pycram.robot_plans.actions.core.navigation

Attributes

NavigateActionDescription
LookAtActionDescription

Classes

NavigateAction	Navigates the Robot to a position.
LookAtAction	Lets the robot look at a position.

Module Contents

class pycram.robot_plans.actions.core.navigation.NavigateAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Navigates the Robot to a position.

target_location: pycram.datastructures.pose.PoseStamped

Location to which the robot should be navigated

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(target_location: 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.navigate_keep_joint_states) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[NavigateAction]]

class pycram.robot_plans.actions.core.navigation.LookAtAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Lets the robot look at a position.

target: pycram.datastructures.pose.PoseStamped

Position at which the robot should look, given as 6D pose

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 robot is looking at the target location by spawning a virtual object at the target location and creating a ray from the camera and checking if it intersects with the object.

classmethod description(target: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped]) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[LookAtAction]]

pycram.robot_plans.actions.core.navigation.NavigateActionDescription

pycram.robot_plans.actions.core.navigation.LookAtActionDescription