pycram.robot_plans.actions.core.robot_body

Attributes

MoveTorsoActionDescription
SetGripperActionDescription
ParkArmsActionDescription
CarryActionDescription

Classes

MoveTorsoAction	Move the torso of the robot up and down.
SetGripperAction	Set the gripper state of the robot.
ParkArmsAction	Park the arms of the robot.
CarryAction	Parks the robot's arms. And align the arm with the given Axis of a frame.

Module Contents

class pycram.robot_plans.actions.core.robot_body.MoveTorsoAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Move the torso of the robot up and down.

torso_state: pycram.robot_descriptions.pr2_states.TorsoState

The state of the torso that should be set

plan() → None

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

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: datetime.timedelta = timedelta(seconds=2))

Create a goal validator for the joint positions and wait until the goal is achieved or the timeout is reached.

classmethod description(torso_state: typing_extensions.Union[typing_extensions.Iterable[pycram.robot_descriptions.pr2_states.TorsoState], pycram.robot_descriptions.pr2_states.TorsoState]) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[MoveTorsoAction]]

class pycram.robot_plans.actions.core.robot_body.SetGripperAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Set the gripper state of the robot.

gripper: pycram.robot_descriptions.pr2_states.Arms

The gripper that should be set

motion: pycram.robot_descriptions.pr2_states.GripperStateEnum

The motion that should be set on the gripper

plan() → None

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

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: datetime.timedelta = timedelta(seconds=2))

Needs gripper state to be read or perceived.

classmethod description(gripper: typing_extensions.Union[typing_extensions.Iterable[pycram.robot_descriptions.pr2_states.Arms], pycram.robot_descriptions.pr2_states.Arms], motion: typing_extensions.Union[typing_extensions.Iterable[pycram.robot_descriptions.pr2_states.GripperState], pycram.robot_descriptions.pr2_states.GripperState] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[SetGripperAction]]

class pycram.robot_plans.actions.core.robot_body.ParkArmsAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Park the arms of the robot.

arm: pycram.robot_descriptions.pr2_states.Arms

Entry from the enum for which arm should be parked.

plan() → None

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

get_joint_poses() → Tuple[List[str], List[float]]

Returns:

The joint positions that should be set for the arm to be in the park position.

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: datetime.timedelta = timedelta(seconds=2))

Create a goal validator for the joint positions and wait until the goal is achieved or the timeout is reached.

classmethod description(arm: typing_extensions.Union[typing_extensions.Iterable[pycram.robot_descriptions.pr2_states.Arms], pycram.robot_descriptions.pr2_states.Arms]) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[ParkArmsAction]]

class pycram.robot_plans.actions.core.robot_body.CarryAction

Bases: pycram.robot_plans.actions.base.ActionDescription

Parks the robot’s arms. And align the arm with the given Axis of a frame.

arm: pycram.robot_descriptions.pr2_states.Arms

Entry from the enum for which arm should be parked.

align: typing_extensions.Optional[bool] = False

If True, aligns the end-effector with a specified axis.

tip_link: typing_extensions.Optional[str] = None

Name of the tip link to align with, e.g the object.

tip_axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = None

Tip axis of the tip link, that should be aligned.

root_link: typing_extensions.Optional[str] = None

Base link of the robot; typically set to the torso.

root_axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = None

Goal axis of the root link, that should be used to align with.

plan() → None

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

get_joint_poses() → typing_extensions.Dict[str, float]

Returns:

The joint positions that should be set for the arm to be in the park position.

axis_to_vector3_stamped(axis: pycram.datastructures.enums.AxisIdentifier, link: str = 'base_link') → pycram.datastructures.pose.Vector3Stamped

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: datetime.timedelta = timedelta(seconds=2))

Create a goal validator for the joint positions and wait until the goal is achieved or the timeout is reached.

classmethod description(arm: typing_extensions.Union[typing_extensions.Iterable[pycram.robot_descriptions.pr2_states.Arms], pycram.robot_descriptions.pr2_states.Arms], align: typing_extensions.Optional[bool] = False, tip_link: typing_extensions.Optional[str] = None, tip_axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = None, root_link: typing_extensions.Optional[str] = None, root_axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[CarryAction]]

pycram.robot_plans.actions.core.robot_body.MoveTorsoActionDescription

pycram.robot_plans.actions.core.robot_body.SetGripperActionDescription

pycram.robot_plans.actions.core.robot_body.ParkArmsActionDescription

pycram.robot_plans.actions.core.robot_body.CarryActionDescription