pycram.external_interfaces.giskard

pycram.external_interfaces.giskard#

Attributes#

logger

giskard_wrapper

is_init

giskard_lock

giskard_rlock

par_threads

Functions#

thread_safe(→ typing_extensions.Callable)

Adds thread safety to a function via a decorator. This uses the giskard_lock

init_giskard_interface(→ typing_extensions.Callable)

Checks if the ROS messages are available and if giskard is running, if that is the case the interface will be

achieve_joint_goal(goal_poses)

Takes a dictionary of joint position that should be achieved, the keys in the dictionary are the joint names and

set_joint_goal(→ None)

Takes a dictionary of joint position that should be achieved, the keys in the dictionary are the joint names and

achieve_cartesian_goal(goal_pose, tip_link, root_link)

Takes a cartesian position and tries to move the tip_link to this position using the chain defined by

achieve_straight_cartesian_goal(goal_pose, tip_link, ...)

Takes a cartesian position and tries to move the tip_link to this position in a straight line, using the chain

achieve_translation_goal(goal_point, tip_link, root_link)

Tries to move the tip_link to the position defined by goal_point using the chain defined by root_link and

achieve_straight_translation_goal(goal_point, ...)

Tries to move the tip_link to the position defined by goal_point in a straight line, using the chain defined by

achieve_rotation_goal(quat, tip_link, root_link)

Tries to bring the tip link into the rotation defined by quat using the chain defined by root_link and

achieve_align_planes_goal(goal_normal, tip_link, ...)

Tries to align the plane defined by tip normal with goal_normal using the chain between root_link and

achieve_open_container_goal(tip_link, environment_link)

Tries to open a container in an environment, this only works if the container was added as a URDF. This goal assumes

achieve_close_container_goal(tip_link, environment_link)

Tries to close a container, this only works if the container was added as a URDF. Assumes that the handle of the

achieve_cartesian_waypoints_goal(waypoints, tip_link, ...)

Tries to achieve each waypoint in the given sequence of waypoints.

projection_cartesian_goal(goal_pose, tip_link, root_link)

Tries to move the tip_link to the position defined by goal_pose using the chain defined by tip_link and root_link.

projection_cartesian_goal_with_approach(approach_pose, ...)

Tries to achieve the goal_pose using the chain defined by tip_link and root_link. The approach_pose is used to drive

projection_joint_goal(goal_poses[, allow_collisions])

Tries to achieve the joint goal defined by goal_poses, the goal_poses are projected to the closest point on the

allow_gripper_collision(→ None)

Allows the specified gripper to collide with anything.

allow_all_collision()

get_gripper_group_names(→ typing_extensions.List[str])

add_gripper_groups(→ None)

Add the gripper links as a group for collision avoidance.

avoid_all_collisions(→ None)

Will avoid all collision for the next goal.

allow_self_collision(→ None)

Will allow the robot collision with itself.

avoid_collisions(→ None)

Will avoid collision between the two objects for the next goal.

make_point_stamped(→ geometry_msgs.msg.PointStamped)

Creates a PointStamped message for the given position in world coordinate frame.

make_quaternion_stamped(...)

Creates a QuaternionStamped message for the given quaternion.

make_vector_stamped(→ geometry_msgs.msg.Vector3Stamped)

Creates a Vector3Stamped message, this is similar to PointStamped but represents a vector instead of a point.

set_straight_cart_goal(goal_pose, tip_link, root_link)

set_cart_goal(goal_pose, tip_link, root_link[, ...])

execute([add_default])

Module Contents#

pycram.external_interfaces.giskard.logger#
pycram.external_interfaces.giskard.giskard_wrapper = None#
pycram.external_interfaces.giskard.is_init = False#
pycram.external_interfaces.giskard.giskard_lock#
pycram.external_interfaces.giskard.giskard_rlock#
pycram.external_interfaces.giskard.par_threads#
pycram.external_interfaces.giskard.thread_safe(func: typing_extensions.Callable) → typing_extensions.Callable#

Adds thread safety to a function via a decorator. This uses the giskard_lock

Parameters:

func – Function that should be thread safe

Returns:

A function with thread safety

pycram.external_interfaces.giskard.init_giskard_interface(func: typing_extensions.Callable) → typing_extensions.Callable#

Checks if the ROS messages are available and if giskard is running, if that is the case the interface will be initialized.

Parameters:

func – Function this decorator should be wrapping

Returns:

A callable function which initializes the interface and then calls the wrapped function

pycram.external_interfaces.giskard.achieve_joint_goal(goal_poses: typing_extensions.Dict[str, float])#

Takes a dictionary of joint position that should be achieved, the keys in the dictionary are the joint names and values are the goal joint positions.

