From c3c4e9ac586c66f6e2024b940b1a0e223ddefbfd Mon Sep 17 00:00:00 2001 From: Simon Date: Mon, 24 Jun 2024 13:32:36 +0200 Subject: [PATCH] added exceptions for force torque error codes --- src/giskardpy/exceptions.py | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/src/giskardpy/exceptions.py b/src/giskardpy/exceptions.py index f8da4b3e1b..499fac05b3 100644 --- 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