pycram.robot_plans.motions ========================== .. py:module:: pycram.robot_plans.motions Submodules ---------- .. toctree:: :maxdepth: 1 /autoapi/pycram/robot_plans/motions/base/index /autoapi/pycram/robot_plans/motions/container/index /autoapi/pycram/robot_plans/motions/gripper/index /autoapi/pycram/robot_plans/motions/misc/index /autoapi/pycram/robot_plans/motions/navigation/index /autoapi/pycram/robot_plans/motions/robot_body/index Exceptions ---------- .. autoapisummary:: pycram.robot_plans.motions.ToolPoseNotReachedError Classes ------- .. autoapisummary:: pycram.robot_plans.motions.BaseMotion pycram.robot_plans.motions.Arms pycram.robot_plans.motions.ProcessModuleManager pycram.robot_plans.motions.OpeningMotion pycram.robot_plans.motions.ClosingMotion pycram.robot_plans.motions.BaseMotion pycram.robot_plans.motions.Arms pycram.robot_plans.motions.GripperState pycram.robot_plans.motions.MovementType pycram.robot_plans.motions.WaypointsMovementType pycram.robot_plans.motions.GraspDescription pycram.robot_plans.motions.PoseStamped pycram.robot_plans.motions.ProcessModuleManager pycram.robot_plans.motions.ViewManager pycram.robot_plans.motions.ReachMotion pycram.robot_plans.motions.MoveArmJointsMotion pycram.robot_plans.motions.MoveGripperMotion pycram.robot_plans.motions.MoveTCPMotion pycram.robot_plans.motions.MoveTCPWaypointsMotion pycram.robot_plans.motions.PerceptionQuery pycram.robot_plans.motions.BaseMotion pycram.robot_plans.motions.ProcessModuleManager pycram.robot_plans.motions.DetectingMotion pycram.robot_plans.motions.BaseMotion pycram.robot_plans.motions.PoseStamped pycram.robot_plans.motions.ProcessModuleManager pycram.robot_plans.motions.MoveMotion pycram.robot_plans.motions.LookingMotion pycram.robot_plans.motions.BaseMotion pycram.robot_plans.motions.Vector3Stamped pycram.robot_plans.motions.ProcessModuleManager pycram.robot_plans.motions.MoveJointsMotion Functions --------- .. autoapisummary:: pycram.robot_plans.motions.try_motion pycram.robot_plans.motions.translate_pose_along_local_axis Package Contents ---------------- .. py:class:: BaseMotion Bases: :py:obj:`abc.ABC` Helper class that provides a standard way to create an ABC using inheritance. .. py:attribute:: plan_node :type: pycram.plan.PlanNode :value: None .. py:property:: plan :type: pycram.plan.Plan .. py:property:: world :type: semantic_digital_twin.world.World .. py:property:: robot_view :type: semantic_digital_twin.robots.abstract_robot.AbstractRobot .. py:method:: perform() :abstractmethod: Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:method:: __post_init__() Checks if types are missing or wrong .. py:class:: Arms Bases: :py:obj:`enum.IntEnum` Enum for Arms. .. py:attribute:: LEFT :value: 0 .. py:attribute:: RIGHT :value: 1 .. py:attribute:: BOTH :value: 2 .. py:method:: __str__() Return str(self). .. py:method:: __repr__() Return repr(self). .. py:class:: ProcessModuleManager Bases: :py:obj:`abc.ABC` Base class for managing process modules, any new process modules have to implement this class to register the Process Modules .. py:attribute:: execution_type :type: pycram.datastructures.enums.ExecutionType :value: None Whether the robot for which the process module is intended for is real or a simulated one .. py:attribute:: available_pms :type: typing_extensions.List[ManagerBase] :value: [] List of all available Process Module Managers .. py:attribute:: _instance :type: ProcessModuleManager :value: None Singelton instance of this Process Module Manager .. py:attribute:: _initialized :type: bool :value: False .. py:method:: register_manager(manager: ManagerBase) Register a new Process Module Manager for the given robot name. :param manager: The Process Module Manager to register .. py:method:: get_manager(robot: semantic_digital_twin.robots.abstract_robot.AbstractRobot) -> ManagerBase Returns the Process Module manager for the currently loaded robot or None if there is no Manager. :return: ProcessModuleManager instance of the current robot .. py:method:: register_all_process_modules() :staticmethod: .. py:class:: OpeningMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Designator for opening container .. py:attribute:: object_part :type: semantic_digital_twin.world_description.world_entity.Body Object designator for the drawer handle .. py:attribute:: arm :type: pycram.datastructures.enums.Arms Arm that should be used .