pycram.process_modules.stretch_process_modules
==============================================

.. py:module:: pycram.process_modules.stretch_process_modules


Classes
-------

.. autoapisummary::

   pycram.process_modules.stretch_process_modules.StretchMoveHead
   pycram.process_modules.stretch_process_modules.StretchNavigationReal
   pycram.process_modules.stretch_process_modules.StretchMoveHeadReal
   pycram.process_modules.stretch_process_modules.StretchDetectingReal
   pycram.process_modules.stretch_process_modules.StretchMoveGripperReal
   pycram.process_modules.stretch_process_modules.StretchManager


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

.. py:class:: StretchMoveHead

   Bases: :py:obj:`ProcessModule`


   Process module for the simulated Stretch that moves the head such that it looks at the given position


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


.. py:class:: StretchNavigationReal

   Bases: :py:obj:`ProcessModule`


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


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


.. py:class:: StretchMoveHeadReal

   Bases: :py:obj:`ProcessModule`


   Process module for the real robot to move that such that it looks at the given position. Uses the same calculation
   as the simulated one


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


.. py:class:: StretchDetectingReal

   Bases: :py:obj:`ProcessModule`


   Process Module for the real Stretch that tries to detect an object fitting the given object description. Uses Robokudo
   for perception of the environment.


   .. py:method:: _execute(designator: pycram.designators.motion_designator.DetectingMotion) -> pycram.external_interfaces.robokudo.Any


.. py:class:: StretchMoveGripperReal

   Bases: :py:obj:`ProcessModule`


   Opens or closes the gripper of the real Stretch, gripper uses an action server for this instead of giskard


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


.. py:class:: StretchManager

   Bases: :py:obj:`DefaultManager`


   .. py:attribute:: robot_name
      :value: 'stretch_description'



   .. py:method:: navigate()


   .. py:method:: looking()


   .. py:method:: move_gripper()