concepts.pdsketch.perception_interface.PDSketchPerceptionInterface#

class PDSketchPerceptionInterface[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_object(name)

Detect the object with the given name.

get_partial_scene_pcd()

Get the partial point cloud of the scene.

get_scene_pcd()

Get the point cloud of the scene.
__init__(executor)[source]#
Parameters:

executor (PDSketchExecutor) –

__new__(**kwargs)#
detect_object(name)[source]#

Detect the object with the given name.

Parameters:

name (str) –

Return type:

Sequence[ObjectMemoryItem]

get_partial_scene_pcd()[source]#

Get the partial point cloud of the scene. This point cloud might be partial so we may not directly use it for collision checking.

Return type:

Any

get_scene_pcd()[source]#

Get the point cloud of the scene. This will be used for collision checking.

Return type:

Any