Skills (Enchanter)

Animate

This module contains the animate-related features of the robot.

class pymirokai.features.skills.enchanter.animate.AnimateEnchanter

Bases: object

Class to handle animate-related features of the robot.

Freeze

This module contains the freeze-related features of the robot.

class pymirokai.features.skills.enchanter.freeze.FreezeEnchanter

Bases: object

Class to handle freeze-related features of the robot.

Interact

This module contains the interact-related features of the robot.

class pymirokai.features.skills.enchanter.interact.InteractEnchanter

Bases: object

Class to handle interact-related features of the robot.

Manipulate

This module contains the manipulate-related features of the robot.

class pymirokai.features.skills.enchanter.manipulate.ManipulateEnchanter

Bases: object

Class to handle manipulate-related features of the robot.

drop_on_deposit_known_handle(rune, hand=None)

drop a known handle using a specified hand.

Parameters:

rune (EnchantedObject) – The enchanted rune representing the handle.
hand (Optional[Hand]) – The hand to use for dropping. If None, the robot selects the hand automatically.

Return type:

Mission

Returns:

Mission – The mission representing the task.

drop_on_deposit_known_handle_with_left_hand(rune)

drop the handle with left hand, based on its rune name.

Parameters:: rune (EnchantedObject) – (EnchantedObject): The rune associated with the handle.
Return type:: Mission
Returns:: Mission – The mission representing the task.

drop_on_deposit_known_handle_with_right_hand(rune)

drop the handle with right hand, based on its rune name.

Parameters:: rune (EnchantedObject) – (EnchantedObject): The rune associated with the handle.
Return type:: Mission
Returns:: Mission – The mission representing the task.

drop_tray()

Drop the tray the robot is holding.

Return type:: Mission
Returns:: Mission – The mission representing the task.

grasp_and_drop_loop()

Grasp and drop in loop and stop at 10 or when failed.

Return type:: Mission
Returns:: Mission – The mission representing the task.

grasp_bubble()

Grasp the bubble-handle.

Parameters:: side – (int): The chosen arm.
Return type:: Mission
Returns:: Mission – The mission representing the task.

grasp_cart()

Grasp a cart.

Return type:: Mission
Returns:: Mission – The mission representing the task.

grasp_known_handle(rune, hand=None)

Grasp a known handle using a specified hand.

Parameters:

rune (EnchantedObject) – The enchanted rune representing the handle.
hand (Optional[Hand]) – The hand to use for grasping. If None, the robot selects the hand automatically.

Return type:

Mission

Returns:

Mission – The mission representing the task.

grasp_known_handle_with_left_hand(rune)

Grasp the handle with left hand, based on its rune name.

Parameters:: rune (EnchantedObject) – (EnchantedObject): The rune associated with the handle.
Return type:: Mission
Returns:: Mission – The mission representing the task.

grasp_known_handle_with_right_hand(rune)

Grasp the handle with right hand, based on its rune name.

Parameters:: rune (EnchantedObject) – (EnchantedObject): The rune associated with the handle.
Return type:: Mission
Returns:: Mission – The mission representing the task.

grasp_tray()

Grasp a tray.

Return type:: Mission
Returns:: Mission – The mission representing the task.

set_joint_control_mode(control_mode)

Change the joint control mode (position, transparent, impedance).

Return type:: Mission
Returns:: Mission – The mission representing the task.
Parameters:: control_mode (str)

set_world_frame_control_flag(enable)

Enable or disable world frame control.

Return type:: Mission
Returns:: Mission – The mission representing the task.
Parameters:: enable (bool)

Navigate

This module contains the navigate-related features of the robot.

class pymirokai.features.skills.enchanter.navigate.NavigateEnchanter

Bases: object

Class to handle navigate-related features of the robot.

go_to_deposit_zone(destination)

Go to a deposit zone.

Parameters:: destination (DepositZone) – Deposit zone name
Return type:: Mission
Returns:: Mission – The mission representing the task.

Show-Off

This module contains the show_off-related features of the robot.

class pymirokai.features.skills.enchanter.show_off.ShowOffEnchanter

Bases: object

Class to handle show_off-related features of the robot.

System

This module contains system-related features of the robot.

class pymirokai.features.skills.enchanter.system.SystemEnchanter

Bases: object

Class to handle system-related features of the robot.

disable_vpro_teleop()

Disable the arms teleoperation with Vpro.

Return type:: Mission
Returns:: Mission – The mission representing the task.

enable_vpro_teleop()

Enable the arms teleoperation with Vpro.

Return type:: Mission
Returns:: Mission – The mission representing the task.

get_system_prompt()

Get current system prompt of the robot.

Return type:: Mission
Returns:: Mission – The mission representing the task.

hide_vision_debug()

Hide vision debug screen.

Return type:: Mission
Returns:: Mission – The mission representing the task.

show_vision_debug()

Show vision debug screen.

Return type:: Mission
Returns:: Mission – The mission representing the task.

trigger_torque_sensor_calib()

Triggers the arms torque sensors calibration.

Return type:: Mission
Returns:: Mission – The mission representing the task.

Transport

This module contains the transport-related features of the robot.

class pymirokai.features.skills.enchanter.transport.TransportEnchanter

Bases: object

Class to handle transport-related features of the robot.