pycram.robot_plans.actions.composite.transporting

pycram.robot_plans.actions.composite.transporting#

Attributes#

`TransportActionDescription`
`PickAndPlaceActionDescription`
`MoveAndPlaceActionDescription`
`MoveAndPickUpActionDescription`
`EfficientTransportActionDescription`

Classes#

`TransportAction`	Transports an object to a position using an arm
`PickAndPlaceAction`	Transports an object to a position using an arm without moving the base of the robot
`MoveAndPlaceAction`	Navigate to standing_position, then turn towards the object and pick it up.
`MoveAndPickUpAction`	Navigate to standing_position, then turn towards the object and pick it up.
`EfficientTransportAction`	To transport an object to a target location by choosing the closest

Module Contents#

class pycram.robot_plans.actions.composite.transporting.TransportAction#

Bases: pycram.robot_plans.actions.base.ActionDescription

Transports an object to a position using an arm

object_designator: semantic_digital_twin.world_description.world_entity.Body#: Object designator_description describing the object that should be transported.

target_location: pycram.datastructures.pose.PoseStamped#: Target Location to which the object should be transported

arm: typing_extensions.Optional[pycram.datastructures.enums.Arms]#: Arm that should be used

place_rotation_agnostic: typing_extensions.Optional[bool] = False#: If True, the robot will place the object in the same orientation as it is itself, no matter how the object was grasped.

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

inside_container() → List[semantic_digital_twin.world_description.world_entity.Body]#

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(object_designator: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, place_rotation_agnostic: typing_extensions.Optional[bool] = False) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[TransportAction]]#

class pycram.robot_plans.actions.composite.transporting.PickAndPlaceAction#

Bases: pycram.robot_plans.actions.base.ActionDescription

Transports an object to a position using an arm without moving the base of the robot

object_designator: semantic_digital_twin.world_description.world_entity.Body#: Object designator_description describing the object that should be transported.

target_location: pycram.datastructures.pose.PoseStamped#: Target Location to which the object should be transported

arm: pycram.datastructures.enums.Arms#: Arm that should be used

grasp_description: pycram.datastructures.grasp.GraspDescription#: Description of the grasp to pick up the target

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

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(object_designator: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasp_description=GraspDescription) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[PickAndPlaceAction]]#

class pycram.robot_plans.actions.composite.transporting.MoveAndPlaceAction#

Bases: pycram.robot_plans.actions.base.ActionDescription

Navigate to standing_position, then turn towards the object and pick it up.

standing_position: pycram.datastructures.pose.PoseStamped#: The pose to stand before trying to pick up the object

object_designator: semantic_digital_twin.world_description.world_entity.Body#: The object to pick up

target_location: pycram.datastructures.pose.PoseStamped#: The location to place the object.

arm: pycram.datastructures.enums.Arms#: The arm to use

keep_joint_states: bool#: Keep the joint states of the robot the same during the navigation.

plan()#: 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(standing_position: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], object_designator: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, keep_joint_states: typing_extensions.Union[typing_extensions.Iterable[bool], bool] = ActionConfig.navigate_keep_joint_states) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[MoveAndPlaceAction]]#

class pycram.robot_plans.actions.composite.transporting.MoveAndPickUpAction#

Bases: pycram.robot_plans.actions.base.ActionDescription

Navigate to standing_position, then turn towards the object and pick it up.

standing_position: pycram.datastructures.pose.PoseStamped#: The pose to stand before trying to pick up the object

object_designator: semantic_digital_twin.world_description.world_entity.Body#: The object to pick up

arm: pycram.datastructures.enums.Arms#: The arm to use

grasp_description: pycram.datastructures.grasp.GraspDescription#: The grasp to use

keep_joint_states: bool#: Keep the joint states of the robot the same during the navigation.

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

plan()#: 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(standing_position: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasp_description: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Grasp], pycram.datastructures.enums.Grasp] = None, keep_joint_states: typing_extensions.Union[typing_extensions.Iterable[bool], bool] = ActionConfig.navigate_keep_joint_states) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[MoveAndPickUpAction]]#

class pycram.robot_plans.actions.composite.transporting.EfficientTransportAction#

Bases: pycram.robot_plans.actions.base.ActionDescription

To transport an object to a target location by choosing the closest available arm using simple Euclidean distance.

object_designator: semantic_digital_twin.world_description.world_entity.Body#

target_location: pycram.datastructures.pose.PoseStamped#

_choose_best_arm(robot: semantic_digital_twin.world_description.world_entity.Body, obj: semantic_digital_twin.world_description.world_entity.Body) → pycram.datastructures.enums.Arms#: Function to find the closest available arm.

plan() → None#: The main plan for the transport action, optimized for a stationary robot.

classmethod description(object_designator: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped]) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[EfficientTransportAction]]#

pycram.robot_plans.actions.composite.transporting.TransportActionDescription#

pycram.robot_plans.actions.composite.transporting.PickAndPlaceActionDescription#

pycram.robot_plans.actions.composite.transporting.MoveAndPlaceActionDescription#

pycram.robot_plans.actions.composite.transporting.MoveAndPickUpActionDescription#

pycram.robot_plans.actions.composite.transporting.EfficientTransportActionDescription#