`pycram.process_modules.hsrb_process_modules`

Module Contents

Classes

`HSRBNavigation`	The process module to move the robot from one position to another.
`HSRBMoveHead`	This process module moves the head to look at a specific point in the world coordinate frame.
`HSRBMoveGripper`	This process module controls the gripper of the robot. They can either be opened or closed.
`HSRBDetecting`	This process module tries to detect an object with the given type. To be detected the object has to be in
`HSRBMoveTCP`	This process moves the tool center point of either the right or the left arm.
`HSRBMoveArmJoints`	This process modules moves the joints of either the right or the left arm. The joint states can be given as
`HSRBMoveJoints`	Process Module for generic joint movements, is not confined to the arms but can move any joint of the robot
`HSRBWorldStateDetecting`	This process module detectes an object even if it is not in the field of view of the robot.
`HSRBOpen`	Low-level implementation of opening a container in the simulation. Assumes the handle is already grasped.
`HSRBClose`	Low-level implementation that lets the robot close a grasped container, in simulation
`HSRBNavigationReal`	Process module for the real HSRB that sends a cartesian goal to giskard to move the robot base
`HSRBNavigationSemiReal`	Process module for the real HSRB that sends a cartesian goal to giskard to move the robot base
`HSRBMoveHeadReal`	Process module for the real robot to move that such that it looks at the given position. Uses the same calculation
`HSRBDetectingReal`	Process Module for the real HSRB that tries to detect an object fitting the given object description. Uses Robokudo
`HSRBMoveTCPReal`	Moves the tool center point of the real HSRB while avoiding all collisions
`HSRBMoveArmJointsReal`	Moves the arm joints of the real HSRB to the given configuration while avoiding all collisions
`HSRBMoveJointsReal`	Moves any joint using giskard, avoids all collisions while doint this.
`HSRBMoveGripperReal`	Opens or closes the gripper of the real HSRB with the help of giskard.
`HSRBOpenReal`	Tries to open an already grasped container
`HSRBCloseReal`	Tries to close an already grasped container
`HSRBManager`

Functions

`calculate_and_apply_ik`(robot, gripper, target_position)	Calculates the inverse kinematics for the given target pose and applies it to the robot.
`_park_arms`(arm)	Defines the joint poses for the parking positions of the arms of HSRB and applies them to the
`_move_arm_tcp`(→ None)

pycram.process_modules.hsrb_process_modules.calculate_and_apply_ik(robot, gripper: str, target_position: pycram.datastructures.pose.Point, max_iterations: int | None = None): Calculates the inverse kinematics for the given target pose and applies it to the robot.

pycram.process_modules.hsrb_process_modules._park_arms(arm): Defines the joint poses for the parking positions of the arms of HSRB and applies them to the in the World defined robot. :return: None

class pycram.process_modules.hsrb_process_modules.HSRBNavigation(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.hsrb_process_modules.HSRBMoveHead(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.hsrb_process_modules.HSRBMoveGripper(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.hsrb_process_modules.HSRBDetecting(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.hsrb_process_modules.HSRBMoveTCP(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.hsrb_process_modules.HSRBMoveArmJoints(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.hsrb_process_modules.HSRBMoveJoints(lock)

Bases: pycram.process_module.ProcessModule

Process Module for generic joint movements, is not confined to the arms but can move any joint of the robot

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.hsrb_process_modules.HSRBWorldStateDetecting(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.

class pycram.process_modules.hsrb_process_modules.HSRBOpen(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.hsrb_process_modules.HSRBClose(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.hsrb_process_modules._move_arm_tcp(target: Pose, robot: Object, arm: str) → None

class pycram.process_modules.hsrb_process_modules.HSRBNavigationReal(lock)

Bases: pycram.process_module.ProcessModule

Process module for the real HSRB that sends a cartesian goal to giskard to move the robot base

Create a new process module.

_execute(designator: MoveMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBNavigationSemiReal(lock)

Bases: pycram.process_module.ProcessModule

Process module for the real HSRB that sends a cartesian goal to giskard to move the robot base

Create a new process module.

_execute(designator: MoveMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveHeadReal(lock)

Bases: pycram.process_module.ProcessModule

Process module for the real robot to move that such that it looks at the given position. Uses the same calculation as the simulated one

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.hsrb_process_modules.HSRBDetectingReal(lock)

Bases: pycram.process_module.ProcessModule

Process Module for the real HSRB that tries to detect an object fitting the given object description. Uses Robokudo for perception of the environment.

Create a new process module.

_execute(desig: DetectingMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveTCPReal(lock)

Bases: pycram.process_module.ProcessModule

Moves the tool center point of the real HSRB while avoiding all collisions

Create a new process module.

_execute(designator: MoveTCPMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveArmJointsReal(lock)

Bases: pycram.process_module.ProcessModule

Moves the arm joints of the real HSRB to the given configuration while avoiding all collisions

Create a new process module.

_execute(designator: MoveArmJointsMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveJointsReal(lock)

Bases: pycram.process_module.ProcessModule

Moves any joint using giskard, avoids all collisions while doint this.

Create a new process module.

_execute(designator: MoveJointsMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveGripperReal(lock)

Bases: pycram.process_module.ProcessModule

Opens or closes the gripper of the real HSRB with the help of giskard.

Create a new process module.

_execute(designator: MoveGripperMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBOpenReal(lock)

Bases: pycram.process_module.ProcessModule

Tries to open an already grasped container

Create a new process module.

_execute(designator: OpeningMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBCloseReal(lock)

Bases: pycram.process_module.ProcessModule

Tries to close an already grasped container

Create a new process module.

_execute(designator: ClosingMotion) → Any: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBManager

Bases: ProcessModuleManager

navigate()

looking()

detecting()

move_tcp()

move_arm_joints()

world_state_detecting()

move_joints()

move_gripper()

open()

close()

pycram.process_modules.hsrb_process_modules

Module Contents

Classes

Functions

`pycram.process_modules.hsrb_process_modules`