pycram.process_modules.hsrb_process_modules

Classes

HSRBNavigationReal	Process module for the real HSRB that sends a cartesian goal to giskard to move the robot base
HSRBMoveHeadReal	Process module for the real HSRB that sends a pose goal to giskard to move the robot head
HSRBMoveTCPReal	Moves the tool center point of the real HSRB while avoiding all collisions via giskard
HSRBMoveArmJointsReal	Moves the arm joints of the real HSRB to the given configuration while avoiding all collisions via giskard
HSRBMoveJointsReal	Moves any joint using giskard, avoids all collisions while doint this.
HSRBMoveGripperReal	Opens or closes the gripper of the real HSRB with the help of giskard.
HSRBOpenReal	This process Modules tries to open an already grasped container via giskard
HSRBCloseReal	This process module executes close a an already grasped container via giskard
HSRBTalkReal	Let the robot speak over tmc interface.
HSRBNavigationSemiReal	Process module for the real HSRB that sends a cartesian goal to giskard to move the robot base
HSRBTalkSemiReal	Low Level implementation to let the robot talk using gTTS and pydub.
HSRBManager

Module Contents

class pycram.process_modules.hsrb_process_modules.HSRBNavigationReal(lock)

Bases: pycram.process_module.ProcessModule

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

_execute(designator: pycram.designators.motion_designator.MoveMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveHeadReal(lock)

Bases: pycram.process_module.ProcessModule

Process module for the real HSRB that sends a pose goal to giskard to move the robot 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.hsrb_process_modules.HSRBMoveTCPReal(lock)

Bases: pycram.process_module.ProcessModule

Moves the tool center point of the real HSRB while avoiding all collisions via giskard

_execute(designator: pycram.designators.motion_designator.MoveTCPMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveArmJointsReal(lock)

Bases: pycram.process_module.ProcessModule

Moves the arm joints of the real HSRB to the given configuration while avoiding all collisions via giskard

_execute(designator: pycram.designators.motion_designator.MoveArmJointsMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveJointsReal(lock)

Bases: pycram.process_module.ProcessModule

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

_execute(designator: pycram.designators.motion_designator.MoveJointsMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBMoveGripperReal(lock)

Bases: pycram.process_module.ProcessModule

Opens or closes the gripper of the real HSRB with the help of giskard.

_execute(designator: pycram.designators.motion_designator.MoveGripperMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBOpenReal(lock)

Bases: pycram.process_module.ProcessModule

This process Modules tries to open an already grasped container via giskard

_execute(designator: pycram.designators.motion_designator.OpeningMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBCloseReal(lock)

Bases: pycram.process_module.ProcessModule

This process module executes close a an already grasped container via giskard

_execute(designator: pycram.designators.motion_designator.ClosingMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBTalkReal(lock)

Bases: pycram.process_module.ProcessModule

Let the robot speak over tmc interface.

_execute(designator: pycram.designators.motion_designator.TalkingMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBNavigationSemiReal(lock)

Bases: pycram.process_module.ProcessModule

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

_execute(designator: pycram.designators.motion_designator.MoveMotion) → typing_extensions.Any

Helper method for internal usage only. This method is to be overwritten instead of the execute method.

class pycram.process_modules.hsrb_process_modules.HSRBTalkSemiReal(lock)

Bases: pycram.process_module.ProcessModule

Low Level implementation to let the robot talk using gTTS and pydub.

_execute(designator: pycram.designators.motion_designator.TalkingMotion) → typing_extensions.Any

Convert text to speech using gTTS, modify the pitch and play it without saving to disk.

class pycram.process_modules.hsrb_process_modules.HSRBManager

Bases: DefaultManager

robot_name = 'hsrb'

_navigate_lock

navigate()

looking()

detecting()

move_tcp()

move_arm_joints()

move_joints()

move_gripper()

open()

close()

talk()