pycram.robot_plans.motions.gripper

pycram.robot_plans.motions.gripper#

`ReachMotion`
`MoveArmJointsMotion`	Moves the joints of each arm into the given position
`MoveGripperMotion`	Opens or closes the gripper
`MoveTCPMotion`	Moves the Tool center point (TCP) of the robot
`MoveTCPWaypointsMotion`	Moves the Tool center point (TCP) of the robot

class pycram.robot_plans.motions.gripper.ReachMotion#

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

movement_type: pycram.datastructures.enums.MovementType#: The type of movement that should be performed.

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.robot_plans.motions.gripper.MoveArmJointsMotion#

Moves the joints of each arm into the given position

left_arm_poses: Dict[str, float] | None = None#: Target positions for the left arm joints

right_arm_poses: Dict[str, float] | None = None#: Target positions for the right arm joints

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.robot_plans.motions.gripper.MoveGripperMotion#

Opens or closes the gripper

motion: pycram.datastructures.enums.GripperState#: Motion that should be performed, either ‘open’ or ‘close’

gripper: pycram.datastructures.enums.Arms#: Name of the gripper that should be moved

allow_gripper_collision: bool | None = None#: If the gripper is allowed to collide with something

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.robot_plans.motions.gripper.MoveTCPMotion#

Moves the Tool center point (TCP) of the robot

target: pycram.datastructures.pose.PoseStamped#: Target pose to which the TCP should be moved

arm: pycram.datastructures.enums.Arms#: Arm with the TCP that should be moved to the target

allow_gripper_collision: bool | None = None#: If the gripper can collide with something

movement_type: pycram.datastructures.enums.MovementType | None#: The type of movement that should be performed.

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.robot_plans.motions.gripper.MoveTCPWaypointsMotion#

Moves the Tool center point (TCP) of the robot

waypoints: List[pycram.datastructures.pose.PoseStamped]#: Waypoints the TCP should move along

arm: pycram.datastructures.enums.Arms#: Arm with the TCP that should be moved to the target

allow_gripper_collision: bool | None = None#: If the gripper can collide with something

movement_type: pycram.datastructures.enums.WaypointsMovementType#: The type of movement that should be performed.

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.