pycram.orm.model

pycram.orm.model#

Attributes#

`type_mappings`
`self_mapped_classes`
`explicitly_mapped_classes`

Classes#

`TaskTreeNode`
`ORMActionNode`
`ORMMotionNode`
`ORMResolvedActionNode`
`FrozenObject`
`ReleaseAction`	The performable designator_description with a single element for each list of possible parameter.
`GripAction`	The performable designator_description with a single element for each list of possible parameter.
`ReachToPickUpAction`	The performable designator_description with a single element for each list of possible parameter.
`PickUpAction`	The performable designator_description with a single element for each list of possible parameter.
`PlaceAction`	The performable designator_description with a single element for each list of possible parameter.
`TransportAction`	The performable designator_description with a single element for each list of possible parameter.
`DetectAction`	The performable designator_description with a single element for each list of possible parameter.
`GraspingAction`	The performable designator_description with a single element for each list of possible parameter.
`MoveAndPickUpAction`	The performable designator_description with a single element for each list of possible parameter.

Module Contents#

class pycram.orm.model.TaskTreeNode#

start_time: datetime.datetime#

end_time: typing_extensions.Optional[datetime.datetime]#

status: pycram.datastructures.enums.TaskStatus#

reason: typing_extensions.Optional[str]#

action: typing_extensions.Optional[pycram.designators.action_designator.ActionDescription] = None#

parent: typing_extensions.Optional[TaskTreeNode] = None#

class pycram.orm.model.ORMActionNode#

Bases: ormatic.ormatic.ORMaticExplicitMapping

explicit_mapping() → Type#

class pycram.orm.model.ORMMotionNode#

Bases: ormatic.ormatic.ORMaticExplicitMapping

explicit_mapping() → Type#

class pycram.orm.model.ORMResolvedActionNode#

Bases: ormatic.ormatic.ORMaticExplicitMapping

designator_ref: pycram.designators.action_designator.ActionDescription#

explicit_mapping() → Type#

class pycram.orm.model.FrozenObject#

Bases: ormatic.ormatic.ORMaticExplicitMapping

name: str#

concept: pycrap.ontologies.PhysicalObject#

pose: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped]#

explicit_mapping()#

class pycram.orm.model.ReleaseAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

gripper: pycram.datastructures.enums.Arms#

object_at_execution: typing_extensions.Optional[FrozenObject]#

explicit_mapping()#

class pycram.orm.model.GripAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

gripper: pycram.datastructures.enums.Arms#

effort: float#

object_at_execution: typing_extensions.Optional[FrozenObject]#

explicit_mapping()#

class pycram.orm.model.ReachToPickUpAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

arm: pycram.datastructures.enums.Arms#

grasp_description: pycram.datastructures.grasp.GraspDescription#

object_at_execution: typing_extensions.Optional[FrozenObject]#

explicit_mapping()#

class pycram.orm.model.PickUpAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

arm: pycram.datastructures.enums.Arms#

object_at_execution: typing_extensions.Optional[FrozenObject]#

explicit_mapping()#

class pycram.orm.model.PlaceAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

arm: pycram.datastructures.enums.Arms#

target_location: pycram.datastructures.pose.PoseStamped#

object_at_execution: typing_extensions.Optional[FrozenObject]#

explicit_mapping()#

class pycram.orm.model.TransportAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

arm: pycram.datastructures.enums.Arms#

target_location: pycram.datastructures.pose.PoseStamped#

object_at_execution: typing_extensions.Optional[FrozenObject]#

explicit_mapping()#

class pycram.orm.model.DetectAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

technique: pycram.datastructures.enums.DetectionTechnique#

state: typing_extensions.Optional[pycram.datastructures.enums.DetectionState]#

region: typing_extensions.Optional[str]#

object_at_execution: typing_extensions.Optional[FrozenObject]#

explicit_mapping()#

class pycram.orm.model.GraspingAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

arm: pycram.datastructures.enums.Arms#

object_at_execution: FrozenObject#

explicit_mapping()#

class pycram.orm.model.MoveAndPickUpAction#

Bases: pycram.designators.action_designator.ActionDescription, ormatic.ormatic.ORMaticExplicitMapping

The performable designator_description with a single element for each list of possible parameter.

standing_position: pycram.datastructures.pose.Pose#

object_designator: FrozenObject#

arm: pycram.datastructures.enums.Arms#

grasp: pycram.datastructures.enums.Grasp#

keep_joint_states: bool#

pycram.orm.model.type_mappings#

pycram.orm.model.self_mapped_classes#

pycram.orm.model.explicitly_mapped_classes#