pycram.process_modules.default_process_modules

pycram.process_modules.default_process_modules#

Classes#

`DefaultNavigation`	The process module to move the robot from one position to another.
`DefaultMoveHead`	Moves the robot's head to look at a specified target point in the world coordinate frame.
`DefaultMoveGripper`	This process module controls the gripper of the robot. They can either be opened or closed.
`DefaultDetecting`	This process module tries to detect an object with the given type. To be detected the object has to be in
`DefaultMoveTCP`	This process moves the tool center point of either the right or the left arm.
`DefaultMoveArmJoints`	This process modules moves the joints of either the right or the left arm. The joint states can be given as
`DefaultMoveJoints`	Implementation of process modules. Process modules are the part that communicate with the outer world to execute
`DefaultWorldStateDetecting`	This process moduledetectes an object even if it is not in the field of view of the robot.
`DefaultOpen`	Low-level implementation of opening a container in the simulation. Assumes the handle is already grasped.
`DefaultClose`	Low-level implementation that lets the robot close a grasped container, in simulation
`DefaultMoveTCPWaypoints`	This process moves the tool center point of either the right or the left arm along a list of waypoints.
`DefaultDetectingReal`	Implementation of process modules. Process modules are the part that communicate with the outer world to execute
`DefaultNavigationReal`	Process module for the real robot that sends a cartesian goal to giskard to move the robot base
`DefaultMoveHeadReal`	Process module for controlling the real robot's head to look at a specified position.
`DefaultMoveTCPReal`	Moves the tool center point of the real robot while avoiding all collisions
`DefaultMoveArmJointsReal`	Moves the arm joints of the real robot to the given configuration while avoiding all collisions
`DefaultMoveJointsReal`	Moves any joint using giskard, avoids all collisions while doint this.
`DefaultMoveGripperReal`	Opens or closes the gripper of the real robot, gripper uses an action server for this instead of giskard
`DefaultOpenReal`	Tries to open an already grasped container
`DefaultCloseReal`	Tries to close an already grasped container
`DefaultMoveTCPWaypointsReal`	Moves the tool center point of the real robot along a list of waypoints while avoiding all collisions
`DefaultManager`	Base class for managing process modules, any new process modules have to implement this class to register the

Functions#

_move_arm_tcp(→ None)

Calls the ik solver to calculate the inverse kinematics of the arm and then sets the joint states accordingly.

Module Contents#

class pycram.process_modules.default_process_modules.DefaultNavigation(lock)#

Bases: pycram.process_module.ProcessModule

The process module to move the robot from one position to another.

_execute(desig: pycram.designators.motion_designator.MoveMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveHead(lock)#

Bases: pycram.process_module.ProcessModule

Moves the robot’s head to look at a specified target point in the world coordinate frame. The target can be either a position or an object.

_execute(desig: pycram.designators.motion_designator.LookingMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveGripper(lock)#

Bases: pycram.process_module.ProcessModule

This process module controls the gripper of the robot. They can either be opened or closed. Furthermore, it can only move one gripper at a time.

_execute(desig: pycram.designators.motion_designator.MoveGripperMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultDetecting(lock)#

Bases: pycram.process_module.ProcessModule

This process module tries to detect an object with the given type. To be detected the object has to be in the field of view of the robot. :return: A list of perceived objects.

_execute(designator: pycram.designators.motion_designator.DetectingMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveTCP(lock)#

Bases: pycram.process_module.ProcessModule

This process moves the tool center point of either the right or the left arm.

_execute(desig: pycram.designators.motion_designator.MoveTCPMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveArmJoints(lock)#

Bases: pycram.process_module.ProcessModule

This process modules moves the joints of either the right or the left arm. The joint states can be given as list that should be applied or a pre-defined position can be used, such as “parking”

_execute(desig: pycram.designators.motion_designator.MoveArmJointsMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveJoints(lock)#

Bases: pycram.process_module.ProcessModule

Implementation of process modules. Process modules are the part that communicate with the outer world to execute: designators.

_execute(desig: pycram.designators.motion_designator.MoveJointsMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultWorldStateDetecting(lock)#

Bases: pycram.process_module.ProcessModule

This process moduledetectes an object even if it is not in the field of view of the robot.

_execute(desig: pycram.designators.motion_designator.WorldStateDetectingMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultOpen(lock)#

Bases: pycram.process_module.ProcessModule

Low-level implementation of opening a container in the simulation. Assumes the handle is already grasped.

_execute(desig: pycram.designators.motion_designator.OpeningMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultClose(lock)#

Bases: pycram.process_module.ProcessModule

Low-level implementation that lets the robot close a grasped container, in simulation

_execute(desig: pycram.designators.motion_designator.ClosingMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveTCPWaypoints(lock)#

Bases: pycram.process_module.ProcessModule

This process moves the tool center point of either the right or the left arm along a list of waypoints.

