pycram.process_modules.default_process_modules

Module Contents

Classes

DefaultNavigation	The process module to move the robot from one position to another.
DefaultMoveHead	This process module moves the head to look at a specific point in the world coordinate frame.
DefaultMoveGripper	This process module controls the gripper of the robot. They can either be opened or closed.
DefaultDetecting	This process module tries to detect an object with the given type. To be detected the object has to be in
DefaultMoveTCP	This process moves the tool center point of either the right or the left arm.
DefaultMoveArmJoints	This process modules moves the joints of either the right or the left arm. The joint states can be given as
DefaultMoveJoints	Implementation of process modules. Process modules are the part that communicate with the outer world to execute
DefaultWorldStateDetecting	This process moduledetectes an object even if it is not in the field of view of the robot.
DefaultOpen	Low-level implementation of opening a container in the simulation. Assumes the handle is already grasped.
DefaultClose	Low-level implementation that lets the robot close a grasped container, in simulation
DefaultManager

Functions

_move_arm_tcp(→ None)

class pycram.process_modules.default_process_modules.DefaultNavigation(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.default_process_modules.DefaultMoveHead(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: LookingMotion)

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

class pycram.process_modules.default_process_modules.DefaultMoveGripper(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 moved one gripper at a time.

Create a new process module.

_execute(desig: MoveGripperMotion)

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

class pycram.process_modules.default_process_modules.DefaultDetecting(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: DetectingMotion)

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

class pycram.process_modules.default_process_modules.DefaultMoveTCP(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.default_process_modules.DefaultMoveArmJoints(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.default_process_modules.DefaultMoveJoints(lock)

Bases: pycram.process_module.ProcessModule

Implementation of process modules. Process modules are the part that communicate with the outer world to execute

designators.

Create a new process module.

_execute(desig: MoveJointsMotion)

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

class pycram.process_modules.default_process_modules.DefaultWorldStateDetecting(lock)

Bases: pycram.process_module.ProcessModule

This process moduledetectes 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.

class pycram.process_modules.default_process_modules.DefaultOpen(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.default_process_modules.DefaultClose(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.

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

class pycram.process_modules.default_process_modules.DefaultManager

Bases: ProcessModuleManager

navigate()

looking()

detecting()

move_tcp()

move_arm_joints()

world_state_detecting()

move_joints()

move_gripper()

open()

close()