def __init__ (self, init_pos=None, rave_items=False):
PR2.__init__(self)
self.rarm = PlannerArm(self,'r')
self.larm = PlannerArm(self,'l')
if init_pos is not None:
try:
self.gotoArmPosture(init_pos)
except:
rospy.logwarn ("Cannot go to pose " + str(init_pos))
if rave_items:
self.initRave()
def __init__ (self,initPos=None):
PR2.__init__(self)
self.rarm = PlannerArm(self,'r')
self.larm = PlannerArm(self,'l')
# In case needle is not added
self.sneedle = None
self.sneedle_radius = 0.112
self.sneedle_pose = 0
self.grabbingArm = None
# In case sponge is not added (supporting sponge)
self.sponge = None
self.sponge_enabled = False
if initPos is not None:
try:
self.gotoArmPosture(initPos)
except:
rospy.logwarn ("Cannot go to pose " + str(initPos))
self.addTableToRave()
self.addSpongeToRave()
self.addNeedleToRave()
