A pregrasp (and preplace) task. More...
Public Member Functions | |
def | __init__ (self, gripper, handle, otherGraspOnObject=None) |
Constructor. More... | |
def | makeTasks (self, sotrobot, withMeasurementOfObjectPos, withMeasurementOfGripperPos, withMeasurementOfOtherGripperPos=False, withDerivative=False) |
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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 | |
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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" |
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string | sep = "___" |
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
.def agimus_sot.task.pre_grasp.PreGrasp.__init__ | ( | self, | |
gripper, | |||
handle, | |||
otherGraspOnObject = None |
|||
) |
Constructor.
gripper | object of type OpFrame |
handle | object of type OpFrame |
otherGraspOnObject | either None or a tuple (otherGripper, otherHandle) |
def agimus_sot.task.pre_grasp.PreGrasp.makeTasks | ( | self, | |
sotrobot, | |||
withMeasurementOfObjectPos, | |||
withMeasurementOfGripperPos, | |||
withMeasurementOfOtherGripperPos = False , |
|||
withDerivative = False |
|||
) |
References agimus_sot.task.pre_grasp.PreGrasp._makeAbsolute(), agimus_sot.task.pre_grasp.PreGrasp._makeAbsoluteBasedOnOther(), agimus_sot.task.pre_grasp.PreGrasp._makeRelativeTask(), agimus_sot.task.task.Task.addHppJointTopic(), agimus_sot.task.task.Task.addTfListenerTopic(), agimus_sot.task.task.Task.extendSignalGetters(), agimus_sot.task.grasp.Grasp.gripper, agimus_sot.factory.Affordance.gripper, agimus_sot.task.end_effector.EndEffector.gripper, agimus_sot.task.pre_grasp.PreGrasp.gripper, agimus_sot.tools.matrixHomoInverse(), agimus_sot.tools.matrixHomoProduct(), agimus_sot.task.grasp.Grasp.otherGripper, and agimus_sot.task.pre_grasp.PreGrasp.otherGripper.
agimus_sot.task.pre_grasp.PreGrasp.faMfbDes |
agimus_sot.task.pre_grasp.PreGrasp.feature |
agimus_sot.task.pre_grasp.PreGrasp.gain |
agimus_sot.task.pre_grasp.PreGrasp.gripper |
agimus_sot.task.pre_grasp.PreGrasp.handle |
agimus_sot.task.pre_grasp.PreGrasp.jbMfb |
|
static |
Referenced by agimus_sot.task.task.Task.makeTfListenerDefaultValue().
agimus_sot.task.pre_grasp.PreGrasp.oMjaDes_inv |
agimus_sot.task.pre_grasp.PreGrasp.otherGripper |
agimus_sot.task.pre_grasp.PreGrasp.otherHandle |
agimus_sot.task.pre_grasp.PreGrasp.task |
agimus_sot.task.pre_grasp.PreGrasp.tasks |
agimus_sot.task.pre_grasp.PreGrasp.wMog_inv |