pycram.orm.model
================

.. py:module:: pycram.orm.model


Attributes
----------

.. autoapisummary::

   pycram.orm.model.type_mappings
   pycram.orm.model.self_mapped_classes
   pycram.orm.model.explicitly_mapped_classes


Classes
-------

.. autoapisummary::

   pycram.orm.model.TaskTreeNode
   pycram.orm.model.ORMActionNode
   pycram.orm.model.ORMMotionNode
   pycram.orm.model.ORMResolvedActionNode
   pycram.orm.model.FrozenObject
   pycram.orm.model.ReleaseAction
   pycram.orm.model.GripAction
   pycram.orm.model.ReachToPickUpAction
   pycram.orm.model.PickUpAction
   pycram.orm.model.PlaceAction
   pycram.orm.model.TransportAction
   pycram.orm.model.DetectAction
   pycram.orm.model.GraspingAction
   pycram.orm.model.MoveAndPickUpAction


Module Contents
---------------

.. py:class:: TaskTreeNode

   .. py:attribute:: start_time
      :type:  datetime.datetime


   .. py:attribute:: end_time
      :type:  typing_extensions.Optional[datetime.datetime]


   .. py:attribute:: status
      :type:  pycram.datastructures.enums.TaskStatus


   .. py:attribute:: reason
      :type:  typing_extensions.Optional[str]


   .. py:attribute:: action
      :type:  typing_extensions.Optional[pycram.designators.action_designator.ActionDescription]
      :value: None



   .. py:attribute:: parent
      :type:  typing_extensions.Optional[TaskTreeNode]
      :value: None



.. py:class:: ORMActionNode

   Bases: :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   .. py:method:: explicit_mapping() -> Type


.. py:class:: ORMMotionNode

   Bases: :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   .. py:method:: explicit_mapping() -> Type


.. py:class:: ORMResolvedActionNode

   Bases: :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   .. py:attribute:: designator_ref
      :type:  pycram.designators.action_designator.ActionDescription


   .. py:method:: explicit_mapping() -> Type


.. py:class:: FrozenObject

   Bases: :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   .. py:attribute:: name
      :type:  str


   .. py:attribute:: concept
      :type:  pycrap.ontologies.PhysicalObject


   .. py:attribute:: pose
      :type:  typing_extensions.Optional[pycram.datastructures.pose.PoseStamped]


   .. py:method:: explicit_mapping()


.. py:class:: ReleaseAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: gripper
      :type:  pycram.datastructures.enums.Arms


   .. py:attribute:: object_at_execution
      :type:  typing_extensions.Optional[FrozenObject]


   .. py:method:: explicit_mapping()


.. py:class:: GripAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: gripper
      :type:  pycram.datastructures.enums.Arms


   .. py:attribute:: effort
      :type:  float


   .. py:attribute:: object_at_execution
      :type:  typing_extensions.Optional[FrozenObject]


   .. py:method:: explicit_mapping()


.. py:class:: ReachToPickUpAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: arm
      :type:  pycram.datastructures.enums.Arms


   .. py:attribute:: grasp_description
      :type:  pycram.datastructures.grasp.GraspDescription


   .. py:attribute:: object_at_execution
      :type:  typing_extensions.Optional[FrozenObject]


   .. py:method:: explicit_mapping()


.. py:class:: PickUpAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: arm
      :type:  pycram.datastructures.enums.Arms


   .. py:attribute:: object_at_execution
      :type:  typing_extensions.Optional[FrozenObject]


   .. py:method:: explicit_mapping()


.. py:class:: PlaceAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: arm
      :type:  pycram.datastructures.enums.Arms


   .. py:attribute:: target_location
      :type:  pycram.datastructures.pose.PoseStamped


   .. py:attribute:: object_at_execution
      :type:  typing_extensions.Optional[FrozenObject]


   .. py:method:: explicit_mapping()


.. py:class:: TransportAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: arm
      :type:  pycram.datastructures.enums.Arms


   .. py:attribute:: target_location
      :type:  pycram.datastructures.pose.PoseStamped


   .. py:attribute:: object_at_execution
      :type:  typing_extensions.Optional[FrozenObject]


   .. py:method:: explicit_mapping()


.. py:class:: DetectAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: technique
      :type:  pycram.datastructures.enums.DetectionTechnique


   .. py:attribute:: state
      :type:  typing_extensions.Optional[pycram.datastructures.enums.DetectionState]


   .. py:attribute:: region
      :type:  typing_extensions.Optional[str]


   .. py:attribute:: object_at_execution
      :type:  typing_extensions.Optional[FrozenObject]


   .. py:method:: explicit_mapping()


.. py:class:: GraspingAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: arm
      :type:  pycram.datastructures.enums.Arms


   .. py:attribute:: object_at_execution
      :type:  FrozenObject


   .. py:method:: explicit_mapping()


.. py:class:: MoveAndPickUpAction

   Bases: :py:obj:`pycram.designators.action_designator.ActionDescription`, :py:obj:`ormatic.ormatic.ORMaticExplicitMapping`


   The performable designator_description with a single element for each list of possible parameter.


   .. py:attribute:: standing_position
      :type:  pycram.datastructures.pose.Pose


   .. py:attribute:: object_designator
      :type:  FrozenObject


   .. py:attribute:: arm
      :type:  pycram.datastructures.enums.Arms


   .. py:attribute:: grasp
      :type:  pycram.datastructures.enums.Grasp


   .. py:attribute:: keep_joint_states
      :type:  bool


.. py:data:: type_mappings

.. py:data:: self_mapped_classes

.. py:data:: explicitly_mapped_classes