本文整理汇总了Python中baxter_interface.Limb.__init__方法的典型用法代码示例。如果您正苦于以下问题：Python Limb.__init__方法的具体用法？Python Limb.__init__怎么用？Python Limb.__init__使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类baxter_interface.Limb的用法示例。
在下文中一共展示了Limb.__init__方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: __init__
# 需要导入模块: from baxter_interface import Limb [as 别名]
# 或者: from baxter_interface.Limb import __init__ [as 别名]
def __init__(self, name, rate=100, fk='robot', ik='trac', default_kv_max=1., default_ka_max=0.5):
"""
:param name: 'left' or 'right'
:param rate: Rate of the control loop for execution of motions
:param fk: Name of the Forward Kinematics solver, "robot", "kdl", "trac" or "ros"
:param ik: Name of the Inverse Kinematics solver, "robot", "kdl", "trac" or "ros"
:param default_kv_max: Default K maximum for velocity
:param default_ka_max: Default K maximum for acceleration
"""
Limb.__init__(self, name)
self._world = 'base'
self.kv_max = default_kv_max
self.ka_max = default_ka_max
self._gripper = Gripper(name)
self._rate = rospy.Rate(rate)
self._tf_listener = TransformListener()
self.recorder = Recorder(name)
# Kinematics services: names and services (if relevant)
self._kinematics_names = {'fk': {'ros': 'compute_fk'},
'ik': {'ros': 'compute_ik',
'robot': 'ExternalTools/{}/PositionKinematicsNode/IKService'.format(name),
'trac': 'trac_ik_{}'.format(name)}}
self._kinematics_services = {'fk': {'ros': {'service': rospy.ServiceProxy(self._kinematics_names['fk']['ros'], GetPositionFK),
'func': self._get_fk_ros},
'kdl': {'func': self._get_fk_pykdl},
'robot': {'func': self._get_fk_robot}},
'ik': {'ros': {'service': rospy.ServiceProxy(self._kinematics_names['ik']['ros'], GetPositionIK),
'func': self._get_ik_ros},
'robot': {'service': rospy.ServiceProxy(self._kinematics_names['ik']['robot'], SolvePositionIK),
'func': self._get_ik_robot},
'trac': {'service': rospy.ServiceProxy(self._kinematics_names['ik']['trac'], GetConstrainedPositionIK),
'func': self._get_ik_trac},
'kdl': {'func': self._get_ik_pykdl}}}
self._selected_ik = ik
self._selected_fk = fk
# Kinematics services: PyKDL
self._kinematics_pykdl = baxter_kinematics(name)
if self._selected_ik in self._kinematics_names['ik']:
rospy.wait_for_service(self._kinematics_names['ik'][self._selected_ik])
if self._selected_fk in self._kinematics_names['fk']:
rospy.wait_for_service(self._kinematics_names['fk'][self._selected_fk])
# Execution attributes
rospy.Subscriber('/robot/limb/{}/collision_detection_state'.format(name), CollisionDetectionState, self._cb_collision, queue_size=1)
rospy.Subscriber('/robot/digital_io/{}_lower_cuff/state'.format(name), DigitalIOState, self._cb_dig_io, queue_size=1)
self._stop_reason = '' # 'cuff' or 'collision' could cause a trajectory to be stopped
self._stop_lock = Lock()
action_server_name = "/robot/limb/{}/follow_joint_trajectory".format(self.name)
self.client = SimpleActionClient(action_server_name, FollowJointTrajectoryAction)
self._display_traj = rospy.Publisher("/move_group/display_planned_path", DisplayTrajectory, queue_size=1)
self._gripper.calibrate()
self.client.wait_for_server()