agimus_sot.task.pre_grasp_post_action.PreGraspPostAction Class Reference

A post-action for pregrasp and preplace task. More...

Inheritance diagram for agimus_sot.task.pre_grasp_post_action.PreGraspPostAction:
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Collaboration diagram for agimus_sot.task.pre_grasp_post_action.PreGraspPostAction:
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Public Member Functions

def __init__ (self, gripper, otherGripper=None)
 Constructor. More...
 
def makeTasks (self, sotrobot, withDerivative=False)
 
- Public Member Functions inherited from agimus_sot.task.task.Task
def __init__ (self, tasks=[], constraints=[], topics={})
 
def __add__ (self, other)
 
def __iadd__ (self, other)
 
def setControlSelection (self, selection)
 
def pushTo (self, solver)
 
def extendSignalGetters (self, topicName, signalGetters)
 
def addHppJointTopic (self, topicName, jointName=None, velocity=False, signalGetters=frozenset())
 
def addTfListenerTopic (self, topicName, frame0, frame1, defaultValue=None, signalGetters=frozenset(), maxDelay=1.5)
 
def makeTfListenerDefaultValue (self, name, value, outputs=None)
 Create an If entity whose condition is the transform was found in TF. More...
 

Public Attributes

 gripper
 
 otherGripper
 
 task
 
 feature
 
 tasks
 
- Public Attributes inherited from agimus_sot.task.task.Task
 tasks
 Task to be added to a SoT solver. More...
 
 constraints
 Constraints This is likely not used anymore. More...
 
 topics
 The ROS topics where to read references. More...
 

Static Public Attributes

string name_prefix = "postaction_pregrasp"
 
- Static Public Attributes inherited from agimus_sot.task.task.Task
string sep = "___"
 

Detailed Description

A post-action for pregrasp and preplace task.

This task is activated when the gripper frame coincide with the handle frame. It ensures the velocity of the gripper is zero with respect to the handle.

Constructor & Destructor Documentation

◆ __init__()

def agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.__init__ (   self,
  gripper,
  otherGripper = None 
)

Constructor.

Parameters
gripperobject of type OpFrame
otherGrippereither None or a OpFrame representing a gripper

Member Function Documentation

◆ makeTasks()

def agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.makeTasks (   self,
  sotrobot,
  withDerivative = False 
)

Member Data Documentation

◆ feature

agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.feature

◆ gripper

agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.gripper

◆ name_prefix

string agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.name_prefix = "postaction_pregrasp"
static

◆ otherGripper

agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.otherGripper

◆ task

agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.task

◆ tasks