pycram.robot_plans.actions.core.pick_up

Attributes

logger
ReachToPickUpActionDescription
PickUpActionDescription
GraspingActionDescription

Classes

ReachToPickUpAction	Let the robot reach a specific pose.
PickUpAction	Let the robot pick up an object.
GraspingAction	Grasps an object described by the given Object Designator description

Module Contents

pycram.robot_plans.actions.core.pick_up.logger

class pycram.robot_plans.actions.core.pick_up.ReachToPickUpAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Let the robot reach a specific pose.

object_designator: semantic_digital_twin.world_description.world_entity.Body

Object designator_description describing the object that should be picked up

arm: pycram.datastructures.enums.Arms

The arm that should be used for pick up

grasp_description: pycram.datastructures.grasp.GraspDescription

The grasp description that should be used for picking up the object

_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.

move_gripper_to_pose(pose: pycram.datastructures.pose.PoseStamped, movement_type: pycram.datastructures.enums.MovementType = MovementType.CARTESIAN, add_vis_axis: bool = True)

Move the gripper to a specific pose.

Parameters:

• pose – The pose to go to.

• movement_type – The type of movement that should be performed.

• add_vis_axis – If a visual axis should be added to the world.

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

Check if object is contained in the gripper such that it can be grasped and picked up.

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], 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.grasp.GraspDescription], pycram.datastructures.grasp.GraspDescription] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[ReachToPickUpAction]]

class pycram.robot_plans.actions.core.pick_up.PickUpAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Let the robot pick up an object.

object_designator: semantic_digital_twin.world_description.world_entity.Body

Object designator_description describing the object that should be picked up

arm: pycram.datastructures.enums.Arms

The arm that should be used for pick up

grasp_description: pycram.datastructures.grasp.GraspDescription

The GraspDescription that should be used for picking up the object

_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)

Check if picked up object is in contact with the gripper.

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], 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.grasp.GraspDescription], pycram.datastructures.grasp.GraspDescription] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[PickUpAction]]

class pycram.robot_plans.actions.core.pick_up.GraspingAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Grasps an object described by the given Object Designator description

object_designator: semantic_digital_twin.world_description.world_entity.Body

Object Designator for the object that should be grasped

arm: pycram.datastructures.enums.Arms

The arm that should be used to grasp

prepose_distance: float

The distance in meters the gripper should be at before grasping the object

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], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, prepose_distance: typing_extensions.Union[typing_extensions.Iterable[float], float] = ActionConfig.grasping_prepose_distance) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[GraspingAction]]

pycram.robot_plans.actions.core.pick_up.ReachToPickUpActionDescription

pycram.robot_plans.actions.core.pick_up.PickUpActionDescription

pycram.robot_plans.actions.core.pick_up.GraspingActionDescription