本文整理汇总了Python中executor.Executor.ik_request方法的典型用法代码示例。如果您正苦于以下问题：Python Executor.ik_request方法的具体用法？Python Executor.ik_request怎么用？Python Executor.ik_request使用的例子？那么, 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executor.Executor的用法示例。
在下文中一共展示了Executor.ik_request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: Task
# 需要导入模块: from executor import Executor [as 别名]
# 或者: from executor.Executor import ik_request [as 别名]
class Task(object):
def __init__(self, limb, hover_distance = 0.15, verbose=True):
self._limb_name = limb # string
self._hover_distance = hover_distance # in meters
self._verbose = verbose # bool
self._executor = Executor(limb, verbose)
trajsvc = "baxter_adapt/adaptation_server"
learningsvc = "baxter_adapt/learning_server"
rospy.wait_for_service(trajsvc, 5.0)
rospy.wait_for_service(learningsvc, 5.0)
self._trajsvc = rospy.ServiceProxy(trajsvc, Adaptation)
self._learningsvc = rospy.ServiceProxy(learningsvc, Learning)
def move_to_start(self, start_angles=None):
print self._executor.get_current_joints()
print("Moving the {0} arm to start pose...".format(self._limb_name))
if not start_angles:
start_angles = dict(zip(self._joint_names, [0]*7))
self._executor.move_to_joint(start_angles)
self._executor.gripper_open()
rospy.sleep(1.0)
def _approach(self, pose):
approach = copy.deepcopy(pose)
# approach with a pose the hover-distance above the requested pose
approach.position.z = approach.position.z + self._hover_distance
self._executor.move_to_pose(approach)
def _retract(self):
# retrieve current pose from endpoint
retract = copy.deepcopy(self._executor.get_current_pose())
retract.position.z = retract.position.z + self._hover_distance
self._executor.move_to_pose(retract)
def transfer(self, start_pose, end_pose, obstacles):
print("Picking up the object")
self.pick(start_pose)
joint_names = self._executor.joint_names()
joints = self._executor.ik_request(start_pose)
start_joints = [joints[i] for i in joint_names]
joints = self._executor.ik_request(end_pose)
end_joints = [joints[i] for i in joint_names]
print start_joints
print end_joints
print "Adapting Trajectory Learned from Demonstrations"
resp = self._trajsvc(start_joints, end_joints, obstacles, True)
# resp = AdaptationResponse()
# resp.filename = '/home/aecins/ros_ws/src/baxter_adapt/MPC/generated/JointsTrajectory'
# resp.response = True
print resp
if resp.response is True:
while os.path.isfile(resp.filename) is False:
print "Wait for trajectory generation"
rospy.sleep(2.0)
print("Perform trajectory")
traj = open(resp.filename, 'r').readlines()
self._executor.move_as_trajectory(traj)
def transfer_imitation(self, start_pose, end_pose):
print("Picking up the object")
self.pick(start_pose)
print("Computing imitation trajectory")
joint_names = self._executor.joint_names()
joints = self._executor.ik_request(start_pose)
start_joints = [joints[i] for i in joint_names]
joints = self._executor.ik_request(end_pose)
end_joints = [joints[i] for i in joint_names]
print start_joints
print end_joints
obstacles = []
resp = self._trajsvc(start_joints, end_joints, obstacles, False)
print resp
if resp.response is True:
print("Perform trajectory")
traj = open(resp.filename, 'r').readlines()
self._executor.move_as_trajectory(traj)
def get_current_joints(self):
return self._executor.get_current_joints()
def get_current_pose(self):
return self._executor.get_current_pose()
def pick(self, pose):
# open the gripper
self._executor.gripper_open()
# servo above pose
self._approach(pose)
# servo to pose
self._executor.move_to_pose(pose)
#.........这里部分代码省略.........