pycram.plan_failures

Module Contents

exception pycram.plan_failures.PlanFailure(*args, **kwargs)

Bases: Exception

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.NotALanguageExpression(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.FailureDiagnosis(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.LowLevelFailure(*args, **kwargs)

Bases: FailureDiagnosis

Failure thrown by low-level modules: robot or projection PMs.

Create a new plan failure.

exception pycram.plan_failures.ActionlibActionTimeout(*args, **kwargs)

Bases: LowLevelFailure

Failure thrown by low-level modules: robot or projection PMs.

Create a new plan failure.

exception pycram.plan_failures.HighLevelFailure(*args, **kwargs)

Bases: FailureDiagnosis

Failure thrown by high-level modules, i.e. plans.

Create a new plan failure.

exception pycram.plan_failures.DeliveringFailed(*args, **kwargs)

Bases: HighLevelFailure

Thrown when delivering plan completely gives up.

Create a new plan failure.

exception pycram.plan_failures.ManipulationLowLevelFailure(*args, **kwargs)

Bases: LowLevelFailure

Thrown when a low-level, i.e. hardware related, failure is detected in a manipulation action.

Create a new plan failure.

exception pycram.plan_failures.EnvironmentManipulationGoalNotReached(*args, **kwargs)

Bases: ManipulationLowLevelFailure

Thrown when door / drawer opening / closing goal is still not reached.

Create a new plan failure.

exception pycram.plan_failures.EnvironmentManipulationImpossible(*args, **kwargs)

Bases: HighLevelFailure

Thrown when environment manipulation cannot be achieved.

Create a new plan failure.

exception pycram.plan_failures.EnvironmentUnreachable(*args, **kwargs)

Bases: HighLevelFailure

Thrown when environment manipulation in collision or unreachable.

Create a new plan failure.

exception pycram.plan_failures.FetchingFailed(*args, **kwargs)

Bases: HighLevelFailure

Thrown when fetching plan completely gives up.

Create a new plan failure.

exception pycram.plan_failures.GripperLowLevelFailure(*args, **kwargs)

Bases: LowLevelFailure

Thrown when a failure involving the gripper hardware occurs.

Create a new plan failure.

exception pycram.plan_failures.GripperClosedCompletely(*args, **kwargs)

Bases: GripperLowLevelFailure

Thrown when the gripper closed completely, despite not being expected to do so (e.g. because it should have grasped something).

Create a new plan failure.

exception pycram.plan_failures.GripperGoalNotReached(*args, **kwargs)

Bases: GripperLowLevelFailure

Thrown when the gripper does not reach its goal.

Create a new plan failure.

exception pycram.plan_failures.LookingHighLevelFailure(*args, **kwargs)

Bases: HighLevelFailure

High-level failure produced when looking for an object, i.e. it is not a hardware issue but one relating to the looking task, its parameters, and how they relate to the environment.

Create a new plan failure.

exception pycram.plan_failures.ManipulationGoalInCollision(*args, **kwargs)

Bases: HighLevelFailure

Thrown when executing a manipulation action results in a collision.

Create a new plan failure.

exception pycram.plan_failures.ManipulationGoalNotReached(*args, **kwargs)

Bases: ManipulationLowLevelFailure

Thrown when after executing the action, goal is still not reached.

Create a new plan failure.

exception pycram.plan_failures.IKError(pose, base_frame)

Bases: PlanFailure

Thrown when no inverse kinematics solution could be found

Create a new plan failure.

exception pycram.plan_failures.ManipulationPoseUnreachable(*args, **kwargs)

Bases: ManipulationLowLevelFailure

Thrown when no IK solution can be found.

Create a new plan failure.

exception pycram.plan_failures.NavigationHighLevelFailure(*args, **kwargs)

Bases: HighLevelFailure

High-level failure produced while navigating the robot, i.e. it is not a hardware issue but one relating to the navigation task, its parameters, and how they relate to the environment.

Create a new plan failure.

exception pycram.plan_failures.NavigationGoalInCollision(*args, **kwargs)

Bases: NavigationHighLevelFailure

Navigation goal cannot be reached because the goal itself is already occupied by some other object.

