pycram.designators.action_designator

pycram.designators.action_designator#

Classes#

`MoveTorsoAction`	Move the torso of the robot up and down.
`SetGripperAction`	Set the gripper state of the robot.
`ReleaseAction`	Releases an Object from the robot.
`GripAction`	Grip an object with the robot.
`ParkArmsAction`	Park the arms of the robot.
`ReachToPickUpAction`	Let the robot reach a specific pose.
`PickUpAction`	Let the robot pick up an object.
`PlaceAction`	Places an Object at a position using an arm.
`NavigateAction`	Navigates the Robot to a position.
`TransportAction`	Transports an object to a position using an arm
`LookAtAction`	Lets the robot look at a position.
`DetectAction`	Detects an object that fits the object description and returns an object designator_description describing the object.
`OpenAction`	Opens a container like object
`CloseAction`	Closes a container like object.
`GraspingAction`	Grasps an object described by the given Object Designator description
`FaceAtAction`	Turn the robot chassis such that is faces the `pose` and after that perform a look at action.
`MoveAndPickUpAction`	Navigate to standing_position, then turn towards the object and pick it up.
`MoveAndPlaceAction`	Navigate to standing_position, then turn towards the object and pick it up.
`SearchAction`	Searches for a target object around the given location.

Functions#

`record_object_pre_perform`(action)	Record the object before the action is performed.
`validate_close_open`(object_designator, arm, action_type)	Validates if the container is opened or closed by checking the joint position of the container.
`check_opened`(joint_obj, obj_part, arm, upper_limit)
`check_closed`(joint_obj, obj_part, arm, lower_limit)

Module Contents#

pycram.designators.action_designator.record_object_pre_perform(action)#

Record the object before the action is performed.

This should be appended to the pre performs of every action that interacts with an object.

class pycram.designators.action_designator.MoveTorsoAction#

Bases: pycram.designator.ActionDescription

Move the torso of the robot up and down.

torso_state: pycram.datastructures.enums.TorsoState#: The state of the torso that should be set

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: datetime.timedelta = timedelta(seconds=2))#: Create a goal validator for the joint positions and wait until the goal is achieved or the timeout is reached.

classmethod description(torso_state: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.TorsoState], pycram.datastructures.enums.TorsoState]) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[MoveTorsoAction]]#

class pycram.designators.action_designator.SetGripperAction#

Bases: pycram.designator.ActionDescription

Set the gripper state of the robot.

gripper: pycram.datastructures.enums.Arms#: The gripper that should be set

motion: pycram.datastructures.enums.GripperState#: The motion that should be set on the gripper

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: datetime.timedelta = timedelta(seconds=2))#: Needs gripper state to be read or perceived.

classmethod description(gripper: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms], motion: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.GripperState], pycram.datastructures.enums.GripperState] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[SetGripperAction]]#

class pycram.designators.action_designator.ReleaseAction#

Bases: pycram.designator.ActionDescription

Releases an Object from the robot.

Note: This action can not ve used yet.

object_designator: pycram.world_concepts.world_object.Object#: The object that should be released

object_at_execution: typing_extensions.Optional[pycram.datastructures.dataclasses.FrozenObject] = None#: The object at the time this Action got created. It is used to be a static, information holding entity

gripper: pycram.datastructures.enums.Arms#: The gripper that should be used to release the object

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

abstract plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

classmethod description(object_designator: pycram.designator.ObjectDesignatorDescription, gripper: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms]] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[ReleaseAction]]#

class pycram.designators.action_designator.GripAction#

Bases: pycram.designator.ActionDescription

Grip an object with the robot.

