concepts.dm.crow.interfaces.perception_interface.CrowPerceptionInterface#

class CrowPerceptionInterface[source]#

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__()[source]#
__new__(**kwargs)#
detect(name)[source]#

Detect the object with the given name.

Parameters:

name (str) –

Return type:

None

get_crow_state()[source]#

Get the state of the perception interface.

Return type:

CrowState

get_perception_result()[source]#

Get the perception result.

Return type:

CrowPerceptionResult

register_object_tracking(identifier)[source]#
Parameters:

identifier (int) –

Return type:

None

register_object_tracking_feature(identifier, feature)[source]#
Parameters:
  • identifier (int) –

  • feature (str) –

Return type:

None

step(action=None)[source]#

Step the perception interface.

Parameters:

action (Any | None) –

Return type:

None

unregister_object_tracking(identifier)[source]#
Parameters:

identifier (int) –

Return type:

None

unregister_object_tracking_feature(identifier, feature)[source]#
Parameters:
  • identifier (int) –

  • feature (str) –

Return type:

None

update_simulator()[source]#

Update the simulator.

Return type:

None