pycram.process_modules.donbot_process_modules

Module Contents

Classes

DonbotNavigation	The process module to move the robot from one position to another.
DonbotPlace	This process module places an object at the given position in world coordinate frame.
DonbotMoveHead	This process module moves the head to look at a specific point in the world coordinate frame.
DonbotMoveGripper	This process module controls the gripper of the robot. They can either be opened or closed.
DonbotMoveTCP	This process moves the tool center point of either the right or the left arm.
DonbotMoveJoints	This process modules moves the joints of either the right or the left arm. The joint states can be given as
DonbotWorldStateDetecting	This process module detectes an object even if it is not in the field of view of the robot.
DonbotManager	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 arm of Donbot and applies them to the

pycram.process_modules.donbot_process_modules._park_arms(arm)

Defines the joint poses for the parking positions of the arm of Donbot and applies them to the in the World defined robot. :return: None

class pycram.process_modules.donbot_process_modules.DonbotNavigation(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)

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

class pycram.process_modules.donbot_process_modules.DonbotPlace(lock)

Bases: pycram.process_module.ProcessModule

This process module places an object at the given position in world coordinate frame.

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.donbot_process_modules.DonbotMoveHead(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.donbot_process_modules.DonbotMoveGripper(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.donbot_process_modules.DonbotMoveTCP(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)

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

class pycram.process_modules.donbot_process_modules.DonbotMoveJoints(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: pycram.designators.motion_designator.MoveArmJointsMotion)

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

class pycram.process_modules.donbot_process_modules.DonbotWorldStateDetecting(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: pycram.designators.motion_designator.WorldStateDetectingMotion)

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

class pycram.process_modules.donbot_process_modules.DonbotManager

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

place()

Returns the Process Module for placing with respect to the execution_type

Returns:

The Process Module for placing an Object

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