Note: This action can not be used yet.

object_designator: pycram.world_concepts.world_object.Object#: The object that should be gripped

object_at_execution: typing_extensions.Optional[pycram.datastructures.dataclasses.FrozenObject] = None#: The object at the time this Action got created. It is used to be a static, information holding entity

gripper: pycram.datastructures.enums.Arms#: The gripper that should be used to grip the object

effort: float = None#: The effort that should be used to grip the object

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

abstract plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

classmethod description(object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object], gripper: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, effort: typing_extensions.Union[typing_extensions.Iterable[float], float] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[GripAction]]#

class pycram.designators.action_designator.ParkArmsAction#

Bases: pycram.designator.ActionDescription

Park the arms of the robot.

arm: pycram.datastructures.enums.Arms#: Entry from the enum for which arm should be parked

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

get_joint_poses() → typing_extensions.Dict[str, float]#

Returns:: The joint positions that should be set for the arm to be in the park position.

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: datetime.timedelta = timedelta(seconds=2))#: Create a goal validator for the joint positions and wait until the goal is achieved or the timeout is reached.

classmethod description(arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms]) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[ParkArmsAction]]#

pycram.designators.action_designator.SPECIAL_KNOWLEDGE#

class pycram.designators.action_designator.ReachToPickUpAction#

Bases: pycram.designator.ActionDescription

Let the robot reach a specific pose.

object_designator: pycram.world_concepts.world_object.Object#: Object designator_description describing the object that should be picked up

arm: pycram.datastructures.enums.Arms#: The arm that should be used for pick up

grasp_description: pycram.datastructures.grasp.GraspDescription#: The grasp description that should be used for picking up the object

object_at_execution: typing_extensions.Optional[pycram.datastructures.dataclasses.FrozenObject] = None#: The object at the time this Action got created. It is used to be a static, information holding entity. It is not updated when the world object is changed.

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

move_gripper_to_pose(pose: pycram.datastructures.pose.PoseStamped, movement_type: pycram.datastructures.enums.MovementType = MovementType.CARTESIAN, add_vis_axis: bool = True)#

Move the gripper to a specific pose.

Parameters:

pose – The pose to go to.
movement_type – The type of movement that should be performed.
add_vis_axis – If a visual axis should be added to the world.

property local_transformer: pycram.local_transformer.LocalTransformer#

property arm_chain: pycram.robot_description.KinematicChainDescription#

property end_effector: pycram.robot_description.EndEffectorDescription#

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#: Check if object is contained in the gripper such that it can be grasped and picked up.

classmethod description(object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasp: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Grasp], pycram.datastructures.enums.Grasp] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[ReachToPickUpAction]]#

class pycram.designators.action_designator.PickUpAction#

Bases: pycram.designator.ActionDescription

Let the robot pick up an object.

object_designator: pycram.world_concepts.world_object.Object#: Object designator_description describing the object that should be picked up

arm: pycram.datastructures.enums.Arms#: The arm that should be used for pick up

grasp_description: pycram.datastructures.grasp.GraspDescription#: The GraspDescription that should be used for picking up the object

object_at_execution: typing_extensions.Optional[pycram.datastructures.dataclasses.FrozenObject] = None#: The object at the time this Action got created. It is used to be a static, information holding entity. It is not updated when the BulletWorld object is changed.

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

lift_object(distance: float = 0.1)#

gripper_pose() → pycram.datastructures.pose.PoseStamped#

Get the pose of the gripper.

Returns:: The pose of the gripper.

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#: Check if picked up object is in contact with the gripper.

property arm_chain: pycram.robot_description.KinematicChainDescription#

classmethod description(object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasp_description: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.grasp.GraspDescription], pycram.datastructures.grasp.GraspDescription] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[PickUpAction]]#

class pycram.designators.action_designator.PlaceAction#

Bases: pycram.designator.ActionDescription

Places an Object at a position using an arm.

object_designator: pycram.world_concepts.world_object.Object#: Object designator_description describing the object that should be place

target_location: pycram.datastructures.pose.PoseStamped#: Pose in the world at which the object should be placed

arm: pycram.datastructures.enums.Arms#: Arm that is currently holding the object

object_at_execution: typing_extensions.Optional[pycram.datastructures.dataclasses.FrozenObject] = None#: The object at the time this Action got created. It is used to be a static, information holding entity. It is not updated when the BulletWorld object is changed.

