pycram.joint_state

pycram.joint_state#

Classes#

JointState

Represents a named joint state of a robot. For example, the park position of the arms.

ArmState

Represents a named joint state of a robot. For example, the park position of the arms.

GripperState

Represents the state of a gripper, such as open or closed.

JointStateManager

Manages joint states for different robot arms and their configurations.

Module Contents#

class pycram.joint_state.JointState#

Represents a named joint state of a robot. For example, the park position of the arms.

name: semantic_digital_twin.datastructures.prefixed_name.PrefixedName#

Name of the joint state

joint_names: List[str]#

Names of the joints in this state

joint_positions: List[float]#

position of the joints in this state, must correspond to the joint_names

state_type: enum.Enum = None#

Enum type of the joints tate (e.g., Park, Open)

apply_to_world(world: semantic_digital_twin.world.World)#

Applies the joint state to the robot in the given world. :param world: The world in which the robot is located.

class pycram.joint_state.ArmState#

Bases: JointState

Represents a named joint state of a robot. For example, the park position of the arms.

arm: pycram.datastructures.enums.Arms = None#
class pycram.joint_state.GripperState#

Bases: JointState

Represents the state of a gripper, such as open or closed.

gripper: pycram.datastructures.enums.Arms = None#
class pycram.joint_state.JointStateManager#

Manages joint states for different robot arms and their configurations.

joint_states: Dict[Type[semantic_digital_twin.robots.abstract_robot.AbstractRobot], List[JointState]]#

A list of joint states that can be applied to the robot.

get_arm_state(arm: pycram.datastructures.enums.Arms, state_type: pycram.datastructures.enums.StaticJointState, robot_view: semantic_digital_twin.robots.abstract_robot.AbstractRobot) → ArmState | None#

Retrieves the joint state for a specific arm and state type.

Parameters:

  • arm – The arm for which the state is requested.

  • state_type – The type of state (e.g., Park).

  • robot_view – The robot view to which the arm belongs.

Returns:

The corresponding ArmState or None if not found.

get_gripper_state(gripper: pycram.datastructures.enums.Arms, state_type: pycram.datastructures.enums.StaticJointState, robot_view: semantic_digital_twin.robots.abstract_robot.AbstractRobot) → GripperState | None#

Retrieves the joint state for a specific gripper and state type.

Parameters:

  • gripper – The gripper for which the state is requested.

  • state_type – The type of state (e.g., Open, Close).

  • robot_view – The robot view to which the gripper belongs.

Returns:

The corresponding GripperState or None if not found.

get_joint_state(state: enum.Enum, robot_view: semantic_digital_twin.robots.abstract_robot.AbstractRobot) → List[JointState]#

Retrieves all joint states of a specific type for a given robot.

Parameters:

  • state – The type of joint state to retrieve (e.g., Park, Open).

  • robot_view – The robot class for which the joint states are requested.

Returns:

A list of JointState objects matching the specified type.

add_joint_states(robot: Type[semantic_digital_twin.robots.abstract_robot.AbstractRobot], joint_states: List[JointState])#

Adds joint states for a specific robot type.

Parameters:

  • robot – The robot class for which the joint states are added.

  • joint_states – A list of joint states to be added.

Contents