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doc:pycram:implemented_desigs [2021/03/12 10:31] – created jdech | doc:pycram:implemented_desigs [2021/06/18 10:53] (current) – jdech | ||
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====== Implemented Motion Designator ====== | ====== Implemented Motion Designator ====== | ||
At the moment there is no global implementation of specific designator, therefor every demo implements their own. | At the moment there is no global implementation of specific designator, therefor every demo implements their own. | ||
- | To implement a simple Demo showing the capabilities of the PyCRAM BulletWorld, | + | To implement a simple Demo showing the capabilities of the PyCRAM BulletWorld, |
- | ^ Designator | + | ^ Designator Description |
- | | Moving | + | | MovingMotionDescription |
- | | Pick-Up | + | | PickUpMotionDescription |
- | | Place | Places the given object and detaches it from the robot. | | + | | PlaceMotionDescription |
- | | Accessing | + | | AccessingMotionDescription |
- | | Looking | + | | LookingMotionDescription |
- | | Opening-Gripper | + | | MoveGripperMotionDescription| Opens or closes |
- | | Closing-Gripper | Closes the gripper of the given arm. | | + | | DetectingMotionDescription |
- | | Detecting | + | | MoveTCPMotionDescription |
- | | Move-TCP | + | | MoveArmJointsMotionDescription |
- | | Move-Arm-Joints | + | | WorldStateDetectingMotionDescription |
- | | World-State-Detecting | + | |
- | ===== Moving | + | ===== MovingMotionDescription |
The moving designator is used to move the robot to the designed position. It is also possible to specify an orientation, | The moving designator is used to move the robot to the designed position. It is also possible to specify an orientation, | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | Yes| | + | | target |
- | | Target | + | | orientation |
- | | Orientation | + | |
- | ===== Pick-Up | + | ===== PickUpMotionDescription |
The pick-up designator is used to pick up an object with the given arm. Although the arm slot is not necessary for the execution of the designator, it is encouraged to use it for better results. | The pick-up designator is used to pick up an object with the given arm. Although the arm slot is not necessary for the execution of the designator, it is encouraged to use it for better results. | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | Yes| | + | |object |
- | |Object | + | | arm | The arm with which the object should be picked up. If no arm is given, the left is used. | No| |
- | | Arm | The arm with which the object should be picked up. If no arm is given, the left is used. | No| | + | |
- | ===== Place ===== | + | ===== PlaceMotionDescription |
The place designator is used to place an object with the given arm. Even though it is not required to provide an arm parameter, it is still encouraged to do so for better results. | The place designator is used to place an object with the given arm. Even though it is not required to provide an arm parameter, it is still encouraged to do so for better results. | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | Yes| | + | |object |
- | |Object | + | | arm | The arm with which the object should be picked up. If no arm is given, the left is used. | No| |
- | | Arm | The arm with which the object should be picked up. If no arm is given, the left is used. | No| | + | |
- | ===== Accessing | + | ===== AccessingMotionDescription |
The accessing designator is used to open drawers to access the objects within. The drawer handle and joint need to be specified because no semantic knowledge about the drawer is available. | The accessing designator is used to open drawers to access the objects within. The drawer handle and joint need to be specified because no semantic knowledge about the drawer is available. | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | Yes| | + | | drawer_Handle |
- | | Drawer-Handle | + | | drawer_Joint |
- | | Drawer-Joint | + | | part_Of |
- | | Part-Of | + | | distance |
- | | Distance | + | | arm | The arm with which the robot should open the drawer. | No | |
- | | Arm | The arm with which the robot should open the drawer. | No | | + | |
- | ===== Looking | + | ===== LookingMotionDescription |
The looking designator is used to move the head of the robot, to look at a given position. The position has to be in world coordinate frame. Alternatively, | The looking designator is used to move the head of the robot, to look at a given position. The position has to be in world coordinate frame. Alternatively, | ||
Even thought neither target, nor object are mandatory, one of them has to be provided. | Even thought neither target, nor object are mandatory, one of them has to be provided. | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | Yes| | + | | target |
- | | Target | + | | object |
- | | Object | + | |
- | ===== Opening-Gripper | + | ===== MoveGripperMotionDescription |
This designator is used to control the grippers of the robot. It can either open the left or the right gripper. | This designator is used to control the grippers of the robot. It can either open the left or the right gripper. | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | + | | motion |
- | |Gripper | + | | gripper |
- | ===== Closing-Gripper ====== | ||
- | This designator is used to control the gripper of the robot. It can either close the left or right gripper of the robot. | ||
- | + | ===== DetectingMotionDescription | |
- | ^ Slots ^ Description ^ Required ^ | + | |
- | | Type | Defines the type of this designator | Yes| | + | |
- | |Gripper | Specifies the gripper which should be opened, either left or right. | Yes | | + | |
- | + | ||
- | ===== Detecting | + | |
This designator is used to detect an object that is in front of the robot and returns it to the user. | This designator is used to detect an object that is in front of the robot and returns it to the user. | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | Yes| | + | | object_Type |
- | | Object-Type | + | |
- | ===== Move-TCP | + | ===== MoveTCPMotionDescription |
This designator is used to move the Tool Center Point of one of the arms of the robot. The arm does not have to be given. If no arm is given, the left is used. | This designator is used to move the Tool Center Point of one of the arms of the robot. The arm does not have to be given. If no arm is given, the left is used. | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | Yes| | + | | target |
- | | Target | + | | arm | The arm of which the tcp is a part of. | No | |
- | | Arm | The arm of which the tcp is a part of. | No | | + | |
- | ===== Move-Arm-Joints | + | ===== MoveArmJointsMotionDescription |
- | This designator is used to manipulate the joints of the robot arms. The user can either do this by giving a list of joint values, that will then be applied to the joints | + | This designator is used to manipulate the joints of the robot arms. The user can either do this by giving a dictionary |
- | Even though neither | + | Another possible way is to use the ' |
- | has to be provided. | + | |
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | + | | left_arm_config |
- | | Left-Arm | + | | right_arm_config| Defines the configuration for the right arm. | No | |
- | | Right-Arm| Defines the configuration for the right arm. | No | | + | | left_arm_poses |
+ | | right_arm_poses| Defines a list of joint poses the right arm should be in. | No | | ||
- | ===== World-State-Detecting | + | ===== WorldStateDetectingMotionDescription |
This designator is used to detect an object within the state of the world. Thus, the robot does not need to see the object to detect it. This can be useful as, in some cases, the robot is not able to see an object but will still able to grasp it. For example, this is the case if the robot wants to grasp object from the lowest level of a shelf. | This designator is used to detect an object within the state of the world. Thus, the robot does not need to see the object to detect it. This can be useful as, in some cases, the robot is not able to see an object but will still able to grasp it. For example, this is the case if the robot wants to grasp object from the lowest level of a shelf. | ||
- | ^ Slots ^ Description ^ Required ^ | + | ^ Properties |
- | | Type | Defines the type of this designator | Yes| | + | | object_type |
- | | Object-Type | + |