agimus_sot.task.pre_grasp.PreGrasp Class Reference

A pregrasp (and preplace) task. More...

Inheritance diagram for agimus_sot.task.pre_grasp.PreGrasp:
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Collaboration diagram for agimus_sot.task.pre_grasp.PreGrasp:
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Public Member Functions

def __init__ (self, gripper, handle, otherGraspOnObject=None)
 Constructor. More...
 
def makeTasks (self, sotrobot, withMeasurementOfObjectPos, withMeasurementOfGripperPos, withMeasurementOfOtherGripperPos=False, 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
 
 handle
 
 otherGripper
 
 otherHandle
 
 oMjaDes_inv
 
 faMfbDes
 
 task
 
 gain
 
 feature
 
 tasks
 
 wMog_inv
 
 jbMfb
 
- 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 = "pregrasp"
 
- Static Public Attributes inherited from agimus_sot.task.task.Task
string sep = "___"
 

Detailed Description

A pregrasp (and preplace) task.

It creates a task to pose of the gripper with respect to the handle. This pose should follow the relative pose from planning. If the handle is attached to the joint tree (by another grasp) then, provide the otherGraspOnObject.

There are 3 cases:

  • gripper enabled and otherGripper disabled or not provided: Absolute pose of the gripper with respect to the handle.
  • gripper and otherGripper enabled: Relative pose of the gripper with respect to the otherGripper.
  • gripper disabled and otherGripper enabled: Absolute pose of the otherGripper with respect to the handle.
Note
For preplace task, the gripper is on the environment surface and the handle is on the object surface.

Constructor & Destructor Documentation

◆ __init__()

def agimus_sot.task.pre_grasp.PreGrasp.__init__ (   self,
  gripper,
  handle,
  otherGraspOnObject = None 
)

Constructor.

Parameters
gripperobject of type OpFrame
handleobject of type OpFrame
otherGraspOnObjecteither None or a tuple (otherGripper, otherHandle)

Member Function Documentation

◆ makeTasks()

def agimus_sot.task.pre_grasp.PreGrasp.makeTasks (   self,
  sotrobot,
  withMeasurementOfObjectPos,
  withMeasurementOfGripperPos,
  withMeasurementOfOtherGripperPos = False,
  withDerivative = False 
)

Member Data Documentation

◆ faMfbDes

agimus_sot.task.pre_grasp.PreGrasp.faMfbDes

◆ feature

agimus_sot.task.pre_grasp.PreGrasp.feature

◆ gain

agimus_sot.task.pre_grasp.PreGrasp.gain

◆ gripper

◆ handle

agimus_sot.task.pre_grasp.PreGrasp.handle

◆ jbMfb

agimus_sot.task.pre_grasp.PreGrasp.jbMfb

◆ name_prefix

string agimus_sot.task.pre_grasp.PreGrasp.name_prefix = "pregrasp"
static

◆ oMjaDes_inv

agimus_sot.task.pre_grasp.PreGrasp.oMjaDes_inv

◆ otherGripper

◆ otherHandle

agimus_sot.task.pre_grasp.PreGrasp.otherHandle

◆ task

agimus_sot.task.pre_grasp.PreGrasp.task

◆ tasks

◆ wMog_inv

agimus_sot.task.pre_grasp.PreGrasp.wMog_inv