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

property gripper_link: pycram.description.Link#

property arm_chain: pycram.robot_description.KinematicChainDescription#

property end_effector: pycram.robot_description.EndEffectorDescription#

property local_transformer: pycram.local_transformer.LocalTransformer#

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#: Check if the object is placed at the target location.

validate_loss_of_contact()#: Check if the object is still in contact with the robot after placing it.

validate_placement_location()#: Check if the object is placed at the target location.

classmethod description(object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object], target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[PlaceAction]]#

class pycram.designators.action_designator.NavigateAction#

Bases: pycram.designator.ActionDescription

Navigates the Robot to a position.

target_location: pycram.datastructures.pose.PoseStamped#: Location to which the robot should be navigated

keep_joint_states: bool#: Keep the joint states of the robot the same during the navigation.

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod description(target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], keep_joint_states: typing_extensions.Union[typing_extensions.Iterable[bool], bool] = ActionConfig.navigate_keep_joint_states) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[NavigateAction]]#

class pycram.designators.action_designator.TransportAction#

Bases: pycram.designator.ActionDescription

Transports an object to a position using an arm

object_designator: pycram.world_concepts.world_object.Object#: Object designator_description describing the object that should be transported.

target_location: pycram.datastructures.pose.PoseStamped#: Target Location to which the object should be transported

arm: pycram.datastructures.enums.Arms#: Arm that should be used

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod description(object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object], target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[TransportAction]]#

class pycram.designators.action_designator.LookAtAction#

Bases: pycram.designator.ActionDescription

Lets the robot look at a position.

target: pycram.datastructures.pose.PoseStamped#: Position at which the robot should look, given as 6D pose

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#: Check if the robot is looking at the target location by spawning a virtual object at the target location and creating a ray from the camera and checking if it intersects with the object.

classmethod description(target: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped]) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[LookAtAction]]#

class pycram.designators.action_designator.DetectAction#

Bases: pycram.designator.ActionDescription

Detects an object that fits the object description and returns an object designator_description describing the object.

If no object is found, an PerceptionObjectNotFound error is raised.

technique: pycram.datastructures.enums.DetectionTechnique#: The technique that should be used for detection

state: pycram.datastructures.enums.DetectionState = None#: The state of the detection, e.g Start Stop for continues perception

object_designator: typing_extensions.Optional[pycram.world_concepts.world_object.Object] = None#: The type of the object that should be detected, only considered if technique is equal to Type

region: pycrap.ontologies.Location = None#: The region in which the object should be detected

_pre_perform_callbacks = []#: List to save the callbacks which should be called before performing the action.

__post_init__()#

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod description(technique: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.DetectionTechnique], pycram.datastructures.enums.DetectionTechnique], state: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.DetectionState], pycram.datastructures.enums.DetectionState] = None, object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object] = None, region: typing_extensions.Union[typing_extensions.Iterable[pycrap.ontologies.Location], pycrap.ontologies.Location] = None) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[DetectAction]]#

class pycram.designators.action_designator.OpenAction#

Bases: pycram.designator.ActionDescription

Opens a container like object

object_designator: pycram.description.ObjectDescription.Link#: Object designator_description describing the object that should be opened

arm: pycram.datastructures.enums.Arms#: Arm that should be used for opening the container

grasping_prepose_distance: float#: The distance in meters the gripper should be at in the x-axis away from the handle.

