airo-typing 2025.4.0__tar.gz

airo_typing-2025.4.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: airo_typing
+Version: 2025.4.0
+Summary: Python type definitions for use in the python packages at the Ghent University AI and Robotics Lab
+Author: Thomas Lips
+Author-email: thomas.lips@ugent.be
+Requires-Dist: numpy<2.0
+Dynamic: author
+Dynamic: author-email
+Dynamic: requires-dist
+Dynamic: summary

airo_typing-2025.4.0/README.md

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+# airo-typing
+
+python package with common types that are used across multiple other packages.
+
+These types also define some of our conventions such as the use of scalar-last quaternions or metric units.

airo_typing-2025.4.0/airo_typing/__init__.py

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+from dataclasses import dataclass
+from typing import Callable, Dict, List, Optional, Tuple, Union
+
+import numpy as np
+
+# TODO: see if we can specify the shape of these types for mypy
+
+#######################
+# spatial algebra types
+#######################
+Vector2DType = np.ndarray
+"""a (2,) np array that represents a 2D position/translation/direction"""
+
+Vector2DArrayType = np.ndarray
+"""a (N,2) np array that represents N 2D positions/translations/directions"""
+
+Vectors2DType = Union[Vector2DType, Vector2DArrayType]
+"""a convenience type that represents a (2,) 2D vector or (N,2) array of 3D vectors."""
+
+
+Vector3DType = np.ndarray
+""" a (3,) np array that represents a 3D position/translation/direction
+"""
+Vector3DArrayType = np.ndarray
+""" a (N,3) np array that represents N 3D positions/translations/directions
+"""
+Vectors3DType = Union[Vector3DType, Vector3DArrayType]
+""" a convenience type that represents a (3,) 3D vector or (N,3) array of 3D vectors.
+"""
+QuaternionType = np.ndarray
+"""scalar-last quaternion <x,y,z,w> that represents a rotation around the <x,y,z> axis with angle <theta>
+as <x sin(theta), y sin(theta), z sin(theta), cos(theta)>
+"""
+RotationMatrixType = np.ndarray
+"""3x3 rotation matrix
+"""
+EulerAnglesType = np.ndarray
+"""XYZ angles of rotation around the axes of the original frame (extrinsic).
+First rotate around X, then around Y, finally around Z.
+"""
+AxisAngleType = Tuple[Vector3DType, float]
+
+RotationVectorType = np.ndarray
+""" Rotation vector <x*theta,y*theta,z*theta> that represents a rotation around the <x,y,z> axis with angle <theta>
+"""
+
+HomogeneousMatrixType = np.ndarray
+"""4x4 homogeneous transform matrix
+<<R,T>|<0,0,0,1>> that represents the pose of a frame A in another frame B
+
+Shorthand notation is T^A_B.
+"""
+
+# Changing the applied-on frame requires the Adjoint of the transform between the two frames.
+# Changing the expressed-in frame requires multiplication by the rotation matrix of the transform between the two frames.
+# notation is taken from https://manipulation.csail.mit.edu/clutter.html#section3
+WrenchType = np.ndarray
+""" a (6,) numpy array that represents a wrench applied on a frame and expressed in a (possibly different) frame as [Fx,Fy,Fz,Tx,Ty,Tz]
+
+shorthand notation is W^F_E, where F is the frame the wrench is applied on, and E is the frame the wrench is expressed in.
+"""
+
+# Changing the measured-in frame requires the Adjoint of the transform between the two frames.
+# Changing the expressed-in frame requires multiplication by the rotation matrix of the transform between the two frames.
+# Notation is taken from https://manipulation.csail.mit.edu/pick.html#jacobian
+TwistType = np.ndarray
+""" a (6,) numpy array that represents the spatial velocity or an incremental motion of one frame as measured in another frame (and possibly expressed in a third frame)
+
+shorthand notation is ^C T^B_A, where C is the frame the velocity is measured in, B is the frame the velocity is expressed in.
+"""
+
+#####################
+# Manipulator types #
+#####################
+
+JointConfigurationType = np.ndarray
+"""an (N,) numpy array that represents the joint angles for a robot"""
+
+JointPathType = np.ndarray
+""" a (T, N) array of joint states (can be position/velocity/acceleration) that describe a path in joint space"""
+
+TimesType = np.ndarray
+""" a (T,) array of monotonically increasing times (float), corresponding to a path"""
+
+
+@dataclass
+class JointPathContainer:
+    positions: Optional[JointPathType] = None
+    velocities: Optional[JointPathType] = None
+    accelerations: Optional[JointPathType] = None
+    efforts: Optional[JointPathType] = None
+
+
+@dataclass
+class SingleArmTrajectory:
+    times: TimesType  # time (seconds) from start of trajectory
+    path: JointPathContainer
+    gripper_path: Optional[JointPathContainer] = None
+
+
+@dataclass
+class DualArmTrajectory:
+    times: TimesType  # time (seconds) from start of trajectory
+    path_left: JointPathContainer
+    path_right: JointPathContainer
+    gripper_path_left: Optional[JointPathContainer] = None
+    gripper_path_right: Optional[JointPathContainer] = None
+
+
+PosePathType = np.ndarray
+""" a (T, 4, 4) list of homogeneous matrices that describe a path in cartesian space"""
+
+
+@dataclass
+class PoseTrajectory:
+    times: TimesType
+    poses: PosePathType
+
+
+ForwardKinematicsFunctionType = Callable[[JointConfigurationType], HomogeneousMatrixType]
+""" a function that computes the forward kinematics of a given joint configuration"""
+
+InverseKinematicsFunctionType = Callable[[HomogeneousMatrixType], List[JointConfigurationType]]
+""" a function that computes one or more inverse kinematics solutions of a given TCP pose"""
+
+JointConfigurationCheckerType = Callable[[JointConfigurationType], bool]
+""" a function that checks a certain condition on a joint configuration, e.g. collision checking"""
+
+######################
+# camera related types
+######################
+
+OpenCVIntImageType = np.ndarray
+"""an image in the OpenCV format: BGR, uint8, (H,W,C)"""
+
+NumpyFloatImageType = np.ndarray
+""" a float image in the numpy format: RGB, float (0-1), (H,W,C)"""
+NumpyIntImageType = np.ndarray
+""" an int image in the numpy format: RGB, uint8 (0-255), (H,W,C)"""
+TorchFloatImageType = np.ndarray
+""" an image in the torch format: RGB, float(0-1), (C,H,W)"""
+
+NumpyDepthMapType = np.ndarray
+""" a depth map (z-buffer),float, (H,W)"""
+
+CameraResolutionType = Tuple[int, int]
+""" a tuple of image (width, height) in pixels"""
+
+CameraIntrinsicsMatrixType = np.ndarray
+"""3x3 camera intrinsics matrix
+
+K = [[fx,s,cx],[0,fy,cy],[0,0,1]]
+see e.g. https://ksimek.github.io/2013/08/13/intrinsic/ for more details """
+
+
+CameraExtrinsicMatrixType = HomogeneousMatrixType
+"""4x4 camera extrinsic matrix,
+this is the homogeneous matrix that describes the camera pose in the world frame"""
+
+##########################
+# 3D and point cloud types
+##########################
+
+BoundingBox3DType = Tuple[Tuple[float, float, float], Tuple[float, float, float]]
+""" a tuple of two tuples that represent the min and max corners of a 3D bounding box"""
+
+PointCloudPositionsType = Vector3DArrayType
+""" a (N,3) float32 numpy array that represents a point cloud"""
+
+PointCloudColorsType = np.ndarray
+""" a (N,3) uint8 numpy array that represents the RGB colors of a point cloud"""
+
+PointCloudAttributesType = Dict[str, np.ndarray]
+""" a dictionary of numpy arrays that represent additional attributes of a point cloud, e.g. normals, confidence, etc. """
+
+
+@dataclass
+class PointCloud:
+    points: PointCloudPositionsType
+    colors: Optional[PointCloudColorsType] = None
+    attributes: Optional[PointCloudAttributesType] = None

