pycram.process_modules.hsrb_process_modules
===========================================

.. py:module:: pycram.process_modules.hsrb_process_modules


Classes
-------

.. autoapisummary::

   pycram.process_modules.hsrb_process_modules.HSRBNavigationReal
   pycram.process_modules.hsrb_process_modules.HSRBMoveHeadReal
   pycram.process_modules.hsrb_process_modules.HSRBMoveTCPReal
   pycram.process_modules.hsrb_process_modules.HSRBMoveArmJointsReal
   pycram.process_modules.hsrb_process_modules.HSRBMoveJointsReal
   pycram.process_modules.hsrb_process_modules.HSRBMoveGripperReal
   pycram.process_modules.hsrb_process_modules.HSRBOpenReal
   pycram.process_modules.hsrb_process_modules.HSRBCloseReal
   pycram.process_modules.hsrb_process_modules.HSRBTalkReal
   pycram.process_modules.hsrb_process_modules.HSRBNavigationSemiReal
   pycram.process_modules.hsrb_process_modules.HSRBTalkSemiReal
   pycram.process_modules.hsrb_process_modules.HSRBManager


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

.. py:class:: HSRBNavigationReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Process module for the real HSRB that sends a cartesian goal to giskard to move the robot base


   .. py:method:: _execute(designator: pycram.designators.motion_designator.MoveMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBMoveHeadReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Process module for the real HSRB that sends a pose goal to giskard to move the robot head


   .. py:method:: _execute(desig: pycram.designators.motion_designator.LookingMotion)

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBMoveTCPReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Moves the tool center point of the real HSRB while avoiding all collisions via giskard


   .. py:method:: _execute(designator: pycram.designators.motion_designator.MoveTCPMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBMoveArmJointsReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Moves the arm joints of the real HSRB to the given configuration while avoiding all collisions via giskard


   .. py:method:: _execute(designator: pycram.designators.motion_designator.MoveArmJointsMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBMoveJointsReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Moves any joint using giskard, avoids all collisions while doint this.


   .. py:method:: _execute(designator: pycram.designators.motion_designator.MoveJointsMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBMoveGripperReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Opens or closes the gripper of the real HSRB with the help of giskard.


   .. py:method:: _execute(designator: pycram.designators.motion_designator.MoveGripperMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBOpenReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   This process Modules tries to open an already grasped container via giskard


   .. py:method:: _execute(designator: pycram.designators.motion_designator.OpeningMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBCloseReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   This process module executes close a an already grasped container via giskard


   .. py:method:: _execute(designator: pycram.designators.motion_designator.ClosingMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBTalkReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Let the robot speak over tmc interface.


   .. py:method:: _execute(designator: pycram.designators.motion_designator.TalkingMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBNavigationSemiReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Process module for the real HSRB that sends a cartesian goal to giskard to move the robot base


   .. py:method:: _execute(designator: pycram.designators.motion_designator.MoveMotion) -> typing_extensions.Any

      Helper method for internal usage only.
      This method is to be overwritten instead of the execute method.



.. py:class:: HSRBTalkSemiReal(lock)

   Bases: :py:obj:`pycram.process_module.ProcessModule`


   Low Level implementation to let the robot talk using gTTS and pydub.


   .. py:method:: _execute(designator: pycram.designators.motion_designator.TalkingMotion) -> typing_extensions.Any

      Convert text to speech using gTTS, modify the pitch and play it without saving to disk.



.. py:class:: HSRBManager

   Bases: :py:obj:`DefaultManager`


   .. py:attribute:: robot_name
      :value: 'hsrb'



   .. py:attribute:: _navigate_lock


   .. py:method:: navigate()


   .. py:method:: looking()


   .. py:method:: detecting()


   .. py:method:: move_tcp()


   .. py:method:: move_arm_joints()


   .. py:method:: move_joints()


   .. py:method:: move_gripper()


   .. py:method:: open()


   .. py:method:: close()


   .. py:method:: talk()