pycram.process_modules.stretch_process_modules

pycram.process_modules.stretch_process_modules#

Attributes#

logger

Classes#

StretchMoveHead

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

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

StretchMoveGripperReal

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

StretchManager

Base class for all Process Module Managers. This class is used to register the Process Modules for the robot.

Module Contents#

pycram.process_modules.stretch_process_modules.logger#
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

_execute(designator: MoveMotion) → pycram.external_interfaces.robokudo.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.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

_execute(designator: MoveMotion) → pycram.external_interfaces.robokudo.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

_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.

_execute(designator: DetectingMotion) → pycram.external_interfaces.robokudo.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

_execute(designator: MoveGripperMotion) → pycram.external_interfaces.robokudo.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: 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 = 'stretch_description'#
navigate()#
Get the Process Module for navigating the robot with respect to

the execution_type

Returns:

The Process Module for navigating

looking()#
Get the Process Module for looking at a point with respect to

the execution_type

Returns:

move_gripper()#
Get the Process Module for moving the gripper with respect to

the execution_type

Returns:

The Process Module for moving the gripper

Contents