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: ClosingMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Designator for closing a container .. py:attribute:: object_part :type: semantic_digital_twin.world_description.world_entity.Body Object designator for the drawer handle .. py:attribute:: arm :type: pycram.datastructures.enums.Arms Arm that should be used .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: BaseMotion Bases: :py:obj:`abc.ABC` Helper class that provides a standard way to create an ABC using inheritance. .. py:attribute:: plan_node :type: pycram.plan.PlanNode :value: None .. py:property:: plan :type: pycram.plan.Plan .. py:property:: world :type: semantic_digital_twin.world.World .. py:property:: robot_view :type: semantic_digital_twin.robots.abstract_robot.AbstractRobot .. py:method:: perform() :abstractmethod: Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:method:: __post_init__() Checks if types are missing or wrong .. py:class:: Arms Bases: :py:obj:`enum.IntEnum` Enum for Arms. .. py:attribute:: LEFT :value: 0 .. py:attribute:: RIGHT :value: 1 .. py:attribute:: BOTH :value: 2 .. py:method:: __str__() Return str(self). .. py:method:: __repr__() Return repr(self). .. py:class:: GripperState Bases: :py:obj:`enum.Enum` Enum for the different motions of the gripper. .. py:attribute:: OPEN .. py:attribute:: CLOSE .. py:attribute:: MEDIUM .. py:method:: __str__() .. py:method:: __repr__() .. py:class:: MovementType Bases: :py:obj:`enum.Enum` Enum for the different movement types of the robot. .. py:attribute:: STRAIGHT_TRANSLATION .. py:attribute:: STRAIGHT_CARTESIAN .. py:attribute:: TRANSLATION .. py:attribute:: CARTESIAN .. py:class:: WaypointsMovementType Bases: :py:obj:`enum.Enum` Enum for the different movement types of the robot. .. py:attribute:: ENFORCE_ORIENTATION_STRICT .. py:attribute:: ENFORCE_ORIENTATION_FINAL_POINT .. py:class:: GraspDescription Bases: :py:obj:`pycram.has_parameters.HasParameters` Represents a grasp description with a side grasp, top face, and orientation alignment. .. py:attribute:: approach_direction :type: pycram.datastructures.enums.ApproachDirection The primary approach direction. .. py:attribute:: vertical_alignment :type: pycram.datastructures.enums.VerticalAlignment The vertical alignment when grasping the pose .. py:attribute:: rotate_gripper :type: bool :value: False Indicates if the gripper should be rotated by 90°. Must be a boolean. .. py:method:: __hash__() .. py:method:: as_list() -> typing_extensions.List[typing_extensions.Union[pycram.datastructures.enums.Grasp, typing_extensions.Optional[pycram.datastructures.enums.Grasp], bool]] :return: A list representation of the grasp description. .. py:method:: get_grasp_pose(end_effector: semantic_digital_twin.robots.abstract_robot.Manipulator, body: semantic_digital_twin.world_description.world_entity.Body, translate_rim_offset: bool = False) -> pycram.datastructures.pose.PoseStamped Translates the grasp pose of the object using the desired grasp description and object knowledge. Leaves the orientation untouched. Returns the translated grasp pose. :param end_effector: The end effector that will be used to grasp the object. :param body: The body of the object to be grasped. :param translate_rim_offset: If True, the grasp pose will be translated along the rim offset. :return: The grasp pose of the object. .. py:method:: calculate_grasp_orientation(front_orientation: numpy.ndarray) -> typing_extensions.List[float] Calculates the grasp orientation based on the approach axis and the grasp description. :param front_orientation: The front-facing orientation of the end effector as a numpy array. :return: The calculated orientation as a quaternion. .. py:method:: calculate_grasp_descriptions(robot: semantic_digital_twin.robots.abstract_robot.AbstractRobot, pose: pycram.datastructures.pose.PoseStamped, grasp_alignment: typing_extensions.Optional[PreferredGraspAlignment] = None) -> typing_extensions.List[GraspDescription] :staticmethod: This method determines the possible grasp configurations (approach axis and vertical alignment) of the body, taking into account the bodies orientation, position, and whether the gripper should be rotated by 90°. :param robot: The robot for which the grasp configurations are being calculated. :param