Ejemplos de ChainState en Python

Ejemplo n.º 1

Archivo: chain_viz2.py Proyecto: RoboHow/pr2_sot_integration

def callback_chi(msg):
  state = ChainState()
  state.chi = msg.data
  state.chi_desired = msg.data
  state.poses = fk(msg.data)
  drawer.set_state(state)
  redraw()

Ejemplo n.º 2

Archivo: chain_viz.py Proyecto: RoboHow/pr2_sot_integration

# main #

rospy.init_node('chain_viz')

global redraw_flag
redraw_flag = True

drawer = ChainDrawer()
drawer.set_info(info)


state = ChainState()
state.chi = [0.0]*6
state.chi_desired = [0.0]*6
state.weights = [1.0]*6
state.poses = [kdl.Frame()]
drawer.set_state(state)

def callback_pose(msg):
  drawer.set_pose(msg)
  redraw()

def callback_end_pose(msg):
  global state
  state.poses = [pm.fromMsg(msg.pose)]
  drawer.set_state(state)