Parameters:

goal_poses – Dictionary with joint names and position goals

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.set_joint_goal(goal_poses: typing_extensions.Dict[str, float]) → None#

Takes a dictionary of joint position that should be achieved, the keys in the dictionary are the joint names and values are the goal joint positions.

Parameters:

goal_poses – Dictionary with joint names and position goals

pycram.external_interfaces.giskard.achieve_cartesian_goal(goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str, position_threshold: float = 0.02, orientation_threshold: float = 0.02, use_monitor: bool = True, grippers_that_can_collide: typing_extensions.Optional[pycram.datastructures.enums.Arms] = None)#

Takes a cartesian position and tries to move the tip_link to this position using the chain defined by tip_link and root_link.

Parameters:

  • goal_pose – The position which should be achieved with tip_link

  • tip_link – The end link of the chain as well as the link which should achieve the goal_pose

  • root_link – The starting link of the chain which should be used to achieve this goal

  • position_threshold – Position distance at which the goal is successfully reached

  • orientation_threshold – Orientation distance at which the goal is successfully reached

  • use_monitor – Whether to use a monitor for this goal or not.

  • grippers_that_can_collide – The gripper(s) that should be allowed to collide.

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.achieve_straight_cartesian_goal(goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str, grippers_that_can_collide: typing_extensions.Optional[pycram.datastructures.enums.Arms] = None)#

Takes a cartesian position and tries to move the tip_link to this position in a straight line, using the chain defined by tip_link and root_link.

Parameters:

  • goal_pose – The position which should be achieved with tip_link

  • tip_link – The end link of the chain as well as the link which should achieve the goal_pose

  • root_link – The starting link of the chain which should be used to achieve this goal

  • grippers_that_can_collide – The gripper(s) that should be allowed to collide.

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.achieve_translation_goal(goal_point: typing_extensions.List[float], tip_link: str, root_link: str)#

Tries to move the tip_link to the position defined by goal_point using the chain defined by root_link and tip_link. Since goal_point only defines the position but no rotation, rotation is not taken into account.

Parameters:

  • goal_point – The goal position of the tip_link

  • tip_link – The link which should be moved to goal_point as well as the end of the used chain

  • root_link – The start link of the chain

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.achieve_straight_translation_goal(goal_point: typing_extensions.List[float], tip_link: str, root_link: str)#

Tries to move the tip_link to the position defined by goal_point in a straight line, using the chain defined by root_link and tip_link. Since goal_point only defines the position but no rotation, rotation is not taken into account.

Parameters:

  • goal_point – The goal position of the tip_link

  • tip_link – The link which should be moved to goal_point as well as the end of the used chain

  • root_link – The start link of the chain

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.achieve_rotation_goal(quat: typing_extensions.List[float], tip_link: str, root_link: str)#

Tries to bring the tip link into the rotation defined by quat using the chain defined by root_link and tip_link.

Parameters:

  • quat – The rotation that should be achieved, given as a quaternion

  • tip_link – The link that should be in the rotation defined by quat

  • root_link – The start link of the chain

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.achieve_align_planes_goal(goal_normal: typing_extensions.List[float], tip_link: str, tip_normal: typing_extensions.List[float], root_link: str)#

Tries to align the plane defined by tip normal with goal_normal using the chain between root_link and tip_link.

Parameters:

  • goal_normal – The goal plane, given as a list of XYZ

  • tip_link – The end link of the chain that should be used.

  • tip_normal – The plane that should be aligned with goal_normal, given as a list of XYZ

  • root_link – The starting link of the chain that should be used.

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.achieve_open_container_goal(tip_link: str, environment_link: str)#

Tries to open a container in an environment, this only works if the container was added as a URDF. This goal assumes that the handle was already grasped. Can only handle container with 1 DOF

Parameters:

  • tip_link – The End effector that should open the container

  • environment_link – The name of the handle for this container.

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.achieve_close_container_goal(tip_link: str, environment_link: str)#

Tries to close a container, this only works if the container was added as a URDF. Assumes that the handle of the container was already grasped. Can only handle container with 1 DOF.

Parameters:

  • tip_link – Link name that should be used to close the container.

  • environment_link – Name of the handle

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.achieve_cartesian_waypoints_goal(waypoints: typing_extensions.List[pycram.datastructures.pose.PoseStamped], tip_link: str, root_link: str, enforce_final_orientation: bool = True)#

Tries to achieve each waypoint in the given sequence of waypoints. If :param enforce_final_orientation is False, each waypoint needs a corresponding orientation. If it is True only the last waypoint needs to have an orientation.

Parameters:

  • waypoints – The sequence of waypoints as poses to achieve.

  • tip_link – The endeffector link of the chain that should be used.

  • root_link – The root link of the chain that should be used.

  • enforce_final_orientation – If true, only achieve the orientation of the last waypoint. If false, achieve the orientation of each waypoint.