grasp_alignment: An optional PreferredGraspAlignment object that specifies preferred grasp axis, :param pose: The pose of the object to be grasped. :return: A sorted list of GraspDescription instances representing all grasp permutations. .. py:method:: calculate_closest_faces(pose_to_robot_vector: pycram.datastructures.pose.Vector3, specified_grasp_axis: pycram.datastructures.enums.AxisIdentifier = AxisIdentifier.Undefined) -> typing_extensions.Union[Tuple[pycram.datastructures.enums.ApproachDirection, pycram.datastructures.enums.ApproachDirection], Tuple[pycram.datastructures.enums.VerticalAlignment, pycram.datastructures.enums.VerticalAlignment]] :staticmethod: Determines the faces of the object based on the input vector. If `specified_grasp_axis` is None, it calculates the primary and secondary faces based on the vector's magnitude determining which sides of the object are most aligned with the robot. This will either be the x, y plane for side faces or the z axis for top/bottom faces. If `specified_grasp_axis` is provided, it only considers the specified axis and calculates the faces aligned with that axis. :param pose_to_robot_vector: A 3D vector representing one of the robot's axes in the pose's frame, with irrelevant components set to np.nan. :param specified_grasp_axis: Specifies a specific axis (e.g., X, Y, Z) to focus on. :return: A tuple of two Grasp enums representing the primary and secondary faces. .. py:class:: PoseStamped Bases: :py:obj:`pycram.has_parameters.HasParameters` A pose in 3D space with a timestamp. .. py:attribute:: pose :type: Pose .. py:attribute:: header :type: Header .. py:property:: position .. py:property:: orientation .. py:property:: frame_id .. py:method:: __repr__() .. py:method:: ros_message() Convert the pose to a ROS message of type PoseStamped. :return: The ROS message. .. py:method:: from_ros_message(message: ROSPoseStamped) -> typing_extensions.Self :classmethod: Create a PoseStamped from a ROS message. :param message: The PoseStamped ROS message. :return: A new PoseStamped object created from the ROS message. .. py:method:: from_list(position: typing_extensions.Optional[typing_extensions.List[float]] = None, orientation: typing_extensions.Optional[typing_extensions.List[float]] = None, frame: typing_extensions.Optional[semantic_digital_twin.world_description.world_entity.Body] = None) -> typing_extensions.Self :classmethod: Factory to create a PoseStamped from a list of position and orientation. :param position: Position as a list of [x, y, z]. :param orientation: Orientation as a list of [x, y, z, w]. :param frame: Frame in which the pose is defined. :return: A new PoseStamped object. .. py:method:: from_matrix(matrix: numpy.ndarray, frame: semantic_digital_twin.world_description.world_entity.Body) -> typing_extensions.Self :classmethod: Create a PoseStamped from a 4x4 transformation matrix and a frame. :param matrix: A 4x4 transformation matrix as numpy array. :param frame: The frame in which the pose is defined. :return: A PoseStamped object created from the matrix and frame. .. py:method:: from_spatial_type(spatial_type: semantic_digital_twin.spatial_types.spatial_types.TransformationMatrix) -> typing_extensions.Self :classmethod: Create a PoseStamped from a SpatialTransformationMatrix and a frame. :param spatial_type: A SpatialTransformationMatrix object. :return: A PoseStamped object created from the spatial type and frame. .. py:method:: to_transform_stamped(child_link_id: semantic_digital_twin.world_description.world_entity.Body) -> TransformStamped Converts the PoseStamped to a TransformStamped given a frame to which the transform is pointing. :param child_link_id: Frame to which the transform is pointing. :return: A TransformStamped object. .. py:method:: to_spatial_type() -> semantic_digital_twin.spatial_types.spatial_types.TransformationMatrix Converts the PoseStamped to a SpatialTransformationMatrix. :return: A SpatialTransformationMatrix object representing the pose in 3D space. .. py:method:: round(decimals: int = 4) Rounds the components of the pose (position and orientation) to the specified number of decimal places. :param decimals: Number of decimal places to round to. .. py:method:: to_list() Convert the pose to a list of [position, orientation, frame_id]. :return: A list of [pose, frame_id]. .. py:method:: almost_equal(other: PoseStamped, position_tolerance: float = 1e-06, orientation_tolerance: float = 1e-05) -> bool Check if two PoseStamped objects are almost equal within given tolerances for position and orientation and if the frame_id is the same. :param other: The other PoseStamped object to compare to. :param position_tolerance: Tolerance for position comparison as number of decimal places. :param orientation_tolerance: Tolerance for orientation comparison as number of decimal places. :return: True if the PoseStamped objects are almost equal, False otherwise. .. py:method:: rotate_by_quaternion(quaternion: typing_extensions.List[float]) Rotates the orientation of the pose by a given quaternion. :param quaternion: A list representing the quaternion [x, y, z, w]. .. py:method:: is_facing_2d_axis(pose_b: PoseStamped, axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = AxisIdentifier.X, threshold_deg=82) -> typing_extensions.Tuple[bool, float] Check if this pose is facing another pose along a specific axis (X or Y) within a given angular threshold. :param pose_b: The target pose to compare against. :param axis: The axis to check alignment with ('x' or 'y'). Defaults to 'x'. :param threshold_deg: The maximum angular difference in degrees to consider as 'facing'. Defaults to 82 degrees. :return: Tuple of (True/False if facing, signed angular difference in radians). .. py:method:: is_facing_x_or_y(pose_b: PoseStamped) -> bool Check if this pose is facing another pose along either the X or Y axis within a default angular threshold. :param pose_b: The target pose to compare against. :return: True if this pose is facing the target along either X or Y axis, False otherwise. .. py:function:: try_motion(motion: pycram.process_module.ProcessModule, motion_designator_instance: pycram.robot_plans.BaseMotion, failure_type: typing_extensions.Type[Exception], max_tries: int = 3) A generic function to retry a motion a certain number of times before giving up, with a specific exception. :param motion: The motion to be executed. :param motion_designator_instance: The instance of the motion designator that has the description of the motion. :param failure_type: The type of exception to catch. :param max_tries: The maximum number of attempts to retry the motion. .. py:exception:: ToolPoseNotReachedError(current_pose: pycram.datastructures.pose.PoseStamped, goal_pose: pycram.datastructures.pose.PoseStamped, *args, **kwargs) Bases: :py:obj:`PlanFailure` Thrown when the tool pose is not reached. .. py:attribute:: current_pose :type: pycram.datastructures.pose.PoseStamped The current pose of the tool. .. py:attribute:: goal_pose :type: pycram.datastructures.pose.PoseStamped The goal pose of the tool. .. py:class:: ProcessModuleManager Bases: :py:obj:`abc.ABC` Base class for managing process modules, any new process modules have to implement this class to register the Process Modules .. py:attribute:: execution_type :type: pycram.datastructures.enums.ExecutionType :value: None Whether the robot for which the process module is intended for is real or a simulated one .. py:attribute:: available_pms :type: typing_extensions.List[ManagerBase] :value: [] List of all available Process Module Managers .. py:attribute:: _instance :type: ProcessModuleManager :value: None Singelton instance of this Process Module Manager .. py:attribute:: _initialized :type: bool :value: False .. py:method:: register_manager(manager: ManagerBase) Register a new Process Module Manager for the given robot name. :param manager: The Process Module Manager to register .. py:method:: get_manager(robot: semantic_digital_twin.robots.abstract_robot.AbstractRobot) -> ManagerBase Returns the Process Module manager for the currently loaded robot or None if there is no Manager. :return: ProcessModuleManager instance of the current robot .. py:method:: register_all_process_modules() :staticmethod: .. py:class:: ViewManager .. py:method:: get_end_effector_view(arm: pycram.datastructures.enums.Arms, robot_view: semantic_digital_twin.robots.abstract_robot.AbstractRobot) -> typing_extensions.Optional[semantic_digital_twin.robots.abstract_robot.Manipulator] :staticmethod: .. py:method:: get_arm_view(arm: pycram.datastructures.enums.Arms, robot_view: semantic_digital_twin.robots.abstract_robot.AbstractRobot) -> typing_extensions.Optional[semantic_digital_twin.robots.abstract_robot.KinematicChain] :staticmethod: Get the arm view for a given arm and robot view. :param arm: The arm to get the view for. :param robot_view: The robot view to search in. :return: The Manipulator object representing the arm. .. py:method:: get_neck_view(robot_view: semantic_digital_twin.robots.abstract_robot.AbstractRobot) -> typing_extensions.Optional[semantic_digital_twin.robots.abstract_robot.Neck] :staticmethod: Get the neck view for a given robot view. :param robot_view: The robot view to search in. :return: The Neck object representing the neck. .. py:function:: translate_pose_along_local_axis(pose: pycram.datastructures.pose.PoseStamped, axis: Union[typing_extensions.List, numpy.ndarray], distance: float) -> pycram.datastructures.pose.PoseStamped Translate a pose along a given 3d vector (axis) by a given distance. The axis is given in the local coordinate frame of the pose. The axis is normalized and then scaled by the distance. :param pose: The pose that should be translated :param axis: The local axis along which the translation should be performed :param distance: The distance by which the pose should be translated :return: The translated pose .. py:class:: ReachMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` .. py:attribute:: object_designator :type: semantic_digital_twin.world_description.world_entity.Body Object designator_description describing the object that should be picked up .. py:attribute:: arm :type: pycram.datastructures.enums.Arms The arm that should be used for pick up .. py:attribute:: grasp_description :type: pycram.datastructures.grasp.GraspDescription The grasp description that should be used for picking up the object .. py:attribute:: movement_type :type: pycram.datastructures.enums.MovementType The type of movement that should be performed. .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveArmJointsMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Moves the joints of each arm into the given position .. py:attribute:: left_arm_poses :type: Optional[Dict[str, float]] :value: None Target positions for the left arm joints .. py:attribute:: right_arm_poses :type: Optional[Dict[str, float]] :value: None Target positions for the right arm joints .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveGripperMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Opens or closes the gripper .. py:attribute:: motion :type: pycram.datastructures.enums.GripperState Motion that should be performed, either 'open' or 'close' .. py:attribute:: gripper :type: pycram.datastructures.enums.Arms Name of the gripper that should be moved .. py:attribute:: allow_gripper_collision :type: Optional[bool] :value: None If the gripper is allowed to collide with something .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveTCPMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Moves the Tool center point (TCP) of the robot .. py:attribute:: target :type: pycram.datastructures.pose.PoseStamped Target pose to which the TCP should be moved .. py:attribute:: arm :type: pycram.datastructures.enums.Arms Arm with the TCP that should be moved to the target .. py:attribute:: allow_gripper_collision :type: Optional[bool] :value: None If the gripper can collide with something .. py:attribute:: movement_type :type: Optional[pycram.datastructures.enums.MovementType] The type of movement that should be performed. .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveTCPWaypointsMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Moves the Tool center point (TCP) of the robot .. py:attribute:: waypoints :type: List[pycram.datastructures.pose.PoseStamped] Waypoints the TCP should move along .. py:attribute:: arm :type: pycram.datastructures.enums.Arms Arm with the TCP that should be moved to the target .. py:attribute:: allow_gripper_collision :type: Optional[bool] :value: None If the gripper can collide with something .. py:attribute:: movement_type :type: pycram.datastructures.enums.WaypointsMovementType The type of movement that should be performed. .