_execute(desig: pycram.designators.motion_designator.MoveTCPWaypointsMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

pycram.process_modules.default_process_modules._move_arm_tcp(target: pycram.designators.motion_designator.PoseStamped, robot: pycram.world_concepts.world_object.Object, arm: pycram.designators.motion_designator.Arms, tip_link: str = None) → None#

Calls the ik solver to calculate the inverse kinematics of the arm and then sets the joint states accordingly.

Parameters:

target – Target pose to which the end-effector should move.
robot – Robot object representing the robot.
arm – Which arm to move

class pycram.process_modules.default_process_modules.DefaultDetectingReal(lock)#

Bases: pycram.process_module.ProcessModule

Implementation of process modules. Process modules are the part that communicate with the outer world to execute: designators.

_execute(designator: pycram.designators.motion_designator.DetectingMotion) → pycram.designators.motion_designator.List[pycram.world_concepts.world_object.Object]#

Perform a query based on the detection technique and state defined in the designator.

Returns:: A list of perceived objects.

class pycram.process_modules.default_process_modules.DefaultNavigationReal(lock)#

Bases: pycram.process_module.ProcessModule

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

_execute(designator: pycram.designators.motion_designator.MoveMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveHeadReal(lock)#

Bases: pycram.process_module.ProcessModule

Process module for controlling the real robot’s head to look at a specified position. Uses the same calculations as the simulated version to orient the head.

_execute(desig: pycram.designators.motion_designator.LookingMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveTCPReal(lock)#

Bases: pycram.process_module.ProcessModule

Moves the tool center point of the real robot while avoiding all collisions

_execute(designator: pycram.designators.motion_designator.MoveTCPMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveArmJointsReal(lock)#

Bases: pycram.process_module.ProcessModule

Moves the arm joints of the real robot to the given configuration while avoiding all collisions

_execute(designator: pycram.designators.motion_designator.MoveArmJointsMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveJointsReal(lock)#

Bases: pycram.process_module.ProcessModule

Moves any joint using giskard, avoids all collisions while doint this.

_execute(designator: pycram.designators.motion_designator.MoveJointsMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveGripperReal(lock)#

Bases: pycram.process_module.ProcessModule

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

abstract _execute(designator: pycram.designators.motion_designator.MoveGripperMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultOpenReal(lock)#

Bases: pycram.process_module.ProcessModule

Tries to open an already grasped container

_execute(designator: pycram.designators.motion_designator.OpeningMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultCloseReal(lock)#

Bases: pycram.process_module.ProcessModule

Tries to close an already grasped container

_execute(designator: pycram.designators.motion_designator.ClosingMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultMoveTCPWaypointsReal(lock)#

Bases: pycram.process_module.ProcessModule

Moves the tool center point of the real robot along a list of waypoints while avoiding all collisions

_execute(designator: pycram.designators.motion_designator.MoveTCPWaypointsMotion)#: Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.default_process_modules.DefaultManager#

Bases: pycram.designators.motion_designator.ProcessModuleManager

Base class for managing process modules, any new process modules have to implement this class to register the Process Modules

navigate()#

Get the Process Module for navigating the robot with respect to: the execution_type

Returns:: The Process Module for navigating

looking()#

Get the Process Module for looking at a point with respect to: the execution_type

Returns:: The Process Module for looking at a specific point

detecting()#

Get the Process Module for detecting an object with respect to: the execution_type

Returns:: The Process Module for detecting an object

move_tcp()#

Get the Process Module for moving the Tool Center Point with respect to: the execution_type

Returns:: The Process Module for moving the TCP

move_arm_joints()#

Get the Process Module for moving the joints of the robot arm with respect to the execution_type

Returns:: The Process Module for moving the arm joints

world_state_detecting()#

Get the Process Module for detecting an object using the world state with respect to the execution_type

Returns:: The Process Module for world state detecting

move_joints()#

Get the Process Module for moving any joint of the robot with respect to the execution_type

Returns:: The Process Module for moving joints

move_gripper()#

Get the Process Module for moving the gripper with respect to: the execution_type

Returns:: The Process Module for moving the gripper

open()#

Get the Process Module for opening drawers with respect to: the execution_type

Returns:: The Process Module for opening drawers

close()#

Get the Process Module for closing drawers with respect to: the execution_type

Returns:: The Process Module for closing drawers

move_tcp_waypoints()#

Get the Process Module for moving the Tool Center Point along a list of waypoints with respect to: the execution_type

Returns:: The Process Module for moving the TCP along a list of waypoints