A post-action for pregrasp and preplace task. More...
Public Member Functions | |
def | __init__ (self, gripper, otherGripper=None) |
Constructor. More... | |
def | makeTasks (self, sotrobot, 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 | |
otherGripper | |
task | |
feature | |
tasks | |
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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 = "postaction_pregrasp" |
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string | sep = "___" |
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.
def agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.__init__ | ( | self, | |
gripper, | |||
otherGripper = None |
|||
) |
Constructor.
gripper | object of type OpFrame |
otherGripper | either None or a OpFrame representing a gripper |
def agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.makeTasks | ( | self, | |
sotrobot, | |||
withDerivative = False |
|||
) |
References agimus_sot.task.pre_grasp_post_action.PreGraspPostAction._makeAbsoluteTask(), agimus_sot.task.pre_grasp_post_action.PreGraspPostAction._makeRelativeTask(), agimus_sot.task.pre_grasp.PreGrasp._makeRelativeTask(), agimus_sot.task.grasp.Grasp.gripper, agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.gripper, agimus_sot.factory.Affordance.gripper, agimus_sot.task.end_effector.EndEffector.gripper, agimus_sot.task.pre_grasp.PreGrasp.gripper, agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.otherGripper, agimus_sot.task.grasp.Grasp.otherGripper, and agimus_sot.task.pre_grasp.PreGrasp.otherGripper.
agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.feature |
agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.gripper |
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static |
Referenced by agimus_sot.task.task.Task.makeTfListenerDefaultValue().
agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.otherGripper |
agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.task |
agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.tasks |