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#: Check if the container is opened, this assumes that the container state can be read accurately from the real world.

classmethod description(object_designator_description: typing_extensions.Union[typing_extensions.Iterable[pycram.description.ObjectDescription.Link], pycram.description.ObjectDescription.Link], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasping_prepose_distance: typing_extensions.Union[typing_extensions.Iterable[float], float] = ActionConfig.grasping_prepose_distance) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[OpenAction]]#

class pycram.designators.action_designator.CloseAction#

Bases: pycram.designator.ActionDescription

Closes a container like object.

object_designator: pycram.description.ObjectDescription.Link#: Object designator_description describing the object that should be closed

arm: pycram.datastructures.enums.Arms#: Arm that should be used for closing

grasping_prepose_distance: float#: The distance in meters between the gripper and the handle before approaching to grasp.

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#: Check if the container is closed, this assumes that the container state can be read accurately from the real world.

classmethod description(object_designator_description: typing_extensions.Union[typing_extensions.Iterable[pycram.description.ObjectDescription.Link], pycram.description.ObjectDescription.Link], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasping_prepose_distance: typing_extensions.Union[typing_extensions.Iterable[float], float] = ActionConfig.grasping_prepose_distance) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[CloseAction]]#

pycram.designators.action_designator.validate_close_open(object_designator: pycram.description.ObjectDescription.Link, arm: pycram.datastructures.enums.Arms, action_type: typing_extensions.Union[typing_extensions.Type[OpenAction], typing_extensions.Type[CloseAction]])#

Validates if the container is opened or closed by checking the joint position of the container.

Parameters:

object_designator – The object designator_description describing the object that should be opened or closed.
arm – The arm that should be used for opening or closing the container.
action_type – The type of the action that should be validated.

pycram.designators.action_designator.check_opened(joint_obj: pycram.description.Joint, obj_part: pycram.description.Link, arm: pycram.datastructures.enums.Arms, upper_limit: float)#

pycram.designators.action_designator.check_closed(joint_obj: pycram.description.Joint, obj_part: pycram.description.Link, arm: pycram.datastructures.enums.Arms, lower_limit: float)#

class pycram.designators.action_designator.GraspingAction#

Bases: pycram.designator.ActionDescription

Grasps an object described by the given Object Designator description

object_designator: typing_extensions.Union[pycram.world_concepts.world_object.Object, pycram.description.ObjectDescription.Link]#: Object Designator for the object that should be grasped

arm: pycram.datastructures.enums.Arms#: The arm that should be used to grasp

prepose_distance: float#: The distance in meters the gripper should be at before grasping the object

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod description(object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, prepose_distance: typing_extensions.Union[typing_extensions.Iterable[float], float] = ActionConfig.grasping_prepose_distance) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[GraspingAction]]#

class pycram.designators.action_designator.FaceAtAction#

Bases: pycram.designator.ActionDescription

Turn the robot chassis such that is faces the pose and after that perform a look at action.

pose: pycram.datastructures.pose.PoseStamped#: The pose to face

keep_joint_states: bool#: Keep the joint states of the robot the same during the navigation.

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod description(pose: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], keep_joint_states: typing_extensions.Union[typing_extensions.Iterable[bool], bool] = ActionConfig.face_at_keep_joint_states) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[FaceAtAction]]#

class pycram.designators.action_designator.MoveAndPickUpAction#

Bases: pycram.designator.ActionDescription

Navigate to standing_position, then turn towards the object and pick it up.

standing_position: pycram.datastructures.pose.PoseStamped#: The pose to stand before trying to pick up the object

object_designator: pycram.world_concepts.world_object.Object#: The object to pick up

arm: pycram.datastructures.enums.Arms#: The arm to use

grasp: pycram.datastructures.enums.Grasp#: The grasp to use

keep_joint_states: bool#: Keep the joint states of the robot the same during the navigation.

plan()#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod description(standing_position: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, grasp: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Grasp], pycram.datastructures.enums.Grasp] = None, keep_joint_states: typing_extensions.Union[typing_extensions.Iterable[bool], bool] = ActionConfig.navigate_keep_joint_states) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[MoveAndPickUpAction]]#

class pycram.designators.action_designator.MoveAndPlaceAction#

Bases: pycram.designator.ActionDescription

Navigate to standing_position, then turn towards the object and pick it up.

