pycram.process_modules.default_process_modules ============================================== .. py:module:: pycram.process_modules.default_process_modules Attributes ---------- .. autoapisummary:: pycram.process_modules.default_process_modules.logger Classes ------- .. autoapisummary:: pycram.process_modules.default_process_modules.DefaultNavigation pycram.process_modules.default_process_modules.DefaultMoveHead pycram.process_modules.default_process_modules.DefaultMoveGripper pycram.process_modules.default_process_modules.DefaultDetecting pycram.process_modules.default_process_modules.DefaultMoveTCP pycram.process_modules.default_process_modules.DefaultMoveArmJoints pycram.process_modules.default_process_modules.DefaultMoveJoints pycram.process_modules.default_process_modules.DefaultOpen pycram.process_modules.default_process_modules.DefaultClose pycram.process_modules.default_process_modules.DefaultMoveTCPWaypoints pycram.process_modules.default_process_modules.DefaultDetectingReal pycram.process_modules.default_process_modules.DefaultNavigationReal pycram.process_modules.default_process_modules.DefaultMoveHeadReal pycram.process_modules.default_process_modules.DefaultMoveTCPReal pycram.process_modules.default_process_modules.DefaultMoveArmJointsReal pycram.process_modules.default_process_modules.DefaultMoveJointsReal pycram.process_modules.default_process_modules.DefaultMoveGripperReal pycram.process_modules.default_process_modules.DefaultOpenReal pycram.process_modules.default_process_modules.DefaultCloseReal pycram.process_modules.default_process_modules.DefaultMoveTCPWaypointsReal pycram.process_modules.default_process_modules.DefaultManager Functions --------- .. autoapisummary:: pycram.process_modules.default_process_modules._move_arm_tcp Module Contents --------------- .. py:data:: logger .. py:class:: DefaultNavigation(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` The process module to move the robot from one position to another. .. py:method:: _execute(desig: MoveMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveHead(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Moves the robot's head to look at a specified target point in the world coordinate frame. The target can be either a position or an object. .. py:method:: _execute(desig: LookingMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveGripper(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` This process module controls the gripper of the robot. They can either be opened or closed. Furthermore, it can only move one gripper at a time. .. py:method:: _execute(desig: MoveGripperMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultDetecting(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` This process module tries to detect an object with the given type. To be detected the object has to be in the field of view of the robot. :return: A list of perceived objects. .. py:method:: _execute(designator: DetectingMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveTCP(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` This process moves the tool center point of either the right or the left arm. .. py:method:: _execute(desig: MoveTCPMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveArmJoints(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` This process modules moves the joints of either the right or the left arm. The joint states can be given as list that should be applied or a pre-defined position can be used, such as "parking" .. py:method:: _execute(desig: MoveArmJointsMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveJoints(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Implementation of process modules. Process modules are the part that communicate with the outer world to execute designators. .. py:method:: _execute(desig: MoveJointsMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultOpen(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Low-level implementation of opening a container in the simulation. Assumes the handle is already grasped. .. py:method:: _execute(desig: OpeningMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultClose(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Low-level implementation that lets the robot close a grasped container, in simulation .. py:method:: _execute(desig: ClosingMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveTCPWaypoints(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` This process moves the tool center point of either the right or the left arm along a list of waypoints. .. py:method:: _execute(desig: MoveTCPWaypointsMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:function:: _move_arm_tcp(target: PoseStamped, robot: semantic_digital_twin.robots.pr2.AbstractRobot, arm: Arms, world: semantic_digital_twin.world.World) -> None Calls the ik solver to calculate the inverse kinematics of the arm and then sets the joint states accordingly. :param target: Target pose to which the end-effector should move. :param robot: Robot object representing the robot. :param arm: Which arm to move .. py:class:: DefaultDetectingReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Implementation of process modules. Process modules are the part that communicate with the outer world to execute designators. .. py:method:: _execute(designator: DetectingMotion) -> List[Body] Perform a query based on the detection technique and state defined in the designator. :return: A list of perceived objects. .. py:class:: DefaultNavigationReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Process module for the real robot that sends a cartesian goal to giskard to move the robot base .. py:method:: _execute(designator: MoveMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveHeadReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Process module for controlling the real robot's head to look at a specified position. Uses the same calculations as the simulated version to orient the head. .. py:method:: _execute(desig: LookingMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveTCPReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Moves the tool center point of the real robot while avoiding all collisions .. py:method:: _execute(designator: MoveTCPMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveArmJointsReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Moves the arm joints of the real robot to the given configuration while avoiding all collisions .. py:method:: _execute(designator: MoveArmJointsMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveJointsReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Moves any joint using giskard, avoids all collisions while doint this. .. py:method:: _execute(designator: MoveJointsMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveGripperReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Opens or closes the gripper of the real robot, gripper uses an action server for this instead of giskard .. py:method:: _execute(designator: MoveGripperMotion) :abstractmethod: Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultOpenReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Tries to open an already grasped container .. py:method:: _execute(designator: OpeningMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultCloseReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Tries to close an already grasped container .. py:method:: _execute(designator: ClosingMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultMoveTCPWaypointsReal(lock) Bases: :py:obj:`pycram.process_module.ProcessModule` Moves the tool center point of the real robot along a list of waypoints while avoiding all collisions .. py:method:: _execute(designator: MoveTCPWaypointsMotion) Helper method for internal usage only. This method is to be overwritten instead of the execute method. .. py:class:: DefaultManager Bases: :py:obj:`pycram.process_module.ManagerBase` Base class for all Process Module Managers. This class is used to register the Process Modules for the robot. It is intended to be used as a base class for all Process Module Managers. .. py:method:: navigate() Get the Process Module for navigating the robot with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for navigating .. py:method:: looking() Get the Process Module for looking at a point with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: .. py:method:: detecting() Get the Process Module for detecting an object with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for detecting an object .. py:method:: move_tcp() Get the Process Module for moving the Tool Center Point with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for moving the TCP .. py:method:: move_arm_joints() Get the Process Module for moving the joints of the robot arm with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for moving the arm joints .. py:method:: move_joints() Get the Process Module for moving any joint of the robot with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for moving joints .. py:method:: move_gripper() Get the Process Module for moving the gripper with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for moving the gripper .. py:method:: open() Get the Process Module for opening drawers with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for opening drawers .. py:method:: close() Get the Process Module for closing drawers with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for closing drawers .. py:method:: move_tcp_waypoints() Get the Process Module for moving the Tool Center Point along a list of waypoints with respect to the :py:attr:`~ProcessModuleManager.execution_type` :return: The Process Module for moving the TCP along a list of waypoints