pycram.robot_plans.actions.core.container

Attributes

OpenActionDescription
CloseActionDescription

Classes

OpenAction	Opens a container like object
CloseAction	Closes a container like object.

Functions

validate_close_open(object_designator, arm, action_type)	Validates if the container is opened or closed by checking the joint position of the container.
check_opened(joint_obj, obj_part, arm, upper_limit)
check_closed(joint_obj, obj_part, arm, lower_limit)

Module Contents

class pycram.robot_plans.actions.core.container.OpenAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Opens a container like object

object_designator: semantic_digital_twin.world_description.world_entity.Body

Object designator_description describing the object that should be opened

arm: pycram.datastructures.enums.Arms

Arm that should be used for opening the container

grasping_prepose_distance: float

The distance in meters the gripper should be at in the x-axis away from the handle.

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)

Check if the container is opened, this assumes that the container state can be read accurately from the real world.

classmethod description(object_designator_description: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasping_prepose_distance: typing_extensions.Union[typing_extensions.Iterable[float], float] = ActionConfig.grasping_prepose_distance) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[OpenAction]]

class pycram.robot_plans.actions.core.container.CloseAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Closes a container like object.

object_designator: semantic_digital_twin.world_description.world_entity.Body

Object designator_description describing the object that should be closed

arm: pycram.datastructures.enums.Arms

Arm that should be used for closing

grasping_prepose_distance: float

The distance in meters between the gripper and the handle before approaching to grasp.

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)

Check if the container is closed, this assumes that the container state can be read accurately from the real world.

classmethod description(object_designator_description: typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasping_prepose_distance: typing_extensions.Union[typing_extensions.Iterable[float], float] = ActionConfig.grasping_prepose_distance) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[CloseAction]]

pycram.robot_plans.actions.core.container.validate_close_open(object_designator: semantic_digital_twin.world_description.world_entity.Body, arm: pycram.datastructures.enums.Arms, action_type: typing_extensions.Union[typing_extensions.Type[OpenAction], typing_extensions.Type[CloseAction]])

Validates if the container is opened or closed by checking the joint position of the container.

Parameters:

• object_designator – The object designator_description describing the object that should be opened or closed.

• arm – The arm that should be used for opening or closing the container.

• action_type – The type of the action that should be validated.

pycram.robot_plans.actions.core.container.check_opened(joint_obj: semantic_digital_twin.world_description.world_entity.Connection, obj_part: semantic_digital_twin.world_description.world_entity.Body, arm: pycram.datastructures.enums.Arms, upper_limit: float)

pycram.robot_plans.actions.core.container.check_closed(joint_obj: semantic_digital_twin.world_description.world_entity.Connection, obj_part: semantic_digital_twin.world_description.world_entity.Body, arm: pycram.datastructures.enums.Arms, lower_limit: float)

pycram.robot_plans.actions.core.container.OpenActionDescription

pycram.robot_plans.actions.core.container.CloseActionDescription