本文整理汇总了Python中pr2_simple_arm_motions.GripUtils.has_object方法的典型用法代码示例。如果您正苦于以下问题：Python GripUtils.has_object方法的具体用法？Python GripUtils.has_object怎么用？Python GripUtils.has_object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.has_object方法的2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 has_object [as 别名]
def execute(self, userdata):
process_mono = rospy.ServiceProxy("clump_center_node_white/process_mono",ProcessMono)
resp = process_mono("wide_stereo/left")
pt = resp.pts3d[0]
z_offset = 0.06
GripUtils.go_to_pt(pt,roll=pi/2,yaw=0,pitch=pi/2,arm="l",z_offset=z_offset,grip=False,dur=5.0)
GripUtils.close_gripper("l")
while not GripUtils.has_object("l") and not rospy.is_shutdown():
z_offset -= 0.02
if(z_offset < 0):
return FAILURE
GripUtils.go_to_pt(pt,roll=pi/2,yaw=0,pitch=pi/2,arm="l",z_offset=z_offset,grip=False,dur=5.0)
GripUtils.close_gripper("l")
return SUCCESS示例2: pickup_sock
# 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 has_object [as 别名]
def pickup_sock(sock):
z_off = 0.0
"""
while not rospy.is_shutdown():
StanceUtils.call_stance("close_right",5.0)
(grip_pt,angle) = get_grip_point(sock)
GripUtils.go_to_pt(grip_pt,roll=pi/2,yaw=pi/2-angle,pitch=pi/2,arm="r",grip=True,z_offset=z_off)
rospy.sleep(5.0)
z_off = float(raw_input("What is the new z_offset?"))
StanceUtils.call_stance("arms_up",5.0)
"""
(grip_pt,angle) = get_grip_point(sock)
if MODE==THICK_SOCK:
OFFSET = 0.02
else:
OFFSET = 0.025
y_offset = OFFSET*cos(angle)
x_offset = OFFSET*sin(angle)
#x_offset += 0.005
z_offset = 0.02
pitch = pi/2
roll = pi/2
yaw = pi/2-angle
GripUtils.go_to_pt(grip_pt,roll=roll,yaw=yaw,pitch=pitch,arm="r",x_offset=x_offset,y_offset=y_offset,z_offset=z_offset,grip=False,dur=5.0)
z_offset = -0.02
z_offset -= 0.001
GripUtils.go_to_pt(grip_pt,roll=roll,yaw=yaw,pitch=pitch,arm="r",x_offset=x_offset,y_offset=y_offset,z_offset=z_offset,grip=False,dur=5.0)
#Drag thin socks
if MODE == THIN_SOCK:
y_offset += 0.02
GripUtils.go_to_pt(grip_pt,roll=roll,yaw=yaw,pitch=pitch,arm="r",x_offset=x_offset,y_offset=y_offset,z_offset=z_offset,grip=False,dur=5.0)
while not GripUtils.has_object("r"):
StanceUtils.call_stance("open_right",2.0)
pitch -= ANGLE_INCREMENT
y_offset -= 0.005*cos(angle)
x_offset -= 0.005*sin(angle)
z_offset += 0.0015
GripUtils.go_to_pt(grip_pt,roll=roll,yaw=yaw,pitch=pitch,arm="r",x_offset=x_offset,y_offset=y_offset,z_offset=z_offset,grip=False,dur=5.0)
GripUtils.close_gripper("r",extra_tight=True)
break
return grip_pt