added exceptions for force torque error codes

SemRoCo · Jun 24, 2024 · c3c4e9a · c3c4e9a
1 parent 6e0690b
commit c3c4e9a
Showing 1 changed file with 21 additions and 0 deletions.
diff --git a/src/giskardpy/exceptions.py b/src/giskardpy/exceptions.py
@@ -237,3 +237,24 @@ class ExecutionSucceededPrematurely(ExecutionException):
 @GiskardException.register_error_code(GiskardError.BEHAVIOR_TREE_ERROR)
 class BehaviorTreeException(GiskardException):
     pass
+
+
+# %% force torque exceptions
+@GiskardException.register_error_code(GiskardError.FORCE_TORQUE_MONITOR_ERROR)
+class ForceTorqueExceptions(GiskardException):
+    pass
+
+
+@GiskardException.register_error_code(GiskardError.FORCE_TORQUE_MONITOR_GRASPING_MISSED_OBJECT)
+class ForceTorqueMonitorGraspsingMissedObjectExceptions(GiskardException):
+    pass
+
+
+@GiskardException.register_error_code(GiskardError.FORCE_TORQUE_MONITOR_TRANSPORTING_LOST_OBJECT)
+class ForceTorqueTransportingLostObjectExceptions(GiskardException):
+    pass
+
+
+@GiskardException.register_error_code(GiskardError.FORCE_TORQUE_MONITOR_PLACING_MISSED_PLACING_LOCATION)
+class ForceTorquePlacingMissedPlacingLocationExceptions(GiskardException):
+    pass