pycram.process_modules.stretch_process_modules

Module Contents

Classes

StretchNavigate	Process module for the simulated Stretch that sends a cartesian goal to the robot to move the robot base
StretchMoveHead	Process module for the simulated Stretch that moves the head such that it looks at the given position
StretchMoveGripper	Process module for the simulated Stretch that opens or closes the gripper
StretchDetecting	Process Module for the simulated Stretch that tries to detect an object fitting the given object description
StretchMoveTCP	Process module for the simulated Stretch that moves the tool center point of the robot
StretchMoveArmJoints	Process module for the simulated Stretch that moves the arm joints of the robot
StretchMoveJoints	Process module for the simulated Stretch that moves any joint of the robot
StretchWorldStateDetecting	Process Module for the simulated Stretch that tries to detect an object using the world state
StretchOpen	Process module for the simulated Stretch that opens an already grasped container
StretchClose	Process module for the simulated Stretch that closes an already grasped container
StretchNavigationReal	Process module for the real Stretch that sends a cartesian goal to giskard to move the robot base
StretchMoveHeadReal	Process module for the real robot to move that such that it looks at the given position. Uses the same calculation
StretchDetectingReal	Process Module for the real Stretch that tries to detect an object fitting the given object description. Uses Robokudo
StretchMoveTCPReal	Moves the tool center point of the real Stretch while avoiding all collisions
StretchMoveArmJointsReal	Moves the arm joints of the real Stretch to the given configuration while avoiding all collisions
StretchMoveJointsReal	Moves any joint using giskard, avoids all collisions while doint this.
StretchMoveGripperReal	Opens or closes the gripper of the real Stretch, gripper uses an action server for this instead of giskard
StretchOpenReal	Tries to open an already grasped container
StretchCloseReal	Tries to close an already grasped container
StretchManager

Functions

_move_arm_tcp(→ None)

class pycram.process_modules.stretch_process_modules.StretchNavigate(lock)

Bases: pycram.process_modules.default_process_modules.DefaultNavigation

Process module for the simulated Stretch that sends a cartesian goal to the robot to move the robot base

Create a new process module.

class pycram.process_modules.stretch_process_modules.StretchMoveHead(lock)

Bases: pycram.process_modules.default_process_modules.ProcessModule

Process module for the simulated Stretch that moves the head such that it looks at the given position

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.stretch_process_modules.StretchMoveGripper(lock)

Bases: pycram.process_modules.default_process_modules.DefaultMoveGripper

Process module for the simulated Stretch that opens or closes the gripper

Create a new process module.

class pycram.process_modules.stretch_process_modules.StretchDetecting(lock)

Bases: pycram.process_modules.default_process_modules.DefaultDetecting

Process Module for the simulated Stretch that tries to detect an object fitting the given object description

Create a new process module.

class pycram.process_modules.stretch_process_modules.StretchMoveTCP(lock)

Bases: pycram.process_modules.default_process_modules.DefaultMoveTCP

Process module for the simulated Stretch that moves the tool center point of the robot

Create a new process module.

class pycram.process_modules.stretch_process_modules.StretchMoveArmJoints(lock)

Bases: pycram.process_modules.default_process_modules.DefaultMoveArmJoints

Process module for the simulated Stretch that moves the arm joints of the robot

Create a new process module.

class pycram.process_modules.stretch_process_modules.StretchMoveJoints(lock)

Bases: pycram.process_modules.default_process_modules.DefaultMoveJoints

Process module for the simulated Stretch that moves any joint of the robot

Create a new process module.

class pycram.process_modules.stretch_process_modules.StretchWorldStateDetecting(lock)

Bases: pycram.process_modules.default_process_modules.DefaultWorldStateDetecting

Process Module for the simulated Stretch that tries to detect an object using the world state

Create a new process module.

class pycram.process_modules.stretch_process_modules.StretchOpen(lock)

Bases: pycram.process_modules.default_process_modules.ProcessModule

Process module for the simulated Stretch that opens an already grasped container

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.stretch_process_modules.StretchClose(lock)

Bases: pycram.process_modules.default_process_modules.ProcessModule

Process module for the simulated Stretch that closes an already grasped container

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.stretch_process_modules._move_arm_tcp(target: Pose, robot: Object, arm: str) → None

class pycram.process_modules.stretch_process_modules.StretchNavigationReal(lock)

Bases: pycram.process_modules.default_process_modules.ProcessModule

Process module for the real Stretch 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.stretch_process_modules.StretchMoveHeadReal(lock)

Bases: pycram.process_modules.default_process_modules.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.stretch_process_modules.StretchDetectingReal(lock)

Bases: pycram.process_modules.default_process_modules.ProcessModule

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

Create a new process module.

_execute(designator: DetectingMotion) → Any

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

class pycram.process_modules.stretch_process_modules.StretchMoveTCPReal(lock)

Bases: pycram.process_modules.default_process_modules.ProcessModule

Moves the tool center point of the real Stretch 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.stretch_process_modules.StretchMoveArmJointsReal(lock)

Bases: pycram.process_modules.default_process_modules.ProcessModule

Moves the arm joints of the real Stretch 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.stretch_process_modules.StretchMoveJointsReal(lock)

Bases: pycram.process_modules.default_process_modules.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.stretch_process_modules.StretchMoveGripperReal(lock)

Bases: pycram.process_modules.default_process_modules.ProcessModule

Opens or closes the gripper of the real Stretch, gripper uses an action server for this instead 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.stretch_process_modules.StretchOpenReal(lock)

Bases: pycram.process_modules.default_process_modules.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.stretch_process_modules.StretchCloseReal(lock)

Bases: pycram.process_modules.default_process_modules.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.stretch_process_modules.StretchManager

Bases: ProcessModuleManager

navigate()

looking()

detecting()

move_tcp()

move_arm_joints()

world_state_detecting()

move_joints()

move_gripper()

open()

close()