pycram.designators.location_designator

pycram.designators.location_designator#

Classes#

`Location`	Default location designator which only wraps a pose.
`CostmapLocation`	Uses Costmaps to create locations for complex constrains
`AccessingLocation`	Location designator which describes poses used for opening drawers
`SemanticCostmapLocation`	Locations over semantic entities, like a table surface

Module Contents#

class pycram.designators.location_designator.Location(pose: pycram.datastructures.pose.PoseStamped)#

Bases: pycram.designator.LocationDesignatorDescription

Default location designator which only wraps a pose.

pose: pycram.datastructures.pose.PoseStamped#

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

Default specialized_designators which returns a resolved designator which contains the pose given in init.

Returns:: A resolved designator

class pycram.designators.location_designator.CostmapLocation(target: typing_extensions.Union[pycram.datastructures.pose.PoseStamped, pycram.world_concepts.world_object.Object], reachable_for: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object]] = None, visible_for: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object]] = None, reachable_arm: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms]] = None, ignore_collision_with: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object]] = None, grasp_descriptions: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.GraspDescription], pycram.datastructures.pose.GraspDescription]] = None, object_in_hand: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object]] = None)#

Bases: pycram.designator.LocationDesignatorDescription

Uses Costmaps to create locations for complex constrains

target: typing_extensions.Union[pycram.datastructures.pose.PoseStamped, pycram.world_concepts.world_object.Object]#

reachable_for: pycram.world_concepts.world_object.Object = None#

visible_for: pycram.world_concepts.world_object.Object = None#

reachable_arm: typing_extensions.Optional[pycram.datastructures.enums.Arms] = None#

ignore_collision_with = None#

grasps: typing_extensions.List[typing_extensions.Optional[pycram.datastructures.enums.Grasp]] = None#

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

Default specialized_designators which returns the first result from the iterator of this instance.

Returns:: A resolved location

static setup_costmaps(target: pycram.datastructures.pose.PoseStamped, robot: pycram.world_concepts.world_object.Object, visible_for, reachable_for) → pycram.costmaps.Costmap#: Sets up the costmaps for the given target and robot. The costmaps are merged and stored in the final_map

static create_target_sequence(grasp_description: pycram.datastructures.pose.GraspDescription, target: typing_extensions.Union[pycram.datastructures.pose.PoseStamped, pycram.world_concepts.world_object.Object], robot: pycram.world_concepts.world_object.Object, object_in_hand: pycram.world_concepts.world_object.Object, reachable_arm: pycram.datastructures.enums.Arms) → typing_extensions.List[pycram.datastructures.pose.PoseStamped]#

Creates a sequence of poses which need to be reachable in this order

Parameters:

grasp_description – Grasp description to be used for grasping
target – The target of reachability, either a pose or an object
robot – The robot that should be checked for reachability
object_in_hand – An object that is held if any
reachable_arm – The arm which should be checked for reachability

Returns:

A list of poses that need to be reachable in this order

static create_allowed_collisions(ignore_collision_with: typing_extensions.List[pycram.world_concepts.world_object.Object], object_in_hand: pycram.world_concepts.world_object.Object) → typing_extensions.Dict[pycram.world_concepts.world_object.Object, str]#

Creates a dict of object which are allowed to collide with the robot without impacting reachability

Parameters:

ignore_collision_with – List of objects for which collision should be ignored
object_in_hand – An object that the robot might hold

Returns:

A dict of objects that link to their names

__iter__() → typing_extensions.Iterator[pycram.datastructures.pose.PoseStamped]#

Generates positions for a given set of constrains from a costmap and returns them. The generation is based of a costmap which itself is the product of merging costmaps, each for a different purpose. In any case an occupancy costmap is used as the base, then according to the given constrains a visibility or gaussian costmap is also merged with this. Once the costmaps are merged, a generator generates pose candidates from the costmap. Each pose candidate is then validated against the constraints given by the designator if all validators pass the pose is considered valid and yielded.

yield:

An instance of CostmapLocation.Location with a valid position that satisfies the given constraints

class pycram.designators.location_designator.AccessingLocation(handle: typing_extensions.Union[pycram.object_descriptors.urdf.ObjectDescription.Link, typing_extensions.Iterable[pycram.object_descriptors.urdf.ObjectDescription.Link]], robot_desig: typing_extensions.Union[pycram.world_concepts.world_object.Object, typing_extensions.Iterable[pycram.world_concepts.world_object.Object]], arm: typing_extensions.Union[typing_extensions.List[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms] = None, prepose_distance: float = ActionConfig.grasping_prepose_distance)#

Bases: pycram.designator.LocationDesignatorDescription

Location designator which describes poses used for opening drawers

handle: pycram.object_descriptors.urdf.ObjectDescription.Link#

robot: pycram.world_concepts.world_object.Object#

prepose_distance#

arm = None#

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

Default specialized_designators for this location designator, just returns the first element from the iteration

Returns:: A location designator for a pose from which the drawer can be opened

static adjust_map_for_drawer_opening(cost_map: pycram.costmaps.Costmap, init_pose: pycram.datastructures.pose.PoseStamped, goal_pose: pycram.datastructures.pose.PoseStamped, width: float = 0.2)#

Adjust the cost map for opening a drawer. This is done by removing all locations between the initial and final pose of the drawer/container.

Parameters:

cost_map – Costmap that should be adjusted.
init_pose – Pose of the drawer/container when it is fully closed.
goal_pose – Pose of the drawer/container when it is fully opened.
width – Width of the drawer/container.

setup_costmaps(handle: pycram.world_concepts.world_object.Link) → pycram.costmaps.Costmap#: Sets up the costmaps for the given handle and robot. The costmaps are merged and stored in the final_map.

create_target_sequence(params_box: box.Box, final_map: pycram.costmaps.Costmap) → typing_extensions.List[pycram.datastructures.pose.PoseStamped]#

Creates the sequence of target poses

Parameters:

params_box
final_map

Returns:

__iter__() → typing_extensions.Iterator[pycram.datastructures.pose.PoseStamped]#

Creates poses from which the robot can open the drawer specified by the ObjectPart designator describing the handle. Poses are validated by checking if the robot can grasp the handle while the drawer is closed and if the handle can be grasped if the drawer is open.

Yield:: A location designator containing the pose and the arms that can be used.

class pycram.designators.location_designator.SemanticCostmapLocation(link_name, part_of, for_object=None, edges_only: bool = False, horizontal_edges_only: bool = False, edge_size_in_meters: float = 0.06, height_offset: float = 0.0)#

Bases: pycram.designator.LocationDesignatorDescription

Locations over semantic entities, like a table surface

link_name: str#

part_of: pycram.world_concepts.world_object.Object#

for_object: typing_extensions.Optional[pycram.world_concepts.world_object.Object] = None#

edges_only: bool = False#

horizontal_edges_only: bool = False#

edge_size_in_meters: float = 0.06#

sem_costmap: typing_extensions.Optional[pycram.costmaps.SemanticCostmap] = None#

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

Default specialized_designators which returns the first element of the iterator of this instance.

Returns:: A resolved location

__iter__() → typing_extensions.Iterator[pycram.datastructures.pose.PoseStamped]#

Creates a costmap on top of a link of an Object and creates positions from it. If there is a specific Object for which the position should be found, a height offset will be calculated which ensures that the bottom of the Object is at the position in the Costmap and not the origin of the Object which is usually in the centre of the Object.

Yield:: An instance of SemanticCostmapLocation.Location with the found valid position of the Costmap.