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.projection_cartesian_goal(goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str)#

Tries to move the tip_link to the position defined by goal_pose using the chain defined by tip_link and root_link. The goal_pose is projected to the closest point on the robot’s workspace.

Parameters:

  • goal_pose – The position which should be achieved with tip_link

  • tip_link – The end link of the chain as well as the link which should achieve the goal_pose

  • root_link – The starting link of the chain which should be used to achieve this goal

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.projection_cartesian_goal_with_approach(approach_pose: pycram.datastructures.pose.PoseStamped, goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str, robot_base_link: str)#

Tries to achieve the goal_pose using the chain defined by tip_link and root_link. The approach_pose is used to drive the robot to a pose close the actual goal pose, the robot_base_link is used to define the base link of the robot.

Parameters:

  • approach_pose – Pose near the goal_pose

  • goal_pose – Pose to which the tip_link should be moved

  • tip_link – The link which should be moved to goal_pose, usually the tool frame

  • root_link – The start of the link chain which should be used for planning

  • robot_base_link – The base link of the robot

Returns:

A trajectory calculated to move the tip_link to the goal_pose

pycram.external_interfaces.giskard.projection_joint_goal(goal_poses: typing_extensions.Dict[str, float], allow_collisions: bool = False)#

Tries to achieve the joint goal defined by goal_poses, the goal_poses are projected to the closest point on the robot’s workspace.

Parameters:

  • goal_poses – Dictionary with joint names and position goals

  • allow_collisions – If all collisions should be allowed for this goal

Returns:

MoveResult message for this goal

pycram.external_interfaces.giskard.allow_gripper_collision(gripper: pycram.datastructures.enums.Arms, at_goal: bool = False) → None#

Allows the specified gripper to collide with anything.

Parameters:

  • gripper – The gripper which can collide, either ‘Arms.RIGHT’, ‘Arms.LEFT’ or ‘Arms.BOTH’

  • at_goal – If the collision should be allowed only for this motion goal.

pycram.external_interfaces.giskard.allow_all_collision()#
pycram.external_interfaces.giskard.get_gripper_group_names() → typing_extensions.List[str]#
Returns:

The list of groups that are registered in giskard which have ‘gripper’ in their name.

pycram.external_interfaces.giskard.add_gripper_groups() → None#

Add the gripper links as a group for collision avoidance.

Returns:

Response of the RegisterGroup Service

pycram.external_interfaces.giskard.avoid_all_collisions() → None#

Will avoid all collision for the next goal.

pycram.external_interfaces.giskard.allow_self_collision() → None#

Will allow the robot collision with itself.

pycram.external_interfaces.giskard.avoid_collisions(object1: semantic_digital_twin.world_description.world_entity.Body, object2: semantic_digital_twin.world_description.world_entity.Body) → None#

Will avoid collision between the two objects for the next goal.

Parameters:

  • object1 – The first World Object

  • object2 – The second World Object

pycram.external_interfaces.giskard.make_point_stamped(point: typing_extensions.List[float]) → geometry_msgs.msg.PointStamped#

Creates a PointStamped message for the given position in world coordinate frame.

Parameters:

point – XYZ coordinates of the point

Returns:

A PointStamped message

pycram.external_interfaces.giskard.make_quaternion_stamped(quaternion: typing_extensions.List[float]) → geometry_msgs.msg.QuaternionStamped#

Creates a QuaternionStamped message for the given quaternion.

Parameters:

quaternion – The quaternion as a list of xyzw

Returns:

A QuaternionStamped message

pycram.external_interfaces.giskard.make_vector_stamped(vector: typing_extensions.List[float]) → geometry_msgs.msg.Vector3Stamped#

Creates a Vector3Stamped message, this is similar to PointStamped but represents a vector instead of a point.

Parameters:

vector – The vector given as xyz in world frame

Returns:

A Vector3Stamped message

pycram.external_interfaces.giskard.set_straight_cart_goal(goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str, tip_group: typing_extensions.Optional[str] = '', root_group: typing_extensions.Optional[str] = '', reference_linear_velocity: typing_extensions.Optional[float] = None, reference_angular_velocity: typing_extensions.Optional[float] = None, weight: typing_extensions.Optional[float] = None, **kwargs)#
pycram.external_interfaces.giskard.set_cart_goal(goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str, tip_group: typing_extensions.Optional[str] = '', root_group: typing_extensions.Optional[str] = '', reference_linear_velocity: typing_extensions.Optional[float] = None, reference_angular_velocity: typing_extensions.Optional[float] = None, weight: typing_extensions.Optional[float] = None, add_monitor: bool = True, **kwargs)#
pycram.external_interfaces.giskard.execute(add_default=True)#
Contents