pycram.process_modules

Submodules

• pycram.process_modules.boxy_process_modules
• pycram.process_modules.default_process_modules
• pycram.process_modules.donbot_process_modules
• pycram.process_modules.hsrb_process_modules
• pycram.process_modules.pr2_process_modules
• pycram.process_modules.stretch_process_modules

Package Contents

Classes

Pr2Manager	Base class for managing process modules, any new process modules have to implement this class to register the
BoxyManager	Base class for managing process modules, any new process modules have to implement this class to register the
DonbotManager	Base class for managing process modules, any new process modules have to implement this class to register the
HSRBManager
DefaultManager
StretchManager

class pycram.process_modules.Pr2Manager

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_joints()

Returns the Process Module for moving any joint of the robot with respect to the execution_type

Returns:

The Process Module for moving joints

move_gripper()

Returns the Process Module for moving the gripper with respect to

the execution_type

Returns:

The Process Module for moving the gripper

open()

Returns the Process Module for opening drawers with respect to

the execution_type

Returns:

The Process Module for opening drawers

close()

Returns the Process Module for closing drawers with respect to

the execution_type

Returns:

The Process Module for closing drawers

class pycram.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

class pycram.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

class pycram.process_modules.HSRBManager

Bases: ProcessModuleManager

navigate()

looking()

detecting()

move_tcp()

move_arm_joints()

world_state_detecting()

move_joints()

move_gripper()

open()

close()

class pycram.process_modules.DefaultManager

Bases: ProcessModuleManager

navigate()

looking()

detecting()

move_tcp()

move_arm_joints()

world_state_detecting()

move_joints()

move_gripper()

open()

close()

class pycram.process_modules.StretchManager

Bases: ProcessModuleManager

navigate()

looking()

detecting()

move_tcp()

move_arm_joints()

world_state_detecting()

move_joints()

move_gripper()

open()

close()