klampt.model.types module

Utilities for inspecting Klamp’t objects to retrieve a type string / create objects from type strings.

Functions:

known_types()

Returns a set of all known Klampt types

object_to_types(object[, world])

Returns a string defining the type of the given Python Klamp't object.

object_to_type(obj[, validTypes, world])

Returns a type string for the Klamp't object obj, restricted to the set of validTypes.

make(type[, object])

Makes a default instance of the given type.

info(object[, world])

Returns a dictionary containing metadata for the object.

convert(object, dest_type)

Converts an object to a semi-equivalent destination type.

transfer(object, source_robot, target_robot)

Converts a Klampt object that refers to a source robot to an object that refers to a target robot, assuming matched link names.

knownTypes(*args, **kwargs)

Deprecated in a future version of Klampt.

objectToTypes(*args, **kwargs)

Deprecated in a future version of Klampt.

klampt.model.types.known_types()[source]

Returns a set of all known Klampt types

klampt.model.types.object_to_types(object, world=None)[source]

Returns a string defining the type of the given Python Klamp’t object. If multiple types could be associated with it, then it returns a list of all possible valid types.

klampt.model.types.object_to_type(obj, validTypes=None, world=None)[source]

Returns a type string for the Klamp’t object obj, restricted to the set of validTypes. If there are multiple interpretations, the first type in object_to_types that matches a valid type is returned.

Parameters:
  • obj – A Klamp’t-compatible object

  • validTypes (set, dict, or None) – a set or dict of possible valid types. If None, any type is accepted

Returns:

The type of the object, or None if no valid type was found

Return type:

str or None

klampt.model.types.make(type, object=None)[source]

Makes a default instance of the given type.

Parameters:
  • type (str) – the name of the desired type

  • object (optional) – If type is ‘Config’, ‘Configs’, ‘Vector’, or ‘Trajectory’, can provide the object for which the new instance will be compatible.

klampt.model.types.info(object, world=None)[source]

Returns a dictionary containing metadata for the object. At a minimum, the “type” key will be filled in with the object’s type, or None if the Klampt type is unknown.

Return type:

dict

klampt.model.types.convert(object, dest_type)[source]

Converts an object to a semi-equivalent destination type.

Only works for path-like objects (Configs, Trajectory, MultiPath, [X]Trajectory) and geometry objects.

Object data may be referenced in the result.

klampt.model.types.transfer(object, source_robot, target_robot, link_map=None)[source]

Converts a Klampt object that refers to a source robot to an object that refers to a target robot, assuming matched link names.

Parameters:
  • object – any Klampt object. This is only meaningful for int, list of int (IntArray), vector (Config), list of vector (Configs), Trajectory, IKGoal, RobotModelLink, or SubRobotModel types.

  • source_robot (str or RobotModel) – the robot for which object is meaningful. If str, this is the filename of the source robot.

  • target_robot (str or RobotModel) – the robot that will use the return result. If str, this is the filename of the target robot.

  • link_map (dict, optional) – if given, maps source link names to target link names, or source link indices to target link indices. This can also be a 1-element dict {‘*’:’prefix:’} indicating that the links of source_robot map to ‘prefix:’+[LINK_NAME], or a dict {‘prefix:’:’*’} indicating the reverse.

Returns:

the object, with links mapped to the target robot.

Return type:

same type as object

klampt.model.types.knownTypes(*args, **kwargs)

Deprecated in a future version of Klampt. Use known_types instead

klampt.model.types.objectToTypes(*args, **kwargs)

Deprecated in a future version of Klampt. Use object_to_types instead