Create a new plan failure.

exception pycram.plan_failures.NavigationLowLevelFailure(*args, **kwargs)

Bases: LowLevelFailure

Low-level failure produced while navigating the robot, i.e. some kind of hardware issue.

Create a new plan failure.

exception pycram.plan_failures.NavigationGoalNotReached(*args, **kwargs)

Bases: NavigationLowLevelFailure

Thrown when the base moved as a result of the navigation action but the goal was not reached.

Create a new plan failure.

exception pycram.plan_failures.NavigationPoseUnreachable(*args, **kwargs)

Bases: NavigationLowLevelFailure

Thrown when the goal pose for navigation is computed to be unreachable.

Create a new plan failure.

exception pycram.plan_failures.ObjectNowhereToBeFound(*args, **kwargs)

Bases: HighLevelFailure

Thrown when the robot cannot find an object of a given description in its surroundings.

Create a new plan failure.

exception pycram.plan_failures.ObjectUndeliverable(*args, **kwargs)

Bases: HighLevelFailure

Thrown when no base positioning can assure a reachable pose to place the object from.

Create a new plan failure.

exception pycram.plan_failures.ObjectUnfetchable(*args, **kwargs)

Bases: HighLevelFailure

Thrown when no base positioning can assure a reachable pose to grasp the object from.

Create a new plan failure.

exception pycram.plan_failures.ObjectUnreachable(*args, **kwargs)

Bases: HighLevelFailure

Thrown when no IK found for particular base pose.

Create a new plan failure.

exception pycram.plan_failures.PerceptionLowLevelFailure(*args, **kwargs)

Bases: LowLevelFailure

Low-level failure produced while perceiving, i.e. some kind of hardware issue.

Create a new plan failure.

exception pycram.plan_failures.PerceptionObjectNotFound(*args, **kwargs)

Bases: PerceptionLowLevelFailure

Thrown when an attempt to find an object by perception fails – and this can still be interpreted as the robot not looking in the right direction, as opposed to the object being absent.

Create a new plan failure.

exception pycram.plan_failures.PerceptionObjectNotInWorld(*args, **kwargs)

Bases: PerceptionLowLevelFailure

Thrown when an attempt to find an object by perception fails – and this is because the object can be assumed absent or perhaps is known absent because of the setup of a simulation.

Create a new plan failure.

exception pycram.plan_failures.SearchingFailed(*args, **kwargs)

Bases: HighLevelFailure

Thrown when searching plan completely gives up.

Create a new plan failure.

exception pycram.plan_failures.TorsoLowLevelFailure(*args, **kwargs)

Bases: LowLevelFailure

Low-level failure produced while moving the torso, i.e. some kind of hardware issue.

Create a new plan failure.

exception pycram.plan_failures.TorsoGoalNotReached(*args, **kwargs)

Bases: TorsoLowLevelFailure

Thrown when the torso moved as a result of a torso action but the goal was not reached.

Create a new plan failure.

exception pycram.plan_failures.TorsoGoalUnreachable(*args, **kwargs)

Bases: TorsoLowLevelFailure

Thrown when the goal for the torso is computed to be unreachable.

Create a new plan failure.

exception pycram.plan_failures.Task(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.Grasping(*args, **kwargs)

Bases: Task

Create a new plan failure.

exception pycram.plan_failures.Looking(*args, **kwargs)

Bases: Task

Create a new plan failure.

exception pycram.plan_failures.ObjectPoseMisestimation(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.SuccessfulCompletion(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.ObjectNotFound(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.LocomotorFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.ArmFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.ObjectLost(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.SensorFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.IllPosedGoalFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.CapabilityAbsenceFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.ReachabilityFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.TorsoFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.ConfigurationNotReached(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.Timeout(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.EndEffectorFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.ObjectUnavailable(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.SustainedFailure(*args, **kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.ReasoningError(**kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.

exception pycram.plan_failures.CollisionError(**kwargs)

Bases: PlanFailure

Implementation of plan failures.

Create a new plan failure.