agimus_sot.task.grasp.Grasp Class Reference

A grasp task It creates a grasp constraint only in the case where an object is grasped by two grippers. More...

Inheritance diagram for agimus_sot.task.grasp.Grasp:
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Collaboration diagram for agimus_sot.task.grasp.Grasp:
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Public Member Functions

def __init__ (self, gripper, handle, otherGraspOnObject=None)
 
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
 
 handle
 
 relative
 
 otherGripper
 
 otherHandle
 
 feature
 
 task
 
 gain
 
 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 = "grasp"
 
- Static Public Attributes inherited from agimus_sot.task.task.Task
string sep = "___"
 

Detailed Description

A grasp task It creates a grasp constraint only in the case where an object is grasped by two grippers.

Constructor & Destructor Documentation

◆ __init__()

def agimus_sot.task.grasp.Grasp.__init__ (   self,
  gripper,
  handle,
  otherGraspOnObject = None 
)

Member Function Documentation

◆ makeTasks()

def agimus_sot.task.grasp.Grasp.makeTasks (   self,
  sotrobot,
  withDerivative = False 
)
Todo:
implement tracking of velocity self.task.task.setWithDerivative(True) which needs the following signals:
  • velocity of object attached to gripper.sotjoint, into self.task.feature.dotposition
  • velocity of object attached to otherGripper.sotjoint, into self.task.feature.dotpositionRef

References agimus_sot.task.task.Task._name(), agimus_sot.task.grasp.Grasp.gripper, agimus_sot.factory.Affordance.gripper, agimus_sot.task.end_effector.EndEffector.gripper, agimus_sot.task.grasp.Grasp.handle, agimus_sot.factory.Affordance.handle, agimus_sot.task.grasp.Grasp.otherGripper, agimus_sot.task.grasp.Grasp.otherHandle, agimus_sot.task.grasp.Grasp.relative, and agimus_sot.tools.se3ToTuple().

Member Data Documentation

◆ feature

agimus_sot.task.grasp.Grasp.feature

◆ gain

agimus_sot.task.grasp.Grasp.gain

◆ gripper

◆ handle

agimus_sot.task.grasp.Grasp.handle

◆ name_prefix

string agimus_sot.task.grasp.Grasp.name_prefix = "grasp"
static

◆ otherGripper

◆ otherHandle

agimus_sot.task.grasp.Grasp.otherHandle

◆ relative

agimus_sot.task.grasp.Grasp.relative

◆ task

agimus_sot.task.grasp.Grasp.task

◆ tasks