pycram.orm.motion_designator

This module defines a set of ORM classes related to motion designators in the pycram framework.

Each motion designator class has its own table in the database with columns representing its attributes. The MotionDesignator class is the base class that defines the polymorphic behavior of all other motion designator classes.

Module Contents

Classes

Motion	ORM class of pycram.designators.motion_designator.MotionDesignatorDescription
MoveMotion	ORM class of pycram.designators.motion_designator.MoveMotion
AccessingMotion	ORM class of pycram.designators.motion_designator.AccessingMotion
MoveTCPMotion	ORM class of pycram.designators.motion_designator.MoveTCPMotion
LookingMotion	ORM class of pycram.designators.motion_designator.LookingMotion
MoveGripperMotion	ORM class of pycram.designators.motion_designator.MoveGripperMotion
DetectingMotion	ORM class of pycram.designators.motion_designator.DetectingMotion
WorldStateDetectingMotion	ORM class of pycram.designators.motion_designator.WorldStateDetectingMotion
OpeningMotion	ORM class of pycram.designators.motion_designator.OpeningMotion
ClosingMotion	ORM class of pycram.designators.motion_designator.ClosingMotion

class pycram.orm.motion_designator.Motion

Bases: pycram.orm.base.MapperArgsMixin, pycram.orm.base.Designator

ORM class of pycram.designators.motion_designator.MotionDesignatorDescription

Variables:

• id – (Integer) Auto-incrementing primary key

• dtype – (String) Polymorphic discriminator

id: sqlalchemy.orm.Mapped[int]

dtype: sqlalchemy.orm.Mapped[str]

class pycram.orm.motion_designator.MoveMotion

Bases: pycram.orm.base.PoseMixin, Motion

ORM class of pycram.designators.motion_designator.MoveMotion

id: sqlalchemy.orm.Mapped[int]

class pycram.orm.motion_designator.AccessingMotion

Bases: Motion

ORM class of pycram.designators.motion_designator.AccessingMotion

Variables:

• arm – (String) Name of the arm used

• gripper – (String) Name of the gripper used

• distance – (Float) Distance from the drawer to the robot

• drawer_joint –

id: sqlalchemy.orm.Mapped[int]

part_of: sqlalchemy.orm.Mapped[int]

object: sqlalchemy.orm.Mapped[pycram.orm.object_designator.Object]

arm: sqlalchemy.orm.Mapped[str]

gripper: sqlalchemy.orm.Mapped[str]

distance: sqlalchemy.orm.Mapped[float]

drawer_joint: sqlalchemy.orm.Mapped[str]

drawer_handle: sqlalchemy.orm.Mapped[str]

class pycram.orm.motion_designator.MoveTCPMotion

Bases: pycram.orm.base.PoseMixin, Motion

ORM class of pycram.designators.motion_designator.MoveTCPMotion

Variables:

arm – String specifying which arm to move the TCP of

id: sqlalchemy.orm.Mapped[int]

arm: sqlalchemy.orm.Mapped[str]

allow_gripper_collision: sqlalchemy.orm.Mapped[typing_extensions.Optional[bool]]

class pycram.orm.motion_designator.LookingMotion

Bases: pycram.orm.base.PoseMixin, Motion

ORM class of pycram.designators.motion_designator.LookingMotion

id: sqlalchemy.orm.Mapped[int]

class pycram.orm.motion_designator.MoveGripperMotion

Bases: Motion

ORM class of pycram.designators.motion_designator.MoveGripperMotion

id: sqlalchemy.orm.Mapped[int]

motion: sqlalchemy.orm.Mapped[str]

gripper: sqlalchemy.orm.Mapped[str]

allow_gripper_collision: sqlalchemy.orm.Mapped[typing_extensions.Optional[bool]]

class pycram.orm.motion_designator.DetectingMotion

Bases: Motion

ORM class of pycram.designators.motion_designator.DetectingMotion

id: sqlalchemy.orm.Mapped[int]

object_type: sqlalchemy.orm.Mapped[pycram.datastructures.enums.ObjectType]

class pycram.orm.motion_designator.WorldStateDetectingMotion

Bases: Motion

ORM class of pycram.designators.motion_designator.WorldStateDetectingMotion

id: sqlalchemy.orm.Mapped[int]

object_type: sqlalchemy.orm.Mapped[str]

class pycram.orm.motion_designator.OpeningMotion

Bases: Motion

ORM class of pycram.designators.motion_designator.OpeningMotion

id: sqlalchemy.orm.Mapped[int]

arm: sqlalchemy.orm.Mapped[str]

class pycram.orm.motion_designator.ClosingMotion

Bases: Motion

ORM class of pycram.designators.motion_designator.ClosingMotion

id: sqlalchemy.orm.Mapped[int]

arm: sqlalchemy.orm.Mapped[str]