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: PerceptionQuery .. py:attribute:: semantic_annotation :type: typing_extensions.Type[semantic_digital_twin.world_description.world_entity.SemanticAnnotation] The semantic annotation for which to perceive .. py:attribute:: region :type: semantic_digital_twin.world_description.geometry.BoundingBox The region in which the object should be detected .. py:attribute:: robot :type: semantic_digital_twin.robots.abstract_robot.AbstractRobot ' Robot annotation of the robot that should perceive the object. .. py:attribute:: world :type: semantic_digital_twin.world.World The world in which the object should be detected. .. py:method:: from_world() -> typing_extensions.List[semantic_digital_twin.world_description.world_entity.Body] .. py:method:: from_robokudo() .. py:class:: BaseMotion Bases: :py:obj:`abc.ABC` Helper class that provides a standard way to create an ABC using inheritance. .. py:attribute:: plan_node :type: pycram.plan.PlanNode :value: None .. py:property:: plan :type: pycram.plan.Plan .. py:property:: world :type: semantic_digital_twin.world.World .. py:property:: robot_view :type: semantic_digital_twin.robots.abstract_robot.AbstractRobot .. py:method:: perform() :abstractmethod: Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:method:: __post_init__() Checks if types are missing or wrong .. py:class:: ProcessModuleManager Bases: :py:obj:`abc.ABC` Base class for managing process modules, any new process modules have to implement this class to register the Process Modules .. py:attribute:: execution_type :type: pycram.datastructures.enums.ExecutionType :value: None Whether the robot for which the process module is intended for is real or a simulated one .. py:attribute:: available_pms :type: typing_extensions.List[ManagerBase] :value: [] List of all available Process Module Managers .. py:attribute:: _instance :type: ProcessModuleManager :value: None Singelton instance of this Process Module Manager .. py:attribute:: _initialized :type: bool :value: False .. py:method:: register_manager(manager: ManagerBase) Register a new Process Module Manager for the given robot name. :param manager: The Process Module Manager to register .. py:method:: get_manager(robot: semantic_digital_twin.robots.abstract_robot.AbstractRobot) -> ManagerBase Returns the Process Module manager for the currently loaded robot or None if there is no Manager. :return: ProcessModuleManager instance of the current robot .. py:method:: register_all_process_modules() :staticmethod: .. py:class:: DetectingMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Tries to detect an object in the FOV of the robot returns: ObjectDesignatorDescription.Object or Error: PerceptionObjectNotFound .. py:attribute:: query :type: pycram.perception.PerceptionQuery Query for the perception system that should be answered .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: BaseMotion Bases: :py:obj:`abc.ABC` Helper class that provides a standard way to create an ABC using inheritance. .. py:attribute:: plan_node :type: pycram.plan.PlanNode :value: None .. py:property:: plan :type: pycram.plan.Plan .. py:property:: world :type: semantic_digital_twin.world.World .. py:property:: robot_view :type: semantic_digital_twin.robots.abstract_robot.AbstractRobot .. py:method:: perform() :abstractmethod: Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:method:: __post_init__() Checks if types are missing or wrong .. py:class:: PoseStamped Bases: :py:obj:`pycram.has_parameters.HasParameters` A pose in 3D space with a timestamp. .. py:attribute:: pose :type: Pose .. py:attribute:: header :type: Header .. py:property:: position .. py:property:: orientation .. py:property:: frame_id .. py:method:: __repr__() .. py:method:: ros_message() Convert the pose to a ROS message of type PoseStamped. :return: The ROS message. .. py:method:: from_ros_message(message: ROSPoseStamped) -> typing_extensions.Self :classmethod: Create a PoseStamped from a ROS message. :param message: The PoseStamped ROS message. :return: A new PoseStamped object created from the ROS message. .. py:method:: from_list(position: typing_extensions.Optional[typing_extensions.List[float]] = None, orientation: typing_extensions.Optional[typing_extensions.List[float]] = None, frame: typing_extensions.Optional[semantic_digital_twin.world_description.world_entity.Body] = None) -> typing_extensions.Self :classmethod: Factory to create a PoseStamped from a list of position and orientation. :param position: Position as a list of [x, y, z]. :param orientation: Orientation as a list of [x, y, z, w]. :param frame: Frame in which