pycram.external_interfaces.giskard ================================== .. py:module:: pycram.external_interfaces.giskard Attributes ---------- .. autoapisummary:: pycram.external_interfaces.giskard.giskard_wrapper pycram.external_interfaces.giskard.giskard_update_service pycram.external_interfaces.giskard.is_init pycram.external_interfaces.giskard.number_of_par_goals pycram.external_interfaces.giskard.giskard_lock pycram.external_interfaces.giskard.giskard_rlock pycram.external_interfaces.giskard.par_threads Functions --------- .. autoapisummary:: pycram.external_interfaces.giskard.thread_safe pycram.external_interfaces.giskard.init_giskard_interface pycram.external_interfaces.giskard.initial_adding_objects pycram.external_interfaces.giskard.removing_of_objects pycram.external_interfaces.giskard.sync_worlds pycram.external_interfaces.giskard.update_pose pycram.external_interfaces.giskard.spawn_object pycram.external_interfaces.giskard.remove_object pycram.external_interfaces.giskard.spawn_urdf pycram.external_interfaces.giskard.spawn_mesh pycram.external_interfaces.giskard._manage_par_motion_goals pycram.external_interfaces.giskard.achieve_joint_goal pycram.external_interfaces.giskard.set_joint_goal pycram.external_interfaces.giskard.achieve_cartesian_goal pycram.external_interfaces.giskard.achieve_straight_cartesian_goal pycram.external_interfaces.giskard.achieve_translation_goal pycram.external_interfaces.giskard.achieve_straight_translation_goal pycram.external_interfaces.giskard.achieve_rotation_goal pycram.external_interfaces.giskard.achieve_align_planes_goal pycram.external_interfaces.giskard.achieve_open_container_goal pycram.external_interfaces.giskard.achieve_close_container_goal pycram.external_interfaces.giskard.achieve_cartesian_waypoints_goal pycram.external_interfaces.giskard.projection_cartesian_goal pycram.external_interfaces.giskard.projection_cartesian_goal_with_approach pycram.external_interfaces.giskard.projection_joint_goal pycram.external_interfaces.giskard.allow_gripper_collision pycram.external_interfaces.giskard.get_gripper_group_names pycram.external_interfaces.giskard.add_gripper_groups pycram.external_interfaces.giskard.avoid_all_collisions pycram.external_interfaces.giskard.allow_self_collision pycram.external_interfaces.giskard.avoid_collisions pycram.external_interfaces.giskard.make_world_body pycram.external_interfaces.giskard.make_point_stamped pycram.external_interfaces.giskard.make_quaternion_stamped pycram.external_interfaces.giskard.make_vector_stamped Module Contents --------------- .. py:data:: giskard_wrapper :value: None .. py:data:: giskard_update_service :value: None .. py:data:: is_init :value: False .. py:data:: number_of_par_goals :value: 0 .. py:data:: giskard_lock .. py:data:: giskard_rlock .. py:data:: par_threads .. py:function:: thread_safe(func: typing_extensions.Callable) -> typing_extensions.Callable Adds thread safety to a function via a decorator. This uses the giskard_lock :param func: Function that should be thread safe :return: A function with thread safety .. py:function:: init_giskard_interface(func: typing_extensions.Callable) -> typing_extensions.Callable Checks if the ROS messages are available and if giskard is running, if that is the case the interface will be initialized. :param func: Function this decorator should be wrapping :return: A callable function which initializes the interface and then calls the wrapped function .. py:function:: initial_adding_objects() -> None Adds object that are loaded in the World to the Giskard belief state, if they are not present at the moment. .. py:function:: removing_of_objects() -> None Removes objects that are present in the Giskard belief state but not in the World from the Giskard belief state. .. py:function:: sync_worlds(projection: bool = False) -> None Synchronizes the World and the Giskard belief state, this includes adding and removing objects to the Giskard belief state such that it matches the objects present in the World and moving the robot to the position it is currently at in the World. :param projection: Whether the sync in projection mode or reality. .. py:function:: update_pose(object: pycram.world_concepts.world_object.Object) -> UpdateWorldResponse Sends an update message to giskard to update the object position. Might not work when working on the real robot just in standalone mode. :param object: Object that should be updated :return: An UpdateWorldResponse .. py:function:: spawn_object(object: pycram.world_concepts.world_object.Object) -> None Spawns a World Object in the giskard belief state. :param object: World object that should be spawned .. py:function:: remove_object(object: pycram.world_concepts.world_object.Object) -> UpdateWorldResponse Removes an object from the giskard belief state. :param object: The World Object that should be removed .. py:function:: spawn_urdf(name: str, urdf_path: str, pose: pycram.datastructures.pose.PoseStamped) -> UpdateWorldResponse Spawns an URDF in giskard's belief state. :param name: Name of the URDF :param urdf_path: Path to the URDF file :param pose: Pose in which the URDF should be spawned :return: An UpdateWorldResponse message .. py:function:: spawn_mesh(name: str, path: str, pose: pycram.datastructures.pose.PoseStamped) -> UpdateWorldResponse Spawns a mesh into giskard's belief state :param name: Name of the mesh :param path: Path to the mesh file :param pose: Pose in which the mesh should be spawned :return: An UpdateWorldResponse message .. py:function:: _manage_par_motion_goals(goal_func, *args) -> typing_extensions.Optional[MoveResult] Manages multiple goals that should be executed in parallel. The current sequence of motion goals is saved and the parallel motion goal is loaded if there is one, then the new motion goal given by ``goal_func`` is added to the parallel motion goal. If this was the last motion goal for the parallel motion goal it is then executed. :param goal_func: Function which adds a new motion goal to the giskard_wrapper :param args: Arguments for the ``goal_func`` function :return: MoveResult of the execution if there was an execution, True if a new motion goal was added to the giskard_wrapper and None in any other case .. py:function:: achieve_joint_goal(goal_poses: typing_extensions.Dict[str, float]) -> MoveResult Takes a dictionary of joint position that should be achieved, the keys in the dictionary are the joint names and values are the goal joint positions. :param goal_poses: Dictionary with joint names and position goals :return: MoveResult message for this goal .. py:function:: set_joint_goal(goal_poses: typing_extensions.Dict[str, float]) -> None Takes a dictionary of joint position that should be achieved, the keys in the dictionary are the joint names and values are the goal joint positions. :param goal_poses: Dictionary with joint names and position goals .. py:function:: achieve_cartesian_goal(goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str, position_threshold: float = 0.02, orientation_threshold: float = 0.02, use_monitor: bool = True, grippers_that_can_collide: typing_extensions.Optional[pycram.datastructures.enums.Arms] = None) -> MoveResult Takes a cartesian position and tries to move the tip_link to this position using the chain defined by tip_link and root_link. :param goal_pose: The position which should be achieved with tip_link :param tip_link: The end link of the chain as well as the link which should achieve the goal_pose :param root_link: The starting link of the chain which should be used to achieve this goal :param position_threshold: Position distance at which the goal is successfully reached :param orientation_threshold: Orientation distance at which the goal is successfully reached :param use_monitor: Whether to use a monitor for this goal or not. :param grippers_that_can_collide: The gripper(s) that should be allowed to collide. :return: MoveResult message for this goal .. py:function:: achieve_straight_cartesian_goal(goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str, grippers_that_can_collide: typing_extensions.Optional[pycram.datastructures.enums.Arms] = None) -> MoveResult Takes a cartesian position and tries to move the tip_link to this position in a straight line, using the chain defined by tip_link and root_link. :param goal_pose: The position which should be achieved with tip_link :param tip_link: The end link of the chain as well as the link which should achieve the goal_pose :param root_link: The starting link of the chain which should be used to achieve this goal :param grippers_that_can_collide: The gripper(s) that should be allowed to collide. :return: MoveResult message for this goal .. py:function:: achieve_translation_goal(goal_point: typing_extensions.List[float], tip_link: str, root_link: str) -> MoveResult Tries to move the tip_link to the position defined by goal_point using the chain defined by root_link and tip_link. Since goal_point only defines the position but no rotation, rotation is not taken into account. :param goal_point: The goal position of the tip_link :param tip_link: The link which should be moved to goal_point as well as the end of the used chain :param root_link: The start link of the chain :return: MoveResult message for this goal .. py:function:: achieve_straight_translation_goal(goal_point: typing_extensions.List[float], tip_link: str, root_link: str) -> MoveResult Tries to move the tip_link to the position defined by goal_point in a straight line, using the chain defined by root_link and tip_link. Since goal_point only defines the position but no rotation, rotation is not taken into account. :param goal_point: The goal position of the tip_link :param tip_link: The link which should be moved to goal_point as well as the end of the used chain :param root_link: The start link of the chain :return: MoveResult message for this goal .. py:function:: achieve_rotation_goal(quat: typing_extensions.List[float], tip_link: str, root_link: str) -> MoveResult Tries to bring the tip link into the rotation defined by quat using the chain defined by root_link and tip_link. :param quat: The rotation that should be achieved, given as a quaternion :param tip_link: The link that should be in the rotation defined by quat :param root_link: The start link of the chain :return: MoveResult message for this goal .. py:function:: achieve_align_planes_goal(goal_normal: typing_extensions.List[float], tip_link: str, tip_normal: typing_extensions.List[float], root_link: str) -> MoveResult Tries to align the plane defined by tip normal with goal_normal using the chain between root_link and tip_link. :param goal_normal: The goal plane, given as a list of XYZ :param tip_link: The end link of the chain that should be used. :param tip_normal: The plane that should be aligned with goal_normal, given as a list of XYZ :param root_link: The starting link of the chain that should be used. :return: MoveResult message for this goal .. py:function:: achieve_open_container_goal(tip_link: str, environment_link: str) -> MoveResult Tries to open a container in an environment, this only works if the container was added as a URDF. This goal assumes that the handle was already