giskardpy.motion_statechart.tasks.grasp_bar

Contents

giskardpy.motion_statechart.tasks.grasp_bar#

Classes#

Like a CartesianPose but with more freedom: the tip link is allowed to be at any

Module Contents#

class giskardpy.motion_statechart.tasks.grasp_bar.GraspBar#

Bases: giskardpy.motion_statechart.graph_node.ConvergingTask

Like a CartesianPose but with more freedom: the tip link is allowed to be at any point along the bar axis within bar_center +/- bar_length / 2.

It aligns tip_grasp_axis with bar_axis while allowing rotation around it.

root_link: semantic_digital_twin.world_description.world_entity.Body#: Root link of the kinematic chain.

tip_link: semantic_digital_twin.world_description.world_entity.Body#: Tip link of the kinematic chain.

tip_grasp_axis: krrood_spatial_math.spatial_types.Vector3#: Axis of the tip link that will be aligned with the bar axis.

bar_center: krrood_spatial_math.spatial_types.Point3#: Center of the bar to be grasped.

bar_axis: krrood_spatial_math.spatial_types.Vector3#: Alignment of the bar to be grasped.

bar_length: float#: Length of the bar to be grasped.

threshold: float = 0.01#: Distance threshold to the bar for goal achievement in meters.

reference_linear_velocity: float = 0.1#: Reference linear velocity for normalization in m/s.

reference_angular_velocity: float = 0.5#: Reference angular velocity for normalization in rad/s.

weight: float#: Priority weight relative to other tasks.

build_artifacts() → giskardpy.motion_statechart.graph_node.MotionNodeArtifacts#

Build motion constraints that pull the tip onto the bar.

Returns:: The artifacts of this task, whose error is the distance between the tip and the bar segment.