the pose is defined. :return: A new PoseStamped object. .. py:method:: from_matrix(matrix: numpy.ndarray, frame: semantic_digital_twin.world_description.world_entity.Body) -> typing_extensions.Self :classmethod: Create a PoseStamped from a 4x4 transformation matrix and a frame. :param matrix: A 4x4 transformation matrix as numpy array. :param frame: The frame in which the pose is defined. :return: A PoseStamped object created from the matrix and frame. .. py:method:: from_spatial_type(spatial_type: semantic_digital_twin.spatial_types.spatial_types.TransformationMatrix) -> typing_extensions.Self :classmethod: Create a PoseStamped from a SpatialTransformationMatrix and a frame. :param spatial_type: A SpatialTransformationMatrix object. :return: A PoseStamped object created from the spatial type and frame. .. py:method:: to_transform_stamped(child_link_id: semantic_digital_twin.world_description.world_entity.Body) -> TransformStamped Converts the PoseStamped to a TransformStamped given a frame to which the transform is pointing. :param child_link_id: Frame to which the transform is pointing. :return: A TransformStamped object. .. py:method:: to_spatial_type() -> semantic_digital_twin.spatial_types.spatial_types.TransformationMatrix Converts the PoseStamped to a SpatialTransformationMatrix. :return: A SpatialTransformationMatrix object representing the pose in 3D space. .. py:method:: round(decimals: int = 4) Rounds the components of the pose (position and orientation) to the specified number of decimal places. :param decimals: Number of decimal places to round to. .. py:method:: to_list() Convert the pose to a list of [position, orientation, frame_id]. :return: A list of [pose, frame_id]. .. py:method:: almost_equal(other: PoseStamped, position_tolerance: float = 1e-06, orientation_tolerance: float = 1e-05) -> bool Check if two PoseStamped objects are almost equal within given tolerances for position and orientation and if the frame_id is the same. :param other: The other PoseStamped object to compare to. :param position_tolerance: Tolerance for position comparison as number of decimal places. :param orientation_tolerance: Tolerance for orientation comparison as number of decimal places. :return: True if the PoseStamped objects are almost equal, False otherwise. .. py:method:: rotate_by_quaternion(quaternion: typing_extensions.List[float]) Rotates the orientation of the pose by a given quaternion. :param quaternion: A list representing the quaternion [x, y, z, w]. .. py:method:: is_facing_2d_axis(pose_b: PoseStamped, axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = AxisIdentifier.X, threshold_deg=82) -> typing_extensions.Tuple[bool, float] Check if this pose is facing another pose along a specific axis (X or Y) within a given angular threshold. :param pose_b: The target pose to compare against. :param axis: The axis to check alignment with ('x' or 'y'). Defaults to 'x'. :param threshold_deg: The maximum angular difference in degrees to consider as 'facing'. Defaults to 82 degrees. :return: Tuple of (True/False if facing, signed angular difference in radians). .. py:method:: is_facing_x_or_y(pose_b: PoseStamped) -> bool Check if this pose is facing another pose along either the X or Y axis within a default angular threshold. :param pose_b: The target pose to compare against. :return: True if this pose is facing the target along either X or Y axis, False otherwise. .. py:class:: ProcessModuleManager Bases: :py:obj:`abc.ABC` Base class for managing process modules, any new process modules have to implement this class to register the Process Modules .. py:attribute:: execution_type :type: pycram.datastructures.enums.ExecutionType :value: None Whether the robot for which the process module is intended for is real or a simulated one .. py:attribute:: available_pms :type: typing_extensions.List[ManagerBase] :value: [] List of all available Process Module Managers .. py:attribute:: _instance :type: ProcessModuleManager :value: None Singelton instance of this Process Module Manager .. py:attribute:: _initialized :type: bool :value: False .. py:method:: register_manager(manager: ManagerBase) Register a new Process Module Manager for the given robot name. :param manager: The Process Module Manager to register .. py:method:: get_manager(robot: semantic_digital_twin.robots.abstract_robot.AbstractRobot) -> ManagerBase Returns the Process Module manager for the currently loaded robot or None if there is no Manager. :return: ProcessModuleManager instance of the current robot .. py:method:: register_all_process_modules() :staticmethod: .. py:class:: MoveMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Moves the robot to a designated location .. py:attribute:: target :type: pycram.datastructures.pose.PoseStamped Location to which the robot should be moved .. py:attribute:: keep_joint_states :type: bool :value: False Keep the joint states of the robot during/at the end of the motion .