pycram.process_modules.pr2_process_modules

Attributes

logger
Multiverse
Multiverse

Classes

Pr2MoveGripperMultiverse	Opens or closes the gripper of the real PR2, gripper uses an action server for this instead of giskard
Pr2MoveGripperReal	Opens or closes the gripper of the real PR2, gripper uses an action server for this instead of giskard
Pr2Manager	Base class for all Process Module Managers. This class is used to register the Process Modules for the robot.

Module Contents

pycram.process_modules.pr2_process_modules.logger

pycram.process_modules.pr2_process_modules.Multiverse

pycram.process_modules.pr2_process_modules.Multiverse

class pycram.process_modules.pr2_process_modules.Pr2MoveGripperMultiverse(lock)

Bases: pycram.process_module.ProcessModule

Opens or closes the gripper of the real PR2, gripper uses an action server for this instead of giskard

_execute(designator: pycram.robot_plans.MoveGripperMotion)

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

class pycram.process_modules.pr2_process_modules.Pr2MoveGripperReal(lock)

Bases: pycram.process_module.ProcessModule

Opens or closes the gripper of the real PR2, gripper uses an action server for this instead of giskard

_execute(designator: pycram.robot_plans.MoveGripperMotion)

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

class pycram.process_modules.pr2_process_modules.Pr2Manager

Bases: pycram.process_modules.default_process_modules.DefaultManager

Base class for all Process Module Managers. This class is used to register the Process Modules for the robot. It is intended to be used as a base class for all Process Module Managers.

robot_name = 'pr2'

move_gripper()

Get the Process Module for moving the gripper with respect to

the execution_type

Returns:

The Process Module for moving the gripper