pycram.robot_plans.actions.base

Classes

ActionDescription

Base class for everything that contains potentially parameters for a plan.

Module Contents

class pycram.robot_plans.actions.base.ActionDescription

Bases: pycram.has_parameters.HasParameters

Base class for everything that contains potentially parameters for a plan.

execution_data: pycram.datastructures.dataclasses.ExecutionData

Additional data that is collected before and after the execution of the action.

_plan_node: pycram.plan.PlanNode = None

_pre_perform_callbacks = []

_post_perform_callbacks = []

property plan_node: pycram.plan.PlanNode

property plan_struct: pycram.plan.Plan

property world: semantic_digital_twin.world.World

property context: pycram.datastructures.dataclasses.Context

property robot_view: semantic_digital_twin.robots.abstract_robot.AbstractRobot

__post_init__()

perform() → typing_extensions.Any

Full execution: pre-check, plan, post-check

abstract plan() → typing_extensions.Any

Symbolic plan. Should only call motions or sub-actions.

abstract validate_precondition()

Symbolic/world state precondition validation.

abstract validate_postcondition(result: typing_extensions.Optional[typing_extensions.Any] = None)

Symbolic/world state postcondition validation.

classmethod pre_perform(func) → typing_extensions.Callable

classmethod post_perform(func) → typing_extensions.Callable