本文整理汇总了Python中pr2_simple_arm_motions.GripUtils.go_to_pts方法的典型用法代码示例。如果您正苦于以下问题：Python GripUtils.go_to_pts方法的具体用法？Python GripUtils.go_to_pts怎么用？Python GripUtils.go_to_pts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pr2_simple_arm_motions.GripUtils的用法示例。
在下文中一共展示了GripUtils.go_to_pts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: execute
# 需要导入模块: from pr2_simple_arm_motions import GripUtils [as 别名]
# 或者: from pr2_simple_arm_motions.GripUtils import go_to_pts [as 别名]
def execute(self, userdata):
initial_separation = 0.11
print 'Smooth distance: %d' % self.distance
if self.arm=="b":
rospy.loginfo('Self.arm is b')
outcome = SUCCESS
#Put arms together, with a gap of initial_separation between grippers
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=0.05
,link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=0.05
,link_frame_r="r_wrist_back_frame",dur=4.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 1: Success is %s', outcome==SUCCESS)
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=0.00,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=0.00,
link_frame_r="r_wrist_back_frame",dur=2.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 2: Success is %s', outcome==SUCCESS)
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,
y_offset_l=(self.distance+initial_separation)/2.0, z_offset_l=0.00,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,
y_offset_r=-1*(self.distance+initial_separation)/2.0, z_offset_r=0.00,
link_frame_r="r_wrist_back_frame",dur=2.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 3: Success is %s', outcome==SUCCESS)
GripUtils.recall_arm("b")
return outcome
else:
#Right is negative in the y axis
if self.arm=="r":
y_multiplier = -1
else:
y_multiplier = 1
rospy.loginfo('arm is %s, y multiplier is %s' % (self.arm, y_multiplier))
print 'Location: %s' % str(self.location)
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=0.05,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=4.0, verbose=True):
return FAILURE
rospy.loginfo('Step 2')
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=-0.01,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=2.0, verbose=True):
#return FAILURE
pass
rospy.loginfo('Step 3')
print 'Offset: %f' % (y_multiplier*self.distance)
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
y_offset=y_multiplier*self.distance,z_offset=-0.01,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=2.0, verbose=True):
return FAILURE
rospy.loginfo('Step 4. Done!')
return SUCCESS 示例2: smooth
# 需要导入模块: from pr2_simple_arm_motions import GripUtils [as 别名]
# 或者: from pr2_simple_arm_motions.GripUtils import go_to_pts [as 别名]
def smooth(arm='b'):
location = PointStamped()
location.point.x = 0.5
location.header.frame_id = "table_height"
distance = TABLE_WIDTH/3
initial_separation = 0.11
GripUtils.recall_arm(arm)
if arm == 'b':
#Put arms together, with a gap of initial_separation between grippers
if not GripUtils.go_to_pts(point_l=location,grip_r=True, grip_l=True, point_r=location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=0.05
,link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=0.05
,link_frame_r="r_wrist_back_frame",dur=4.0):
success = False
if not GripUtils.go_to_pts(point_l=location,grip_r=True, grip_l=True, point_r=location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",dur=2.0):
success = False
if not GripUtils.go_to_pts(point_l=location,grip_r=True, grip_l=True, point_r=location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,
y_offset_l=(distance+initial_separation)/2.0, z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,
y_offset_r=-1*(distance+initial_separation)/2.0, z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",dur=2.0):
success = False
else:
#Right is negative in the y axis
if arm=="r":
y_multiplier = -1
else:
y_multiplier = 1
location.point.y -= y_multiplier*distance/2
if not GripUtils.go_to_pt(point=location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=0.05,arm=arm,
link_frame="%s_wrist_back_frame"%arm,dur=4.0):
success = False
if not GripUtils.go_to_pt(point=location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=-0.01,arm=arm,
link_frame="%s_wrist_back_frame"%arm,dur=2.0):
success = False
if not GripUtils.go_to_pt(point=location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
y_offset=y_multiplier*distance,z_offset=-0.01,arm=arm,
link_frame="%s_wrist_back_frame"%arm,dur=2.0):
success = False
GripUtils.recall_arm(arm)
return True示例3: execute
# 需要导入模块: from pr2_simple_arm_motions import GripUtils [as 别名]
# 或者: from pr2_simple_arm_motions.GripUtils import go_to_pts [as 别名]
def execute(self,userdata):
bl = userdata.bl
br = userdata.br
tl = userdata.tl
tr = userdata.tr
midleft = bl
midleft.point.x = (bl.point.x + tl.point.x)/2
midleft.point.y = (bl.point.y + tl.point.y)/2
midleft.point.z = (bl.point.z + tl.point.z)/2
midright = br
midright.point.x = (br.point.x + tr.point.x)/2
midright.point.y = (br.point.y + tr.point.y)/2
midright.point.z = (br.point.z + tr.point.z)/2
if not GripUtils.grab_point(midleft,roll=pi/2,yaw=-pi/2,pitch=pi/4,arm="l",x_offset=-0.01,z_offset=0.01,INIT_SCOOT_AMT = 0.01):
return FAILURE
if not GripUtils.grab_point(midright,roll=-pi/2,yaw=pi/2,pitch=pi/4,arm="r",x_offset=-0.01,z_offset=0.01,INIT_SCOOT_AMT = 0.01):
return FAILURE
if not GripUtils.go_to_pts(point_l=midleft,roll_l=pi/2,yaw_l=-pi/2,pitch_l=pi/4,grip_l=True,point_r=midright,roll_r=-pi/2,yaw_r=pi/2,pitch_r=pi/4,grip_r=True,z_offset_l=0.4,z_offset_r=0.4):
return FAILURE
return SUCCESS