pycram.process_modules.stretch_process_modules

Classes

StretchMoveHead	Process module for the simulated Stretch that moves the head such that it looks at the given position
StretchNavigationReal	Process module for the real Stretch that sends a cartesian goal to giskard to move the robot base
StretchMoveHeadReal	Process module for the real robot to move that such that it looks at the given position. Uses the same calculation
StretchDetectingReal	Process Module for the real Stretch that tries to detect an object fitting the given object description. Uses Robokudo
StretchMoveGripperReal	Opens or closes the gripper of the real Stretch, gripper uses an action server for this instead of giskard
StretchManager

Module Contents

class pycram.process_modules.stretch_process_modules.StretchMoveHead

Bases: ProcessModule

Process module for the simulated Stretch that moves the head such that it looks at the given position

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

class pycram.process_modules.stretch_process_modules.StretchNavigationReal

Bases: ProcessModule

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

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

class pycram.process_modules.stretch_process_modules.StretchMoveHeadReal

Bases: ProcessModule

Process module for the real robot to move that such that it looks at the given position. Uses the same calculation as the simulated one

_execute(desig: pycram.designators.motion_designator.LookingMotion)

class pycram.process_modules.stretch_process_modules.StretchDetectingReal

Bases: ProcessModule

Process Module for the real Stretch that tries to detect an object fitting the given object description. Uses Robokudo for perception of the environment.

_execute(designator: pycram.designators.motion_designator.DetectingMotion) → pycram.external_interfaces.robokudo.Any

class pycram.process_modules.stretch_process_modules.StretchMoveGripperReal

Bases: ProcessModule

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

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

class pycram.process_modules.stretch_process_modules.StretchManager

Bases: DefaultManager

robot_name = 'stretch_description'

navigate()

looking()

move_gripper()