`pycram.external_interfaces.giskard`

Module Contents

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
`initial_adding_objects`(→ None)	Adds object that are loaded in the World to the Giskard belief state, if they are not present at the moment.
`removing_of_objects`(→ None)	Removes objects that are present in the Giskard belief state but not in the World from the Giskard belief state.
`sync_worlds`(→ None)	Synchronizes the World and the Giskard belief state, this includes adding and removing objects to the Giskard
`update_pose`(→ giskard_msgs.srv.UpdateWorldResponse)	Sends an update message to giskard to update the object position. Might not work when working on the real robot just
`spawn_object`(→ None)	Spawns a World Object in the giskard belief state.
`remove_object`(→ giskard_msgs.srv.UpdateWorldResponse)	Removes an object from the giskard belief state.
`spawn_urdf`(→ giskard_msgs.srv.UpdateWorldResponse)	Spawns an URDF in giskard's belief state.
`spawn_mesh`(→ giskard_msgs.srv.UpdateWorldResponse)	Spawns a mesh into giskard's belief state
`_manage_par_motion_goals`(...)	Manages multiple goals that should be executed in parallel. The current sequence of motion goals is saved and the
`achieve_joint_goal`(→ giskard_msgs.msg.MoveResult)	Takes a dictionary of joint position that should be achieved, the keys in the dictionary are the joint names and
`achieve_cartesian_goal`(→ giskard_msgs.msg.MoveResult)	Takes a cartesian position and tries to move the tip_link to this position using the chain defined by
`achieve_straight_cartesian_goal`(...)	Takes a cartesian position and tries to move the tip_link to this position in a straight line, using the chain
`achieve_translation_goal`(→ giskard_msgs.msg.MoveResult)	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`(...)	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`(→ giskard_msgs.msg.MoveResult)	Tries to bring the tip link into the rotation defined by quat using the chain defined by root_link and
`achieve_align_planes_goal`(→ giskard_msgs.msg.MoveResult)	Tries to align the plane defined by tip normal with goal_normal using the chain between root_link and
`achieve_open_container_goal`(→ giskard_msgs.msg.MoveResult)	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`(→ giskard_msgs.msg.MoveResult)	Tries to close a container, this only works if the container was added as a URDF. Assumes that the handle of the
`allow_gripper_collision`(→ None)	Allows the specified gripper to collide with anything.
`get_gripper_group_names`(→ typing_extensions.List[str])	Returns a list of groups that are registered in giskard which have 'gripper' in their name.
`add_gripper_groups`(→ None)	Adds 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_world_body`(→ giskard_msgs.msg.WorldBody)	Creates a WorldBody message for a World Object. The WorldBody will contain the URDF of the World Object
`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.
`_pose_to_pose_stamped`(→ geometry_msgs.msg.PoseStamped)	Transforms a PyCRAM pose to a PoseStamped message, this is necessary since Giskard NEEDS a PoseStamped message

Attributes

`giskard_wrapper`
`giskard_update_service`
`is_init`
`number_of_par_goals`
`giskard_lock`
`giskard_rlock`
`par_threads`

pycram.external_interfaces.giskard.giskard_wrapper

pycram.external_interfaces.giskard.giskard_update_service

pycram.external_interfaces.giskard.is_init = False

pycram.external_interfaces.giskard.number_of_par_goals = 0

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.initial_adding_objects() → None: Adds object that are loaded in the World to the Giskard belief state, if they are not present at the moment.

pycram.external_interfaces.giskard.removing_of_objects() → None: Removes objects that are present in the Giskard belief state but not in the World from the Giskard belief state.

pycram.external_interfaces.giskard.sync_worlds() → None: Synchronizes the World and the Giskard belief state, this includes adding and removing objects to the Giskard belief state such that it matches the objects present in the World and moving the robot to the position it is currently at in the World.

pycram.external_interfaces.giskard.update_pose(object: pycram.world_concepts.world_object.Object) → giskard_msgs.srv.UpdateWorldResponse

Sends an update message to giskard to update the object position. Might not work when working on the real robot just in standalone mode.

Parameters:: object – Object that should be updated
Returns:: An UpdateWorldResponse

pycram.external_interfaces.giskard.spawn_object(object: pycram.world_concepts.world_object.Object) → None

Spawns a World Object in the giskard belief state.

Parameters:: object – World object that should be spawned

pycram.external_interfaces.giskard.remove_object(object: pycram.world_concepts.world_object.Object) → giskard_msgs.srv.UpdateWorldResponse

Removes an object from the giskard belief state.

Parameters:: object – The World Object that should be removed

pycram.external_interfaces.giskard.spawn_urdf(name: str, urdf_path: str, pose: pycram.datastructures.pose.Pose) → giskard_msgs.srv.UpdateWorldResponse

Spawns an URDF in giskard’s belief state.

Parameters:

name – Name of the URDF
urdf_path – Path to the URDF file
pose – Pose in which the URDF should be spawned

Returns:

An UpdateWorldResponse message

pycram.external_interfaces.giskard.spawn_mesh(name: str, path: str, pose: pycram.datastructures.pose.Pose) → giskard_msgs.srv.UpdateWorldResponse

Spawns a mesh into giskard’s belief state

Parameters:

name – Name of the mesh
path – Path to the mesh file
pose – Pose in which the mesh should be spawned

Returns:

An UpdateWorldResponse message

pycram.external_interfaces.giskard._manage_par_motion_goals(goal_func, *args) → typing_extensions.Optional[giskard_msgs.msg.MoveResult]

Manages multiple goals that should be executed in parallel. The current sequence of motion goals is saved and the parallel motion goal is loaded if there is one, then the new motion goal given by goal_func is added to the parallel motion goal. If this was the last motion goal for the parallel motion goal it is then executed.

Parameters:

goal_func – Function which adds a new motion goal to the giskard_wrapper
args – Arguments for the goal_func function

Returns:

MoveResult of the execution if there was an execution, True if a new motion goal was added to the giskard_wrapper and None in any other case

pycram.external_interfaces.giskard.achieve_joint_goal(goal_poses: typing_extensions.Dict[str, float]) → giskard_msgs.msg.MoveResult

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.achieve_cartesian_goal(goal_pose: pycram.datastructures.pose.Pose, tip_link: str, root_link: str) → giskard_msgs.msg.MoveResult

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

Returns: