pycram.process_modules.boxy_process_modules

Module Contents

Classes

BoxyNavigation	The process module to move the robot from one position to another.
BoxyOpen	Low-level implementation of opening a container in the simulation. Assumes the handle is already grasped.
BoxyClose	Low-level implementation that lets the robot close a grasped container, in simulation
BoxyParkArms	This process module is for moving the arms in a parking position.
BoxyMoveHead	This process module moves the head to look at a specific point in the world coordinate frame.
BoxyMoveGripper	This process module controls the gripper of the robot. They can either be opened or closed.
BoxyDetecting	This process module tries to detect an object with the given type. To be detected the object has to be in
BoxyMoveTCP	This process moves the tool center point of either the right or the left arm.
BoxyMoveArmJoints	This process modules moves the joints of either the right or the left arm. The joint states can be given as
BoxyWorldStateDetecting	This process module detectes an object even if it is not in the field of view of the robot.
BoxyManager	Base class for managing process modules, any new process modules have to implement this class to register the

Functions

_park_arms(arm)	Defines the joint poses for the parking positions of the arms of Boxy and applies them to the
_move_arm_tcp(→ None)

pycram.process_modules.boxy_process_modules._park_arms(arm)

Defines the joint poses for the parking positions of the arms of Boxy and applies them to the in the BulletWorld defined robot. :return: None

class pycram.process_modules.boxy_process_modules.BoxyNavigation(lock)

Bases: pycram.process_module.ProcessModule

The process module to move the robot from one position to another.

Create a new process module.

_execute(desig: MoveMotion)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyOpen(lock)

Bases: pycram.process_module.ProcessModule

Low-level implementation of opening a container in the simulation. Assumes the handle is already grasped.

Create a new process module.

_execute(desig: OpeningMotion)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyClose(lock)

Bases: pycram.process_module.ProcessModule

Low-level implementation that lets the robot close a grasped container, in simulation

Create a new process module.

_execute(desig: ClosingMotion)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyParkArms(lock)

Bases: pycram.process_module.ProcessModule

This process module is for moving the arms in a parking position. It is currently not used.

Create a new process module.

_execute(desig)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyMoveHead(lock)

Bases: pycram.process_module.ProcessModule

This process module moves the head to look at a specific point in the world coordinate frame. This point can either be a position or an object.

Create a new process module.

_execute(desig)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyMoveGripper(lock)

Bases: pycram.process_module.ProcessModule

This process module controls the gripper of the robot. They can either be opened or closed. Furthermore, it can only move one gripper at a time.

Create a new process module.

_execute(desig)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyDetecting(lock)

Bases: pycram.process_module.ProcessModule

This process module tries to detect an object with the given type. To be detected the object has to be in the field of view of the robot.

Create a new process module.

_execute(desig)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyMoveTCP(lock)

Bases: pycram.process_module.ProcessModule

This process moves the tool center point of either the right or the left arm.

Create a new process module.

_execute(desig: MoveTCPMotion)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyMoveArmJoints(lock)

Bases: pycram.process_module.ProcessModule

This process modules moves the joints of either the right or the left arm. The joint states can be given as list that should be applied or a pre-defined position can be used, such as “parking”

Create a new process module.

_execute(desig: MoveArmJointsMotion)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.boxy_process_modules.BoxyWorldStateDetecting(lock)

Bases: pycram.process_module.ProcessModule

This process module detectes an object even if it is not in the field of view of the robot.

Create a new process module.

_execute(desig: WorldStateDetectingMotion)

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

pycram.process_modules.boxy_process_modules._move_arm_tcp(target: Pose, robot: Object, arm: str) → None

class pycram.process_modules.boxy_process_modules.BoxyManager

Bases: pycram.process_module.ProcessModuleManager

Base class for managing process modules, any new process modules have to implement this class to register the Process Modules

Registers the Process modules for this robot. The name of the robot has to match the name given in the robot description.

Parameters:

robot_name – Name of the robot for which these Process Modules are intended

navigate()

Returns the Process Module for navigating the robot with respect to

the execution_type

Returns:

The Process Module for navigating

looking()

Returns the Process Module for looking at a point with respect to

the execution_type

Returns:

The Process Module for looking at a specific point

detecting()

Returns the Process Module for detecting an object with respect to

the execution_type

Returns:

The Process Module for detecting an object

move_tcp()

Returns the Process Module for moving the Tool Center Point with respect to

the execution_type

Returns:

The Process Module for moving the TCP

move_arm_joints()

Returns the Process Module for moving the joints of the robot arm with respect to the execution_type

Returns:

The Process Module for moving the arm joints

world_state_detecting()

Returns the Process Module for detecting an object using the world state with respect to the execution_type

Returns:

The Process Module for world state detecting

move_gripper()

Returns the Process Module for moving the gripper with respect to

the execution_type

Returns:

The Process Module for moving the gripper