airo_typing-2025.4.0/airo_typing.egg-info/PKG-INFO

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+Metadata-Version: 2.4
+Name: airo_typing
+Version: 2025.4.0
+Summary: Python type definitions for use in the python packages at the Ghent University AI and Robotics Lab
+Author: Thomas Lips
+Author-email: thomas.lips@ugent.be
+Requires-Dist: numpy<2.0
+Dynamic: author
+Dynamic: author-email
+Dynamic: requires-dist
+Dynamic: summary

airo_typing-2025.4.0/airo_typing.egg-info/SOURCES.txt

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+README.md
+setup.py
+airo_typing/__init__.py
+airo_typing/py.typed
+airo_typing.egg-info/PKG-INFO
+airo_typing.egg-info/SOURCES.txt
+airo_typing.egg-info/dependency_links.txt
+airo_typing.egg-info/requires.txt
+airo_typing.egg-info/top_level.txt
+test/test_stub.py

airo_typing-2025.4.0/airo_typing.egg-info/dependency_links.txt

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+

airo_typing-2025.4.0/airo_typing.egg-info/requires.txt

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+numpy<2.0

airo_typing-2025.4.0/airo_typing.egg-info/top_level.txt

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+airo_typing

airo_typing-2025.4.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

airo_typing-2025.4.0/setup.py

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+import setuptools
+
+setuptools.setup(
+    name="airo_typing",
+    version="2025.4.0",
+    description="Python type definitions for use in the python packages at the Ghent University AI and Robotics Lab",
+    author="Thomas Lips",
+    author_email="thomas.lips@ugent.be",
+    install_requires=["numpy<2.0"],
+    packages=setuptools.find_packages(exclude=["test"]),
+    package_data={"airo_typing": ["py.typed"]},
+)

airo_typing-2025.4.0/test/test_stub.py

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+def test_stub():
+    # each package should have at least one test to make the CI pipeline happy
+    # pytest returns an error if no tests are found
+    # cf https://github.com/pytest-dev/pytest/issues/2393
+    assert True