`ros_sugar.config.robot`#

Robot description primitives shared by all Sugarcoat components

Module Contents#

Classes#

`StrEnum`	A string-valued enum whose members behave like their own value.
`RobotType`	Robot motion model.
`RobotGeometryType`	Shape of the volume the robot occupies.
`LinearCtrlLimits`	Linear velocity control limits along one axis
`AngularCtrlLimits`	Angular velocity control limits
`RobotFrames`	Coordinate frames of the robot.
`RobotConfig`	Physical description of the robot: how it moves, how big it is, how fast.

API#

class ros_sugar.config.robot.StrEnum#

Bases: str, enum.Enum

A string-valued enum whose members behave like their own value.

enum.StrEnum only exists on Python 3.11+, so it is implemented here to keep the package usable on older interpreters.

The str mixin is the load-bearing part: it makes a member compare equal to its name across package boundaries, so a consumer holding an equivalent enum of its own (or a plain string read from a config file) still matches. Overriding __str__ keeps serialization emitting "CYLINDER" rather than the "RobotGeometryType.CYLINDER" repr that a bare mixin produces.

classmethod get_enum(__value: str) → Optional[ros_sugar.config.robot.T]#

Get Enum member equal to the given value

Parameters:: __value (str) – Reference value
Returns:: Enum member
Return type:: StrEnum | None

classmethod values() → List[str]#: Get all enum values

capitalize()#

casefold()#

center()#

count()#

encode()#

endswith()#

expandtabs()#

find()#

format()#

format_map()#

index()#

isalnum()#

isalpha()#

isascii()#

isdecimal()#

isdigit()#

isidentifier()#

islower()#

isnumeric()#

isprintable()#

isspace()#

istitle()#

isupper()#

join()#

ljust()#

lower()#

lstrip()#

partition()#

removeprefix()#

removesuffix()#

replace()#

rfind()#

rindex()#

rjust()#

rpartition()#

rsplit()#

rstrip()#

split()#

splitlines()#

startswith()#

strip()#

swapcase()#

title()#

translate()#

upper()#

zfill()#

name()#

value()#

class ros_sugar.config.robot.RobotType#

Bases: ros_sugar.config.robot.StrEnum

Robot motion model.

classmethod get_enum(__value: str) → Optional[ros_sugar.config.robot.T]#

classmethod values() → List[str]#

capitalize()#

casefold()#

center()#

count()#

encode()#

endswith()#

expandtabs()#

find()#

format()#

format_map()#

index()#

isalnum()#

isalpha()#

isascii()#

isdecimal()#

isdigit()#

isidentifier()#

islower()#

isnumeric()#

isprintable()#

isspace()#

istitle()#

isupper()#

join()#

ljust()#

lower()#

lstrip()#

partition()#

removeprefix()#

removesuffix()#

replace()#

rfind()#

rindex()#

rjust()#

rpartition()#

rsplit()#

rstrip()#

split()#

splitlines()#

startswith()#

strip()#

swapcase()#

title()#

translate()#

upper()#

zfill()#

name()#

value()#

class ros_sugar.config.robot.RobotGeometryType#

Bases: ros_sugar.config.robot.StrEnum

Shape of the volume the robot occupies.

