pycram.designators.motion_designator

Module Contents

Classes

BaseMotion	Helper class that provides a standard way to create an ABC using
MoveMotion	Moves the robot to a designated location
MoveTCPMotion	Moves the Tool center point (TCP) of the robot
LookingMotion	Lets the robot look at a point
MoveGripperMotion	Opens or closes the gripper
DetectingMotion	Tries to detect an object in the FOV of the robot
MoveArmJointsMotion	Moves the joints of each arm into the given position
WorldStateDetectingMotion	Detects an object based on the world state.
MoveJointsMotion	Moves any joint on the robot
OpeningMotion	Designator for opening container
ClosingMotion	Designator for closing a container

class pycram.designators.motion_designator.BaseMotion

Bases: abc.ABC

Helper class that provides a standard way to create an ABC using inheritance.

abstract perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

abstract to_sql() → pycram.orm.motion_designator.Motion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

abstract insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.Motion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

__post_init__()

Checks if types are missing or wrong

class pycram.designators.motion_designator.MoveMotion

Bases: BaseMotion

Moves the robot to a designated location

target: pycram.datastructures.pose.Pose

Location to which the robot should be moved

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.MoveMotion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session, *args, **kwargs) → pycram.orm.motion_designator.MoveMotion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.MoveTCPMotion

Bases: BaseMotion

Moves the Tool center point (TCP) of the robot

target: pycram.datastructures.pose.Pose

Target pose to which the TCP should be moved

arm: str

Arm with the TCP that should be moved to the target

allow_gripper_collision: typing_extensions.Optional[bool]

If the gripper can collide with something

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.MoveTCPMotion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.MoveTCPMotion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.LookingMotion

Bases: BaseMotion

Lets the robot look at a point

target: pycram.datastructures.pose.Pose

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.LookingMotion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.LookingMotion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.MoveGripperMotion

Bases: BaseMotion

Opens or closes the gripper

motion: str

Motion that should be performed, either ‘open’ or ‘close’

gripper: str

Name of the gripper that should be moved

allow_gripper_collision: typing_extensions.Optional[bool]

If the gripper is allowed to collide with something

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.MoveGripperMotion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.MoveGripperMotion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.DetectingMotion

Bases: BaseMotion

Tries to detect an object in the FOV of the robot

object_type: pycram.datastructures.enums.ObjectType

Type of the object that should be detected

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.DetectingMotion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.DetectingMotion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.MoveArmJointsMotion

Bases: BaseMotion

Moves the joints of each arm into the given position

left_arm_poses: typing_extensions.Optional[typing_extensions.Dict[str, float]]

Target positions for the left arm joints

right_arm_poses: typing_extensions.Optional[typing_extensions.Dict[str, float]]

Target positions for the right arm joints

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.Motion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.Motion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.WorldStateDetectingMotion

Bases: BaseMotion

Detects an object based on the world state.

object_type: pycram.datastructures.enums.ObjectType

Object type that should be detected

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.Motion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.Motion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.MoveJointsMotion

Bases: BaseMotion

Moves any joint on the robot

names: list

List of joint names that should be moved

positions: list

Target positions of joints, should correspond to the list of names

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.Motion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.Motion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.OpeningMotion

Bases: BaseMotion

Designator for opening container

object_part: pycram.designators.object_designator.ObjectPart.Object

Object designator for the drawer handle

arm: str

Arm that should be used

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.OpeningMotion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.OpeningMotion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.

class pycram.designators.motion_designator.ClosingMotion

Bases: BaseMotion

Designator for closing a container

object_part: pycram.designators.object_designator.ObjectPart.Object

Object designator for the drawer handle

arm: str

Arm that should be used

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.

to_sql() → pycram.orm.motion_designator.ClosingMotion

Create an ORM object that corresponds to this description. Will be overwritten by each motion.

Returns:

The created ORM object.

insert(session: sqlalchemy.orm.Session, *args, **kwargs) → pycram.orm.motion_designator.ClosingMotion

Add and commit this and all related objects to the session. Auto-Incrementing primary keys and foreign keys have to be filled by this method.

Parameters:

• session – Session with a database that is used to add and commit the objects

• args – Possible extra arguments

• kwargs – Possible extra keyword arguments

Returns:

The completely instanced ORM motion.