOVE_GROUP = -12

Type: error_code

error_message¶

str error message of state

Type: error_message

index¶

int (readonly) value index where the collision occurs

Type: index