classmethod get_enum(__value: str) → Optional[ros_sugar.config.robot.T]#

classmethod values() → List[str]#

capitalize()#

casefold()#

center()#

count()#

encode()#

endswith()#

expandtabs()#

find()#

format()#

format_map()#

index()#

isalnum()#

isalpha()#

isascii()#

isdecimal()#

isdigit()#

isidentifier()#

islower()#

isnumeric()#

isprintable()#

isspace()#

istitle()#

isupper()#

join()#

ljust()#

lower()#

lstrip()#

partition()#

removeprefix()#

removesuffix()#

replace()#

rfind()#

rindex()#

rjust()#

rpartition()#

rsplit()#

rstrip()#

split()#

splitlines()#

startswith()#

strip()#

swapcase()#

title()#

translate()#

upper()#

zfill()#

name()#

value()#

class ros_sugar.config.robot.LinearCtrlLimits#

Bases: ros_sugar.config.base_attrs.BaseAttrs

Linear velocity control limits along one axis

asdict(filter: Optional[Callable] = None) → Dict#

to_dict() → Dict#

asdict_explicit() → Dict#

from_dict(dict_obj: Dict) → None#

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool#

to_json() → Union[str, bytes, bytearray]#

from_json(json_obj: Union[str, bytes, bytearray]) → None#

has_attribute(attr_name: str) → bool#

get_attribute_type(attr_name: str) → Optional[type]#

update_value(attr_name: str, attr_value: Any) → bool#

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]#

class ros_sugar.config.robot.AngularCtrlLimits#

Bases: ros_sugar.config.base_attrs.BaseAttrs

Angular velocity control limits

asdict(filter: Optional[Callable] = None) → Dict#

to_dict() → Dict#

asdict_explicit() → Dict#

from_dict(dict_obj: Dict) → None#

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool#

to_json() → Union[str, bytes, bytearray]#

from_json(json_obj: Union[str, bytes, bytearray]) → None#

has_attribute(attr_name: str) → bool#

get_attribute_type(attr_name: str) → Optional[type]#

update_value(attr_name: str, attr_value: Any) → bool#

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]#

class ros_sugar.config.robot.RobotFrames#

Bases: ros_sugar.config.base_attrs.BaseAttrs

Coordinate frames of the robot.

Only the two frames a deployment genuinely has to choose are declared here. Every other frame is read from the online data.

Name	Type, Default	Description
robot_base	`str`, `"base_link"`	Frame rigidly attached to the robot body.
world	`str`, `"map"`	Global reference frame the robot operates in. Goals, paths and maps are expressed in it, and robot location is transformed into it.

asdict(filter: Optional[Callable] = None) → Dict#

to_dict() → Dict#

asdict_explicit() → Dict#

from_dict(dict_obj: Dict) → None#

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool#

to_json() → Union[str, bytes, bytearray]#

from_json(json_obj: Union[str, bytes, bytearray]) → None#

has_attribute(attr_name: str) → bool#

get_attribute_type(attr_name: str) → Optional[type]#

update_value(attr_name: str, attr_value: Any) → bool#

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]#

class ros_sugar.config.robot.RobotConfig#

Bases: ros_sugar.config.base_attrs.BaseAttrs

Physical description of the robot: how it moves, how big it is, how fast.

This is a navigation description – a motion model, a bounding volume and a velocity envelope. It deliberately carries no links, joints, masses or URDF: consumers that need those read them from the ROS graph.

Name	Type, Default	Description
model_type	`RobotType \| str`, `ACKERMANN`	Robot motion model type
geometry_type	`RobotGeometryType \| str`, `CYLINDER`	Robot 3D geometry shape type
geometry_params	`np.ndarray`, `[0.2, 1.0]`	Shape parameters, whose length must match the geometry type
ctrl_vx_limits	`LinearCtrlLimits`	Forward linear velocity (x-direction) control limits
ctrl_omega_limits	`AngularCtrlLimits`	Angular velocity control limits
ctrl_vy_limits	`LinearCtrlLimits`	Lateral linear velocity (y-direction) control limits

validate_params(_, value)#: Validates geometry parameters against geometry type

asdict(filter: Optional[Callable] = None) → Dict#

to_dict() → Dict#

asdict_explicit() → Dict#

from_dict(dict_obj: Dict) → None#

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool#

to_json() → Union[str, bytes, bytearray]#

from_json(json_obj: Union[str, bytes, bytearray]) → None#

has_attribute(attr_name: str) → bool#

get_attribute_type(attr_name: str) → Optional[type]#

update_value(attr_name: str, attr_value: Any) → bool#

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]#

ros_sugar.config.robot#

Module Contents#

Classes#

API#

`ros_sugar.config.robot`#