`pycram.designators.actions.actions`

Module Contents

Classes

`ActionAbstract`	Base class for performable actions.
`MoveTorsoActionPerformable`	Move the torso of the robot up and down.
`SetGripperActionPerformable`	Set the gripper state of the robot.
`ReleaseActionPerformable`	Releases an Object from the robot.
`GripActionPerformable`	Grip an object with the robot.
`ParkArmsActionPerformable`	Park the arms of the robot.
`PickUpActionPerformable`	Let the robot pick up an object.
`PlaceActionPerformable`	Places an Object at a position using an arm.
`NavigateActionPerformable`	Navigates the Robot to a position.
`TransportActionPerformable`	Transports an object to a position using an arm
`LookAtActionPerformable`	Lets the robot look at a position.
`DetectActionPerformable`	Detects an object that fits the object description and returns an object designator describing the object.
`OpenActionPerformable`	Opens a container like object
`CloseActionPerformable`	Closes a container like object.
`GraspingActionPerformable`	Grasps an object described by the given Object Designator description
`FaceAtPerformable`	Turn the robot chassis such that is faces the `pose` and after that perform a look at action.
`MoveAndPickUpPerformable`	Navigate to standing_position, then turn towards the object and pick it up.

class pycram.designators.actions.actions.ActionAbstract

Bases: pycram.designator.ActionDesignatorDescription.Action, abc.ABC

Base class for performable actions.

orm_class: typing_extensions.Type[pycram.orm.action_designator.Action]: The ORM class that is used to insert this action into the database. Must be overwritten by every action in order to be able to insert the action into the database.

abstract perform() → None

Perform the action.

Will be overwritten by each action.

to_sql() → pycram.orm.action_designator.Action

Convert this action to its ORM equivalent.

Needs to be overwritten by an action if it didn’t overwrite the orm_class attribute with its ORM equivalent.

Returns:: An instance of the ORM equivalent of the action with the parameters set

insert(session: pycram.designators.motion_designator.Session, **kwargs) → pycram.orm.action_designator.Action

Insert this action into the database.

Needs to be overwritten by an action if the action has attributes that do not exist in the orm class equivalent. In that case, the attributes need to be inserted into the session manually.

Parameters:

session – Session with a database that is used to add and commit the objects
kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM action that was inserted into the database

class pycram.designators.actions.actions.MoveTorsoActionPerformable

Bases: ActionAbstract

Move the torso of the robot up and down.

position: float: Target position of the torso joint

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.SetGripperActionPerformable

Bases: ActionAbstract

Set the gripper state of the robot.

gripper: str: The gripper that should be set

motion: str: The motion that should be set on the gripper

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.ReleaseActionPerformable

Bases: ActionAbstract

Releases an Object from the robot.

Note: This action can not ve used yet.

gripper: str

object_designator: pycram.designators.motion_designator.ObjectDesignatorDescription.Object

abstract perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.GripActionPerformable

Bases: ActionAbstract

Grip an object with the robot.

Note: This action can not be used yet.

gripper: str

object_designator: pycram.designators.motion_designator.ObjectDesignatorDescription.Object

effort: float

abstract perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.ParkArmsActionPerformable

Bases: ActionAbstract

Park the arms of the robot.

arm: pycram.datastructures.enums.Arms: Entry from the enum for which arm should be parked

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.PickUpActionPerformable

Bases: ActionAbstract

Let the robot pick up an object.

object_designator: pycram.designators.motion_designator.ObjectDesignatorDescription.Object: Object designator describing the object that should be picked up

arm: str: The arm that should be used for pick up

grasp: str: The grasp that should be used. For example, ‘left’ or ‘right’

object_at_execution: pycram.designators.motion_designator.Optional[pycram.designators.motion_designator.ObjectDesignatorDescription.Object]: The object at the time this Action got created. It is used to be a static, information holding entity. It is not updated when the BulletWorld object is changed.

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.PlaceActionPerformable

Bases: ActionAbstract

Places an Object at a position using an arm.

object_designator: pycram.designators.motion_designator.ObjectDesignatorDescription.Object: Object designator describing the object that should be place

arm: str: Arm that is currently holding the object

target_location: pycram.datastructures.pose.Pose: Pose in the world at which the object should be placed

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.NavigateActionPerformable

Bases: ActionAbstract

Navigates the Robot to a position.

target_location: pycram.datastructures.pose.Pose: Location to which the robot should be navigated

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.TransportActionPerformable

Bases: ActionAbstract

Transports an object to a position using an arm

object_designator: pycram.designators.motion_designator.ObjectDesignatorDescription.Object: Object designator describing the object that should be transported.

arm: str: Arm that should be used

target_location: pycram.datastructures.pose.Pose: Target Location to which the object should be transported

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.LookAtActionPerformable

Bases: ActionAbstract

Lets the robot look at a position.

target: pycram.datastructures.pose.Pose: Position at which the robot should look, given as 6D pose

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.DetectActionPerformable

Bases: ActionAbstract

Detects an object that fits the object description and returns an object designator describing the object.

object_designator: pycram.designators.motion_designator.ObjectDesignatorDescription.Object: Object designator loosely describing the object, e.g. only type.

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.OpenActionPerformable

Bases: ActionAbstract

Opens a container like object

object_designator: pycram.designators.motion_designator.ObjectPart.Object: Object designator describing the object that should be opened

arm: str: Arm that should be used for opening the container

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.CloseActionPerformable

Bases: ActionAbstract

Closes a container like object.

object_designator: pycram.designators.motion_designator.ObjectPart.Object: Object designator describing the object that should be closed

arm: str: Arm that should be used for closing

orm_class: typing_extensions.Type[ActionAbstract]

perform() → None

Perform the action.

Will be overwritten by each action.

class pycram.designators.actions.actions.GraspingActionPerformable

Bases: ActionAbstract

Grasps an object described by the given Object Designator description

arm: str: The arm that should be used to grasp

object_desig: typing_extensions.Union[pycram.designators.motion_designator.ObjectDesignatorDescription.Object, pycram.designators.motion_designator.ObjectPart.Object]: Object Designator for the object that should be grasped