A grasp task It creates a grasp constraint only in the case where an object is grasped by two grippers. More...
Public Member Functions | |
def | __init__ (self, gripper, handle, otherGraspOnObject=None) |
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 | |
handle | |
relative | |
otherGripper | |
otherHandle | |
feature | |
task | |
gain | |
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 = "grasp" |
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string | sep = "___" |
A grasp task It creates a grasp constraint only in the case where an object is grasped by two grippers.
def agimus_sot.task.grasp.Grasp.__init__ | ( | self, | |
gripper, | |||
handle, | |||
otherGraspOnObject = None |
|||
) |
def agimus_sot.task.grasp.Grasp.makeTasks | ( | self, | |
sotrobot, | |||
withDerivative = False |
|||
) |
self.task.task.setWithDerivative(True)
which needs the following signals: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().
agimus_sot.task.grasp.Grasp.feature |
agimus_sot.task.grasp.Grasp.gain |
agimus_sot.task.grasp.Grasp.gripper |
agimus_sot.task.grasp.Grasp.handle |
Referenced by agimus_sot.task.grasp.Grasp.makeTasks().
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static |
Referenced by agimus_sot.task.task.Task.makeTfListenerDefaultValue().
agimus_sot.task.grasp.Grasp.otherGripper |
agimus_sot.task.grasp.Grasp.otherHandle |
Referenced by agimus_sot.task.grasp.Grasp.makeTasks().
agimus_sot.task.grasp.Grasp.relative |
Referenced by agimus_sot.task.grasp.Grasp.makeTasks().
agimus_sot.task.grasp.Grasp.task |
agimus_sot.task.grasp.Grasp.tasks |