本文整理汇总了Python中baxter_interface.Limb.move_to_neutral方法的典型用法代码示例。如果您正苦于以下问题：Python Limb.move_to_neutral方法的具体用法？Python Limb.move_to_neutral怎么用？Python Limb.move_to_neutral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.move_to_neutral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: Mimic
# 需要导入模块: from baxter_interface import Limb [as 别名]
# 或者: from baxter_interface.Limb import move_to_neutral [as 别名]
class Mimic(object):
IKSVC_LEFT_URI = 'ExternalTools/left/PositionKinematicsNode/IKService'
IKSVC_RIGHT_URI = 'ExternalTools/right/PositionKinematicsNode/IKService'
def __init__(self):
self._tf = tf.TransformListener()
self._rs = RobotEnable()
self._left_arm = Limb('left')
self._left_arm.set_joint_position_speed(0.5)
self._right_arm = Limb('right')
self._right_arm.set_joint_position_speed(0.5)
self._left_arm_neutral = None
self._right_arm_neutral = None
self._left_iksvc = rospy.ServiceProxy(
Mimic.IKSVC_LEFT_URI,
SolvePositionIK)
self._right_iksvc = rospy.ServiceProxy(
Mimic.IKSVC_RIGHT_URI,
SolvePositionIK)
self._left_camera = CameraController('left_hand_camera')
self._right_camera = CameraController('right_hand_camera')
self._head_camera = CameraController('head_camera')
self._left_camera.close()
self._right_camera.close()
self._head_camera.close()
self._head_camera.resolution = CameraController.MODES[0]
self._head_camera.open()
self._head_camera_sub = rospy.Subscriber('/cameras/head_camera/image', Image,
self._head_camera_sub_callback)
self._xdisplay_pub = rospy.Publisher('/robot/xdisplay', Image, latch=True)
self._out_of_range = False
self._ik_smooth = 4
self._ik_rate = 200
self._avg_window = 1000
self._r_trans_prev = []
self._l_trans_prev = []
self._r_ik_prev = []
self._l_ik_prev = []
self._joint_update_pub = rospy.Publisher('/robot/joint_state_publish_rate', UInt16)
self._joint_update_pub.publish(self._ik_rate)
self._mimic_timer = None
############################################################################
def start(self):
self._rs.enable()
self._reset()
self._mimic_timer = rospy.Timer(rospy.Duration(1.0 / self._ik_rate), self._mimic_callback)
rate = rospy.Rate(self._avg_window)
while not rospy.is_shutdown():
try:
(r_trans,r_rot) = self._tf.lookupTransform(
'/skeleton/user_1/right_hand',
'/skeleton/user_1/torso',
rospy.Time(0))
(l_trans,l_rot) = self._tf.lookupTransform(
'/skeleton/user_1/left_hand',
'/skeleton/user_1/torso',
rospy.Time(0))
self._l_trans_prev.append(l_trans)
if (len(self._l_trans_prev) > self._avg_window):
self._l_trans_prev.pop(0)
self._r_trans_prev.append(r_trans)
if (len(self._r_trans_prev) > self._avg_window):
self._r_trans_prev.pop(0)
except:
self._out_of_range = True
rate.sleep()
continue
rate.sleep()
def _reset(self):
if self._mimic_timer:
self._mimic_timer.shutdown()
self._left_arm.move_to_neutral()
self._left_arm_neutral = self._left_arm.joint_angles()
self._right_arm.move_to_neutral()
#.........这里部分代码省略.........
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 move_to_neutral [as 别名]
class IK(object):
def __init__(self):
self._left_arm = Limb('left')
self._left_arm.set_joint_position_speed(0.6)
self._right_arm = Limb('right')
self._right_arm.set_joint_position_speed(0.6)
def neutral(self):
self._left_arm.move_to_neutral()
self._right_arm.move_to_neutral()
def ik_calculate(self,limb,pos,rot):
ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService"
iksvc = rospy.ServiceProxy(ns, SolvePositionIK)
ikreq = SolvePositionIKRequest()
hdr = Header(stamp=rospy.Time.now(), frame_id='base')
#rotation -0.5 is perp and -1.0 is parallel for rot[2]
quat = transformations.quaternion_from_euler(rot[0], rot[1], rot[2])
pose = PoseStamped(
header=hdr,
pose=Pose(
position=Point(
x=pos[0], #depth
y=pos[1], #lateral
z=pos[2], #height
),
orientation=Quaternion(
quat[0],
quat[1],
quat[2],
quat[3],
),
),
)
ikreq.pose_stamp.append(pose)
try:
rospy.wait_for_service(ns, 5.0)
resp = iksvc(ikreq)
except (rospy.ServiceException, rospy.ROSException), e:
rospy.logerr("Service call failed: %s" % (e,))
return 1
# Check if result valid, and type of seed ultimately used to get solution
# convert rospy's string representation of uint8[]'s to int's
resp_seeds = struct.unpack('<%dB' % len(resp.result_type),
resp.result_type)
if (resp_seeds[0] != resp.RESULT_INVALID):
seed_str = {
ikreq.SEED_USER: 'User Provided Seed',
ikreq.SEED_CURRENT: 'Current Joint Angles',
ikreq.SEED_NS_MAP: 'Nullspace Setpoints',
}.get(resp_seeds[0], 'None')
#print("SUCCESS - Valid Joint Solution Found from Seed Type: %s" %
# (seed_str,))
# Format solution into Limb API-compatible dictionary
limb_joints = dict(zip(resp.joints[0].name, resp.joints[0].position))
return limb_joints
else:
pass
#print pose
#print("INVALID POSE - No Valid Joint Solution Found.")
return 0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 move_to_neutral [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.........