standing_position: pycram.datastructures.pose.PoseStamped#: The pose to stand before trying to pick up the object

object_designator: pycram.world_concepts.world_object.Object#: The object to pick up

target_location: pycram.datastructures.pose.PoseStamped#: The location to place the object.

arm: pycram.datastructures.enums.Arms#: The arm to use

keep_joint_states: bool#: Keep the joint states of the robot the same during the navigation.

plan()#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod description(standing_position: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], object_designator: typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object], target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], arm: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, keep_joint_states: typing_extensions.Union[typing_extensions.Iterable[bool], bool] = ActionConfig.navigate_keep_joint_states) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[MoveAndPlaceAction]]#

class pycram.designators.action_designator.SearchAction#

Bases: pycram.designator.ActionDescription

Searches for a target object around the given location.

target_location: pycram.datastructures.pose.PoseStamped#: Location around which to look for a target object.

object_type: typing_extensions.Type[pycrap.ontologies.PhysicalObject]#: Type of the object which is searched for.

plan() → None#

Plan of the action. To be overridden by subclasses.

Returns:: The result of the action, if there is any

validate(result: typing_extensions.Optional[typing_extensions.Any] = None, max_wait_time: typing_extensions.Optional[datetime.timedelta] = None)#

Validate the action after performing it, by checking if the action effects are as expected.

Parameters:

result – The result of the action if there is any
max_wait_time – The maximum time to wait for the action to be validated, before raising an error.

classmethod description(target_location: typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.PoseStamped], pycram.datastructures.pose.PoseStamped], object_type: typing_extensions.Union[typing_extensions.Iterable[pycrap.ontologies.PhysicalObject], pycrap.ontologies.PhysicalObject]) → pycram.datastructures.partial_designator.PartialDesignator[typing_extensions.Type[SearchAction]]#

pycram.designators.action_designator.MoveTorsoActionDescription#

pycram.designators.action_designator.SetGripperActionDescription#

pycram.designators.action_designator.ParkArmsActionDescription#

pycram.designators.action_designator.ReachToPickUpActionDescription#

pycram.designators.action_designator.PickUpActionDescription#

pycram.designators.action_designator.PlaceActionDescription#

pycram.designators.action_designator.NavigateActionDescription#

pycram.designators.action_designator.TransportActionDescription#

pycram.designators.action_designator.LookAtActionDescription#

pycram.designators.action_designator.DetectActionDescription#

pycram.designators.action_designator.OpenActionDescription#

pycram.designators.action_designator.CloseActionDescription#

pycram.designators.action_designator.GraspingActionDescription#

pycram.designators.action_designator.FaceAtActionDescription#

pycram.designators.action_designator.MoveAndPickUpActionDescription#

pycram.designators.action_designator.MoveAndPlaceActionDescription#

pycram.designators.action_designator.ReleaseActionDescription#

pycram.designators.action_designator.GripActionDescription#

pycram.designators.action_designator.SearchActionDescription#

`SPECIAL_KNOWLEDGE`
`MoveTorsoActionDescription`
`SetGripperActionDescription`
`ParkArmsActionDescription`
`ReachToPickUpActionDescription`
`PickUpActionDescription`
`PlaceActionDescription`
`NavigateActionDescription`
`TransportActionDescription`
`LookAtActionDescription`
`DetectActionDescription`
`OpenActionDescription`
`CloseActionDescription`
`GraspingActionDescription`
`FaceAtActionDescription`
`MoveAndPickUpActionDescription`
`MoveAndPlaceActionDescription`
`ReleaseActionDescription`
`GripActionDescription`
`SearchActionDescription`

pycram.designators.action_designator

Contents

pycram.designators.action_designator#

Attributes#

Classes#

Functions#

Module Contents#