robits.core.abc package

Submodules

robits.core.abc.audio module

class robits.core.abc.audio.AudioBase

Bases: ABC

A general class that models audio interaction

process() → str | None

Transcribes the recorded audio

recorder: RecorderBase

class robits.core.abc.audio.RecorderBase

Bases: object

A general class to model a audio recorder

outfile: Path

abstractmethod start_recording() → Path

abstractmethod stop_recording() → Path

robits.core.abc.camera module

class robits.core.abc.camera.CameraBase

Bases: ABC

A general class that models a camera

property calibration: CameraCalibration

Loads the camera calibration. The camera calibration file must be available in the config folder. A custom config folder can be specified with the environment variable ROBITS_CONFIG_DIR.

Returns:

the camera calibration

abstract property camera_name: str

Name of the camera

Returns:

The camera name

property extrinsics: ndarray

Extrinsics parameters

Returns:

the extrinsic parameters of the camera as 4x4 matrix

abstractmethod get_camera_data() → Tuple[CameraData, Dict[str, Any]]

Gets the camera images

Returns:

the camera images and metadata

get_info() → Dict[str, Any]

General information about the camera

property intrinsics: ndarray

Intrinsic parameters

Returns:

the intrinsic parameters of the camera as 3x3 matrix

is_wrist_camera() → bool

Returns:

True if the camera is mounted to a robot

save_calibration(config_folder) → None

Stores the camera calibration

Parameters:

config_folder – Path to the top-level config folder

robits.core.abc.control module

class robits.core.abc.control.BimanualControlManager(control_right: ControlManager, control_left: ControlManager)

Bases: ControlManager

Manages two control managers for bimanual control. The control is delegated to the both arms by spawning a thread.

move_home() → None

Convenience function to move the robot to default joint position

class robits.core.abc.control.ControlManager

Bases: object

Manages multiple controllers and monitors their activation. Only one controller should be active at the same time

move_home() → None

Convenience function to move the robot to default joint position

register_controller(controller: ControllerBase) → None

Register a controller.

Parameters:

controller – Controller instance to register.

stop() → None

Stop the active controller.

class robits.core.abc.control.ControlTypes(value)

Bases: StrEnum

Class representing different types of control methods.

cartesian = 'cartesian'

motion_planning = 'motion_planning'

position = 'position'

class robits.core.abc.control.ControllerBase(controller_type: ControlTypes, asynchronous: bool = False)

Bases: object

Base class for control methods.

configure(asynchronous: bool, **kwargs) → None

Configure the controller

Parameters:

asynchronous – whether the controller should be in asynchronous mode

previous_config: Dict[str, Any]

reset_configuration() → None

Restores a previous configuration

save_current_config() → None

Save the current configuration

set_asynchronous() → None

Set the controller to asynchronous mode.

set_synchronous() → None

Set the controller to synchronous mode.

start_controller() → None

Start the controller.

stop_controller() → None

Stop the controller.

update(*args, **kwargs)

Abstract method to update the controller’s command target. Concrete subclasses must implement this.

robits.core.abc.control.control_types

alias of ControlTypes

robits.core.abc.gripper module

class robits.core.abc.gripper.GripperBase

Bases: ABC

A general class that models a gripper/hand

abstractmethod close() → None

Closes the gripper / hand

abstractmethod get_info() → Dict[str, Any]

Returns general information about the gripper.

Returns:

Dictionary containing gripper information

abstractmethod get_obs() → Dict[str, Any]

Gets the normalized position of the gripper / finger joints

Returns:

A dictionary with joint positions and other observations

abstract property gripper_name: str

Returns the name of the gripper.

Returns:

The gripper name

abstractmethod is_open() → bool

Returns whether the hand / gripper is open

Returns:

True if the gripper is open

abstractmethod open() → None

Opens the gripper / hand

set_pos(pos)

Set the open amount the gripper / hand

Parameters:

pos – the normalized position

robits.core.abc.robot module

class robits.core.abc.robot.BimanualRobot(right_robot: RobotBase, left_robot: RobotBase, **kwargs)

Bases: Perception

get_obs() → Dict[str, Any]

Returns the observation from the robot

See also

Perception.get_vision_data()

See also

RobotBase.get_proprioception_data()

class robits.core.abc.robot.DummyRobot(gripper: GripperBase | None, cameras: List[CameraBase], audio=None, speech=None, **kwargs)

Bases: UnimanualRobot

Mock class with dummy data

property eef_matrix

The 4x4 matrix of the current end-effector pose

Returns:

The pose of the robot as matrix

property eef_pose

The pose of the end-effector as (position, quaternion). Quaternion format is xyzw

Returns:

The pose of the robot as tuple

get_proprioception_data(include_eef: bool = True, include_gripper_obs: bool = True) → Dict[str, Any]

Gets the proprioception data from a robot. This includes

• joint position

• joint velocities

• gripper joint position (optional)

• gripper pose (optional)

Parameters:

• include_eef – include pose of the end-effector

• include_gripper_obs – include joint positions and other proprioception of the gripper

Returns:

The proprioception data

property robot_name: str

Returns the name of the robot.

Returns:

The robot name

class robits.core.abc.robot.Perception(cameras: List[CameraBase])

Bases: object

Base class for handling multiple cameras

get_vision_data(include_point_cloud: bool = False, swap_channels: bool = False) → Dict[str, ndarray]

Returns all the vision data

class robits.core.abc.robot.RobotBase(transform_robot_to_world: Sequence[Sequence[float]], gripper: GripperBase | None = None)

Bases: ABC

Base class for robot arms with common functionality.

Provides an interface for robot control and state access.

abstract property eef_matrix: ndarray

The 4x4 matrix of the current end-effector pose

Returns:

The pose of the robot as matrix

abstract property eef_pose: Tuple[ndarray, ndarray]

The pose of the end-effector as (position, quaternion). Quaternion format is xyzw

Returns:

The pose of the robot as tuple

get_info() → Dict[str, str]

abstractmethod get_proprioception_data(include_eef: bool = True, include_gripper_obs: bool = True) → Dict[str, Any]

Gets the proprioception data from a robot. This includes

• joint position

• joint velocities

• gripper joint position (optional)

• gripper pose (optional)

Parameters:

• include_eef – include pose of the end-effector

• include_gripper_obs – include joint positions and other proprioception of the gripper

Returns:

The proprioception data

abstract property robot_name: str

Returns the name of the robot.

Returns:

The robot name

property transform_world_to_robot

returns the transformation from the world to the robot

class robits.core.abc.robot.UnimanualRobot(cameras: List[CameraBase])

Bases: Perception, RobotBase

get_obs() → Dict[str, Any]

Returns the observation from the robot

See also

Perception.get_vision_data()

See also

RobotBase.get_proprioception_data()

Also updates extrinsics parameters for wrist cameras

update_wrist_camera_extrinsics(proprioception: Dict[str, Any], perception: Dict[str, Any])

robits.core.abc.speech module

class robits.core.abc.speech.SpeechBase

Bases: ABC

A general class that models TTS systems

abstractmethod say(text: str)

Verbalizes a given text.

Parameters:

text – the text to verbalize