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: LookingMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Lets the robot look at a point .. py:attribute:: target :type: pycram.datastructures.pose.PoseStamped .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: BaseMotion Bases: :py:obj:`abc.ABC` Helper class that provides a standard way to create an ABC using inheritance. .. py:attribute:: plan_node :type: pycram.plan.PlanNode :value: None .. py:property:: plan :type: pycram.plan.Plan .. py:property:: world :type: semantic_digital_twin.world.World .. py:property:: robot_view :type: semantic_digital_twin.robots.abstract_robot.AbstractRobot .. py:method:: perform() :abstractmethod: Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:method:: __post_init__() Checks if types are missing or wrong .. py:class:: Vector3Stamped Bases: :py:obj:`Vector3` A Vector3 with an attached ROS Header (timestamp and frame). Inherits all vector operations and adds frame/time metadata. .. py:attribute:: header :type: Header .. py:property:: frame_id .. py:method:: __repr__() .. py:method:: ros_message() Convert to a ROS Vector3Stamped message. :return: The ROS message. .. py:method:: from_ros_message(message) :classmethod: Create a Vector3Stamped from a ROS message. :param message: The Vector3Stamped ROS message. :return: A new Vector3Stamped object. .. py:method:: to_spatial_type() -> semantic_digital_twin.spatial_types.spatial_types.Vector3 .. py:class:: ProcessModuleManager Bases: :py:obj:`abc.ABC` Base class for managing process modules, any new process modules have to implement this class to register the Process Modules .. py:attribute:: execution_type :type: pycram.datastructures.enums.ExecutionType :value: None Whether the robot for which the process module is intended for is real or a simulated one .. py:attribute:: available_pms :type: typing_extensions.List[ManagerBase] :value: [] List of all available Process Module Managers .. py:attribute:: _instance :type: ProcessModuleManager :value: None Singelton instance of this Process Module Manager .. py:attribute:: _initialized :type: bool :value: False .. py:method:: register_manager(manager: ManagerBase) Register a new Process Module Manager for the given robot name. :param manager: The Process Module Manager to register .. py:method:: get_manager(robot: semantic_digital_twin.robots.abstract_robot.AbstractRobot) -> ManagerBase Returns the Process Module manager for the currently loaded robot or None if there is no Manager. :return: ProcessModuleManager instance of the current robot .. py:method:: register_all_process_modules() :staticmethod: .. py:class:: MoveJointsMotion Bases: :py:obj:`pycram.robot_plans.motions.base.BaseMotion` Moves any joint on the robot .. py:attribute:: names :type: list List of joint names that should be moved .. py:attribute:: positions :type: list Target positions of joints, should correspond to the list of names .. py:attribute:: align :type: Optional[bool] :value: False If True, aligns the end-effector with a specified axis (optional). .. py:attribute:: tip_link :type: Optional[str] :value: None Name of the tip link to align with, e.g the object (optional). .. py:attribute:: tip_normal :type: Optional[pycram.datastructures.pose.Vector3Stamped] :value: None Normalized vector representing the current orientation axis of the end-effector (optional). .. py:attribute:: root_link :type: Optional[str] :value: None Base link of the robot; typically set to the torso (optional). .. py:attribute:: root_normal :type: Optional[pycram.datastructures.pose.Vector3Stamped] :value: None Normalized vector representing the desired orientation axis to align with (optional). .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion.