concepts.dm.crow.interfaces.perception_interface.CrowPerceptionInterface

class CrowPerceptionInterface

Bases: object

The perception interface for PDSketch.

The perception interface takes the raw sensory data and supports various types of perception queries, including

• Occupancy point clouds. This is useful for performing collision checking.

• Identifying of objects given particular queries, such as the name of an object.

Methods

detect(name)	Detect the object with the given name.
get_crow_state()	Get the state of the perception interface.
get_perception_result()	Get the perception result.
register_object_tracking(identifier)
register_object_tracking_feature(identifier, ...)
step([action])	Step the perception interface.
unregister_object_tracking(identifier)
unregister_object_tracking_feature(...)
update_simulator()	Update the simulator.

__init__()

__new__(**kwargs)

detect(name)

Detect the object with the given name.

Parameters:

name (str)

Return type:

None

get_crow_state()

Get the state of the perception interface.

Return type:

CrowState

get_perception_result()

Get the perception result.

Return type:

CrowPerceptionResult

register_object_tracking(identifier)

Parameters:

identifier (int)

Return type:

None

register_object_tracking_feature(identifier, feature)

Parameters:

• identifier (int)

• feature (str)

Return type:

None

step(action=None)

Step the perception interface.

Parameters:

action (Any | None)

Return type:

None

unregister_object_tracking(identifier)

Parameters:

identifier (int)

Return type:

None

unregister_object_tracking_feature(identifier, feature)

Parameters:

• identifier (int)

• feature (str)

Return type:

None

update_simulator()

Update the simulator.

Return type:

None