pycram.designators.motion_designator ==================================== .. py:module:: pycram.designators.motion_designator Classes ------- .. autoapisummary:: pycram.designators.motion_designator.MoveMotion pycram.designators.motion_designator.MoveTCPMotion pycram.designators.motion_designator.LookingMotion pycram.designators.motion_designator.MoveGripperMotion pycram.designators.motion_designator.DetectingMotion pycram.designators.motion_designator.MoveArmJointsMotion pycram.designators.motion_designator.WorldStateDetectingMotion pycram.designators.motion_designator.MoveJointsMotion pycram.designators.motion_designator.OpeningMotion pycram.designators.motion_designator.ClosingMotion pycram.designators.motion_designator.TalkingMotion pycram.designators.motion_designator.MoveTCPWaypointsMotion Module Contents --------------- .. py:class:: MoveMotion Bases: :py:obj:`pycram.designator.BaseMotion` Moves the robot to a designated location .. py:attribute:: target :type: pycram.datastructures.pose.PoseStamped Location to which the robot should be moved .. py:attribute:: keep_joint_states :type: bool :value: False Keep the joint states of the robot during/at the end of the motion .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveTCPMotion Bases: :py:obj:`pycram.designator.BaseMotion` Moves the Tool center point (TCP) of the robot .. py:attribute:: target :type: pycram.datastructures.pose.PoseStamped Target pose to which the TCP should be moved .. py:attribute:: arm :type: pycram.datastructures.enums.Arms Arm with the TCP that should be moved to the target .. py:attribute:: allow_gripper_collision :type: typing_extensions.Optional[bool] :value: None If the gripper can collide with something .. py:attribute:: movement_type :type: typing_extensions.Optional[pycram.datastructures.enums.MovementType] The type of movement that should be performed. .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:method:: __str__() .. py:method:: __repr__() .. py:class:: LookingMotion Bases: :py:obj:`pycram.designator.BaseMotion` Lets the robot look at a point .. py:attribute:: target :type: pycram.datastructures.pose.PoseStamped .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveGripperMotion Bases: :py:obj:`pycram.designator.BaseMotion` Opens or closes the gripper .. py:attribute:: motion :type: pycram.datastructures.enums.GripperState Motion that should be performed, either 'open' or 'close' .. py:attribute:: gripper :type: pycram.datastructures.enums.Arms Name of the gripper that should be moved .. py:attribute:: allow_gripper_collision :type: typing_extensions.Optional[bool] :value: None If the gripper is allowed to collide with something .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:method:: __str__() .. py:method:: __repr__() .. py:class:: DetectingMotion Bases: :py:obj:`pycram.designator.BaseMotion` Tries to detect an object in the FOV of the robot returns: ObjectDesignatorDescription.Object or Error: PerceptionObjectNotFound .. py:attribute:: technique :type: pycram.datastructures.enums.DetectionTechnique Detection technique that should be used .. py:attribute:: state :type: pycram.datastructures.enums.DetectionState State of the detection .. py:attribute:: object_designator_description :type: typing_extensions.Optional[pycram.world_concepts.world_object.Object] :value: None Description of the object that should be detected .. py:attribute:: region :type: typing_extensions.Optional[pycrap.ontologies.Location] :value: None Region in which the object should be detected .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveArmJointsMotion Bases: :py:obj:`pycram.designator.BaseMotion` Moves the joints of each arm into the given position .. py:attribute:: left_arm_poses :type: typing_extensions.Optional[typing_extensions.Dict[str, float]] :value: None Target positions for the left arm joints .. py:attribute:: right_arm_poses :type: typing_extensions.Optional[typing_extensions.Dict[str, float]] :value: None Target positions for the right arm joints .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: WorldStateDetectingMotion Bases: :py:obj:`pycram.designator.BaseMotion` Detects an object based on the world state. .. py:attribute:: object_type :type: pycram.datastructures.enums.ObjectType Object type that should be detected .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveJointsMotion Bases: :py:obj:`pycram.designator.BaseMotion` Moves any joint on the robot .. py:attribute:: names :type: list List of joint names that should be moved .. py:attribute:: positions :type: list Target positions of joints, should correspond to the list of names .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: OpeningMotion Bases: :py:obj:`pycram.designator.BaseMotion` Designator for opening container .. py:attribute:: object_part :type: pycram.object_descriptors.urdf.ObjectDescription.Link Object designator for the drawer handle .. py:attribute:: arm :type: pycram.datastructures.enums.Arms Arm that should be used .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: ClosingMotion Bases: :py:obj:`pycram.designator.BaseMotion` Designator for closing a container .. py:attribute:: object_part :type: pycram.object_descriptors.urdf.ObjectDescription.Link Object designator for the drawer handle .. py:attribute:: arm :type: pycram.datastructures.enums.Arms Arm that should be used .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: TalkingMotion Bases: :py:obj:`pycram.designator.BaseMotion` Talking Motion, lets the robot say a sentence. .. py:attribute:: cmd :type: str Talking Motion, let the robot say a sentence. .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:class:: MoveTCPWaypointsMotion Bases: :py:obj:`pycram.designator.BaseMotion` Moves the Tool center point (TCP) of the robot .. py:attribute:: waypoints :type: typing_extensions.List[pycram.datastructures.pose.PoseStamped] Waypoints the TCP should move along .. py:attribute:: arm :type: pycram.datastructures.enums.Arms Arm with the TCP that should be moved to the target .. py:attribute:: allow_gripper_collision :type: typing_extensions.Optional[bool] :value: None If the gripper can collide with something .. py:attribute:: movement_type :type: pycram.datastructures.enums.WaypointsMovementType The type of movement that should be performed. .. py:method:: perform() Passes this designator to the process module for execution. Will be overwritten by each motion. .. py:method:: __str__() .. py:method:: __repr__()