Shared types

Geometry, asset, scene, and robot-state types shared by the planning interfaces.

Models

Small set of shared geometry and asset types.

ContractModel[source]

Base model for contract data.

Quaternion[source]

Unit quaternion in scalar-first wxyz order.

Fields:

  • w (float)

  • xyz (tuple[float, float, float])

Pose[source]

Position in metres and scalar-first orientation in the stated frame.

Fields:

  • position (tuple[float, float, float])

  • orientation (configrip_contracts.common.Quaternion)

AssetRef[source]

Reference to versioned content resolved by the using application.

Fields:

  • asset_id (str)

  • version (str | None)

GeometryRef[source]

Geometry asset and its local coordinate frame.

Asset coordinates are multiplied by scale_to_metre. The resulting geometry and all positions expressed in frame use metres.

Fields:

  • asset (configrip_contracts.common.AssetRef)

  • frame (str)

  • scale_to_metre (float)

GripperRef[source]

Reference to a concrete, versioned gripper description.

Fields:

  • gripper_id (str)

  • description (configrip_contracts.common.AssetRef)

SceneObject[source]

Object placed in a planning scene.

Fields:

  • object_id (str)

  • geometry (GeometryRef)

  • transform_world (Matrix4)

Scene[source]

Environment geometry used for collision and motion planning.

Fields:

  • objects (tuple[configrip_contracts.common.SceneObject, ...])