pycram.robot_plans.actions.composite.tool_based =============================================== .. py:module:: pycram.robot_plans.actions.composite.tool_based Attributes ---------- .. autoapisummary:: pycram.robot_plans.actions.composite.tool_based.CuttingActionDescription pycram.robot_plans.actions.composite.tool_based.PouringActionDescription pycram.robot_plans.actions.composite.tool_based.MixingActionDescription Classes ------- .. autoapisummary:: pycram.robot_plans.actions.composite.tool_based.MixingAction pycram.robot_plans.actions.composite.tool_based.PouringAction pycram.robot_plans.actions.composite.tool_based.CuttingAction Module Contents --------------- .. py:class:: MixingAction Bases: :py:obj:`pycram.robot_plans.actions.base.ActionDescription` Mixes contents of an object using a tool in a spiral motion. .. py:attribute:: object_ :type: semantic_digital_twin.world_description.world_entity.Body The object to be mixed. .. py:attribute:: tool :type: semantic_digital_twin.world_description.world_entity.SemanticAnnotation The tool to be used for mixing. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms The arm to be used for the mixing action. .. py:attribute:: technique :type: typing_extensions.Optional[str] :value: None The technique to be used for mixing, e.g. 'Spiral Mixing'. .. py:method:: plan() -> None Symbolic plan. Should only call motions or sub-actions. .. py:method:: description(object_: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], tool: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.SemanticAnnotation], semantic_digital_twin.world_description.world_entity.SemanticAnnotation], arm: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms]] = None, technique: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[str], str]] = None) :classmethod: .. py:class:: PouringAction Bases: :py:obj:`pycram.robot_plans.actions.base.ActionDescription` Performs a pouring action with a tool over an object, typically used for liquids. .. py:attribute:: object_ :type: semantic_digital_twin.world_description.world_entity.Body The object over which the pouring action is performed. .. py:attribute:: tool :type: semantic_digital_twin.world_description.world_entity.SemanticAnnotation The tool used for pouring, e.g., a jug or a bottle. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms The arm to be used for the pouring action. .. py:attribute:: technique :type: typing_extensions.Optional[str] :value: None The technique to be used for pouring, e.g., 'Pouring'. .. py:attribute:: angle :type: typing_extensions.Optional[float] :value: 90 The angle at which the tool is tilted during the pouring action, in degrees. .. py:method:: plan() -> None Symbolic plan. Should only call motions or sub-actions. .. py:method:: description(object_: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], tool: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.SemanticAnnotation], semantic_digital_twin.world_description.world_entity.SemanticAnnotation], arm: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms]] = None, technique: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[str], str]] = None, angle: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[float], float]] = 90) :classmethod: .. py:class:: CuttingAction Bases: :py:obj:`pycram.robot_plans.actions.base.ActionDescription` Performs a cutting action on an object using a specified tool. .. py:attribute:: object_ :type: semantic_digital_twin.world_description.world_entity.Body The object to be cut. .. py:attribute:: tool :type: semantic_digital_twin.world_description.world_entity.SemanticAnnotation The tool used for cutting, e.g., a knife or a saw. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms The arm to be used for the cutting action. .. py:attribute:: technique :type: typing_extensions.Optional[str] :value: None The technique to be used for cutting, e.g., 'Slicing', 'Halving', etc. .. py:attribute:: slice_thickness :type: typing_extensions.Optional[float] :value: 0.03 The thickness of each slice to be cut from the object, in meters. .. py:method:: plan() -> None Symbolic plan. Should only call motions or sub-actions. .. py:method:: description(object_: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], tool: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.SemanticAnnotation], semantic_digital_twin.world_description.world_entity.SemanticAnnotation], arm: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms]] = None, technique: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[str], str]] = None, slice_thickness: typing_extensions.Optional[float] = 0.03) :classmethod: .. py:method:: calculate_slices(obj_length) .. py:method:: perpendicular_pose(slice_pose, angle) -> pycram.datastructures.pose.PoseStamped :staticmethod: .. py:method:: get_rotation_offset_from_axis_preference(pose_a, pose_b: pycram.datastructures.pose.PoseStamped) -> Tuple[int, float] :staticmethod: Compute a discrete rotation offset (-90 or 90 degrees) to align this pose's local axes with the direction toward a target pose, based on which axis (X or Y) is more aligned. :param pose_a: The source pose. :param pose_b: The target pose to align with. :return: Tuple of (rotation offset in degrees, signed angle difference in radians for Y axis). .. py:data:: CuttingActionDescription .. py:data:: PouringActionDescription .. py:data:: MixingActionDescription