pycram.designators.motion_designator

pycram.designators.motion_designator#

Classes#

`MoveMotion`	Moves the robot to a designated location
`MoveTCPMotion`	Moves the Tool center point (TCP) of the robot
`LookingMotion`	Lets the robot look at a point
`MoveGripperMotion`	Opens or closes the gripper
`DetectingMotion`	Tries to detect an object in the FOV of the robot
`MoveArmJointsMotion`	Moves the joints of each arm into the given position
`WorldStateDetectingMotion`	Detects an object based on the world state.
`MoveJointsMotion`	Moves any joint on the robot
`OpeningMotion`	Designator for opening container
`ClosingMotion`	Designator for closing a container
`TalkingMotion`	Talking Motion, lets the robot say a sentence.
`MoveTCPWaypointsMotion`	Moves the Tool center point (TCP) of the robot

Module Contents#

class pycram.designators.motion_designator.MoveMotion#

Bases: pycram.designator.BaseMotion

Moves the robot to a designated location

target: pycram.datastructures.pose.PoseStamped#: Location to which the robot should be moved

keep_joint_states: bool = False#: Keep the joint states of the robot during/at the end of the motion

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.MoveTCPMotion#

Bases: pycram.designator.BaseMotion

Moves the Tool center point (TCP) of the robot

target: pycram.datastructures.pose.PoseStamped#: Target pose to which the TCP should be moved

arm: pycram.datastructures.enums.Arms#: Arm with the TCP that should be moved to the target

allow_gripper_collision: typing_extensions.Optional[bool] = None#: If the gripper can collide with something

movement_type: typing_extensions.Optional[pycram.datastructures.enums.MovementType]#: The type of movement that should be performed.

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

__str__()#

__repr__()#

class pycram.designators.motion_designator.LookingMotion#

Bases: pycram.designator.BaseMotion

Lets the robot look at a point

target: pycram.datastructures.pose.PoseStamped#

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.MoveGripperMotion#

Bases: pycram.designator.BaseMotion

Opens or closes the gripper

motion: pycram.datastructures.enums.GripperState#: Motion that should be performed, either ‘open’ or ‘close’

gripper: pycram.datastructures.enums.Arms#: Name of the gripper that should be moved

allow_gripper_collision: typing_extensions.Optional[bool] = None#: If the gripper is allowed to collide with something

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

__str__()#

__repr__()#

class pycram.designators.motion_designator.DetectingMotion#

Bases: pycram.designator.BaseMotion

Tries to detect an object in the FOV of the robot

returns: ObjectDesignatorDescription.Object or Error: PerceptionObjectNotFound

technique: pycram.datastructures.enums.DetectionTechnique#: Detection technique that should be used

state: pycram.datastructures.enums.DetectionState#: State of the detection

object_designator_description: typing_extensions.Optional[pycram.world_concepts.world_object.Object] = None#: Description of the object that should be detected

region: typing_extensions.Optional[pycrap.ontologies.Location] = None#: Region in which the object should be detected

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.MoveArmJointsMotion#

Bases: pycram.designator.BaseMotion

Moves the joints of each arm into the given position

left_arm_poses: typing_extensions.Optional[typing_extensions.Dict[str, float]] = None#: Target positions for the left arm joints

right_arm_poses: typing_extensions.Optional[typing_extensions.Dict[str, float]] = None#: Target positions for the right arm joints

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.WorldStateDetectingMotion#

Bases: pycram.designator.BaseMotion

Detects an object based on the world state.

object_type: pycram.datastructures.enums.ObjectType#: Object type that should be detected

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.MoveJointsMotion#

Bases: pycram.designator.BaseMotion

Moves any joint on the robot

names: list#: List of joint names that should be moved

positions: list#: Target positions of joints, should correspond to the list of names

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.OpeningMotion#

Bases: pycram.designator.BaseMotion

Designator for opening container

object_part: pycram.object_descriptors.urdf.ObjectDescription.Link#: Object designator for the drawer handle

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

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.ClosingMotion#

Bases: pycram.designator.BaseMotion

Designator for closing a container

object_part: pycram.object_descriptors.urdf.ObjectDescription.Link#: Object designator for the drawer handle

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

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.TalkingMotion#

Bases: pycram.designator.BaseMotion

Talking Motion, lets the robot say a sentence.

cmd: str#: Talking Motion, let the robot say a sentence.

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

class pycram.designators.motion_designator.MoveTCPWaypointsMotion#

Bases: pycram.designator.BaseMotion

Moves the Tool center point (TCP) of the robot

waypoints: typing_extensions.List[pycram.datastructures.pose.PoseStamped]#: Waypoints the TCP should move along

arm: pycram.datastructures.enums.Arms#: Arm with the TCP that should be moved to the target

allow_gripper_collision: typing_extensions.Optional[bool] = None#: If the gripper can collide with something

movement_type: pycram.datastructures.enums.WaypointsMovementType#: The type of movement that should be performed.

perform()#: Passes this designator to the process module for execution. Will be overwritten by each motion.

__str__()#

__repr__()#