grasped. Can only handle container with 1 DOF :param tip_link: The End effector that should open the container :param environment_link: The name of the handle for this container. :return: MoveResult message for this goal .. py:function:: achieve_close_container_goal(tip_link: str, environment_link: str) -> MoveResult Tries to close a container, this only works if the container was added as a URDF. Assumes that the handle of the container was already grasped. Can only handle container with 1 DOF. :param tip_link: Link name that should be used to close the container. :param environment_link: Name of the handle :return: MoveResult message for this goal .. py:function:: achieve_cartesian_waypoints_goal(waypoints: typing_extensions.List[pycram.datastructures.pose.PoseStamped], tip_link: str, root_link: str, enforce_final_orientation: bool = True) -> MoveResult Tries to achieve each waypoint in the given sequence of waypoints. If :param enforce_final_orientation is False, each waypoint needs a corresponding orientation. If it is True only the last waypoint needs to have an orientation. :param waypoints: The sequence of waypoints as poses to achieve. :param tip_link: The endeffector link of the chain that should be used. :param root_link: The root link of the chain that should be used. :param enforce_final_orientation: If true, only achieve the orientation of the last waypoint. If false, achieve the orientation of each waypoint. :return: MoveResult message for this goal .. py:function:: projection_cartesian_goal(goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str) -> MoveResult Tries to move the tip_link to the position defined by goal_pose using the chain defined by tip_link and root_link. The goal_pose is projected to the closest point on the robot's workspace. :param goal_pose: The position which should be achieved with tip_link :param tip_link: The end link of the chain as well as the link which should achieve the goal_pose :param root_link: The starting link of the chain which should be used to achieve this goal :return: MoveResult message for this goal .. py:function:: projection_cartesian_goal_with_approach(approach_pose: pycram.datastructures.pose.PoseStamped, goal_pose: pycram.datastructures.pose.PoseStamped, tip_link: str, root_link: str, robot_base_link: str) -> MoveResult Tries to achieve the goal_pose using the chain defined by tip_link and root_link. The approach_pose is used to drive the robot to a pose close the actual goal pose, the robot_base_link is used to define the base link of the robot. :param approach_pose: Pose near the goal_pose :param goal_pose: Pose to which the tip_link should be moved :param tip_link: The link which should be moved to goal_pose, usually the tool frame :param root_link: The start of the link chain which should be used for planning :param robot_base_link: The base link of the robot :return: A trajectory calculated to move the tip_link to the goal_pose .. py:function:: projection_joint_goal(goal_poses: typing_extensions.Dict[str, float], allow_collisions: bool = False) -> MoveResult Tries to achieve the joint goal defined by goal_poses, the goal_poses are projected to the closest point on the robot's workspace. :param goal_poses: Dictionary with joint names and position goals :param allow_collisions: If all collisions should be allowed for this goal :return: MoveResult message for this goal .. py:function:: allow_gripper_collision(gripper: pycram.datastructures.enums.Arms, at_goal: bool = False) -> None Allows the specified gripper to collide with anything. :param gripper: The gripper which can collide, either 'Arms.RIGHT', 'Arms.LEFT' or 'Arms.BOTH' :param at_goal: If the collision should be allowed only for this motion goal. .. py:function:: get_gripper_group_names() -> typing_extensions.List[str] :return: The list of groups that are registered in giskard which have 'gripper' in their name. .. py:function:: add_gripper_groups() -> None Add the gripper links as a group for collision avoidance. :return: Response of the RegisterGroup Service .. py:function:: avoid_all_collisions() -> None Will avoid all collision for the next goal. .. py:function:: allow_self_collision() -> None Will allow the robot collision with itself. .. py:function:: avoid_collisions(object1: pycram.world_concepts.world_object.Object, object2: pycram.world_concepts.world_object.Object) -> None Will avoid collision between the two objects for the next goal. :param object1: The first World Object :param object2: The second World Object .. py:function:: make_world_body(object: pycram.world_concepts.world_object.Object) -> WorldBody Create a WorldBody message for a World Object. The WorldBody will contain the URDF of the World Object :param object: The World Object :return: A WorldBody message for the World Object .. py:function:: make_point_stamped(point: typing_extensions.List[float]) -> PointStamped Creates a PointStamped message for the given position in world coordinate frame. :param point: XYZ coordinates of the point :return: A PointStamped message .. py:function:: make_quaternion_stamped(quaternion: typing_extensions.List[float]) -> QuaternionStamped Creates a QuaternionStamped message for the given quaternion. :param quaternion: The quaternion as a list of xyzw :return: A QuaternionStamped message .. py:function:: make_vector_stamped(vector: typing_extensions.List[float]) -> Vector3Stamped Creates a Vector3Stamped message, this is similar to PointStamped but represents a vector instead of a point. :param vector: The vector given as xyz in world frame :return: A Vector3Stamped message