pycram.robot_plans.actions.composite.facing

Attributes

FaceAtActionDescription

Classes

FaceAtAction

Turn the robot chassis such that is faces the pose and after that perform a look at action.

Module Contents

class pycram.robot_plans.actions.composite.facing.FaceAtAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Turn the robot chassis such that is faces the pose and after that perform a look at action.

pose: pycram.datastructures.pose.PoseStamped

The pose to face

keep_joint_states: bool

Keep the joint states of the robot the same during the navigation.

plan() → None

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

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)

classmethod description(pose: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], keep_joint_states: typing_extensions.Union[typing_extensions.Iterable[bool], bool] = ActionConfig.face_at_keep_joint_states) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[FaceAtAction]]

pycram.robot_plans.actions.composite.facing.FaceAtActionDescription