本文整理汇总了Python中baxter_interface.Limb.endpoint_pose方法的典型用法代码示例。如果您正苦于以下问题：Python Limb.endpoint_pose方法的具体用法？Python Limb.endpoint_pose怎么用？Python Limb.endpoint_pose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.endpoint_pose方法的3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: endpoint_pose
# 需要导入模块: from baxter_interface import Limb [as 别名]
# 或者: from baxter_interface.Limb import endpoint_pose [as 别名]
def endpoint_pose(self):
"""
Returns the pose of the end effector
:return: [[x, y, z], [x, y, z, w]]
"""
pose = Limb.endpoint_pose(self)
return [[pose['position'].x, pose['position'].y, pose['position'].z],
[pose['orientation'].x, pose['orientation'].y, pose['orientation'].z, pose['orientation'].w]]示例2: ik
# 需要导入模块: from baxter_interface import Limb [as 别名]
# 或者: from baxter_interface.Limb import endpoint_pose [as 别名]
tracker.busy = True
done = False
ik()
#print("Controlling joints. Press ? for help, Esc to quit.")
while not done and not rospy.is_shutdown():
c = baxter_external_devices.getch()
tracker.track()
if tracker.busy == False:
tracker.gripper.close()
rospy.sleep(0.5)
arm = Limb("right")
ep_position = arm.endpoint_pose()['position']
ep_orientation = arm.endpoint_pose()['orientation']
place(right,ep_position,ep_orientation,pr,pr_place)
tracker.gripper.open()
rospy.sleep(0.5)
pr_place.position.y += 0.2
move(right,pr_place)
#move(right,pr_init)
print "I am done"
done = True
if c:
#catch Esc or ctrl-c
if c in ['\x1b', '\x03']:
done = True
print ("Program finished")示例3: IKHelper
# 需要导入模块: from baxter_interface import Limb [as 别名]
# 或者: from baxter_interface.Limb import endpoint_pose [as 别名]
class IKHelper(object):
"""An abstraction layer for using Baxter's built in IK service."""
############################################################################
def __init__(self):
self._left_arm = Limb('left')
self._left_arm.set_joint_position_speed(0.3)
self._right_arm = Limb('right')
self._right_arm.set_joint_position_speed(0.3)
self._left_iksvc = rospy.ServiceProxy(
_IKSVC_LEFT_URI,
SolvePositionIK)
self._right_iksvc = rospy.ServiceProxy(
_IKSVC_RIGHT_URI,
SolvePositionIK)
self._joint_update_pub = rospy.Publisher(
'/robot/joint_state_publish_rate',
UInt16)
self._joint_update_pub.publish(250)
############################################################################
def reset(self):
"""Reset both arms to their neutral positions."""
self._left_arm.move_to_neutral()
self._right_arm.move_to_neutral()
def set_left(self, pos, rot=(0, math.pi, math.pi *0.5), wait=False):
"""Set the endpoint of the left arm to the supplied coordinates.
Arguments:
pos -- Position in space in (x, y, z) format.
rot -- Rotation in space in (r, p, y) format. (defaults to pointing
downwards.)
Keyword arguments:
wait -- If True, method will block until in position. (default
False)
"""
self._set_arm(self._left_iksvc, self._left_arm, pos, rot, wait)
def set_left(self, pos, rot=(0, math.pi, math.pi *0.5), wait=False):
"""Set the endpoint of the right arm to the supplied coordinates.
Arguments:
pos -- Position in space in (x, y, z) format.
rot -- Rotation in space in (r, p, y) format. (defaults to pointing
downwards.)
Keyword arguments:
wait -- If True, method will block until in position. (default
False)
"""
self._set_arm(self._right_iksvc, self._right_arm, pos, rot, wait)
def get_left(self):
"""Return the current endpoint pose of the left arm."""
return self._left_arm.endpoint_pose()['position']
def get_right(self):
"""Return the current endpoint pose of the left arm."""
return self._right_arm.endpoint_pose()['position']
def get_left_velocity(self):
"""Return the current endpoint velocity of the left arm."""
return self._left_arm.endpoint_velocity()['linear']
def get_right_velocity(self):
"""Return the current endpoint velocity of the right arm."""
return self._right_arm.endpoint_velocity()['linear']
def get_left_force(self):
"""Return the current endpoint force on the left arm."""
return self._left_arm.endpoint_effort()['force']
def get_right_force(self):
"""Return the current endpoint force on the right arm."""
return self._right_arm.endpoint_effort()['force']
############################################################################
def _set_arm(self, iksvc, limb, pos, rot, wait):
resp = self._get_ik(iksvc, pos, rot)
positions = resp[0]
isValid = resp[1]
if not isValid:
print('invalid: {0} {1} {2}'.format(x, y, z))
if not wait:
limb.set_joint_positions(positions)
else:
limb.move_to_joint_positions(positions)
def _get_ik(self, iksvc, pos, rot):
q = quaternion_from_euler(rot[0], rot[1], rot[2])
#.........这里部分代码省略.........