def __init__(self):
RLLDefaultMoveClient.__init__(self)
self.is_input_loop_running = True
self.mode = self.MODE_CMD
self.motion_mode = self.MOVE_PTP
self.move_increment = .05
self.rot_increment = pi / 20
self.commands = {
"w": lambda: self.relative_motion(x=self.move_increment),
"s": lambda: self.relative_motion(x=-self.move_increment),
"a": lambda: self.relative_motion(y=self.move_increment),
"d": lambda: self.relative_motion(y=-self.move_increment),
"q": lambda: self.relative_motion(z=-self.move_increment),
"e": lambda: self.relative_motion(z=self.move_increment),
"c": lambda: self.get_current_cached_pose(via_cmd=True),
"i": lambda: self.relative_motion(ro=self.rot_increment),
"k": lambda: self.relative_motion(ro=-self.rot_increment),
"j": lambda: self.relative_motion(pi=self.rot_increment),
"l": lambda: self.relative_motion(pi=-self.rot_increment),
"u": lambda: self.relative_motion(yw=self.rot_increment),
"o": lambda: self.relative_motion(yw=-self.rot_increment),
"h": self.home,
"1": lambda: self.do_pick_place(gripper_open=True),
"2": lambda: self.do_pick_place(gripper_open=False),
"+": lambda: self.change_increment(.01),
"-": lambda: self.change_increment(-.01),
"m": self.toggle_relative_mode,
"x": self.quit
}
self._current_pose = None
def main():
from rll_tools.run import run_project_in_background
rospy.init_node("pick_place_demo")
client = RLLDefaultMoveClient()
run_project_in_background(1)
client.spin(oneshot=True)
def main():
tests = [
TestData('move_basic', TestBasicMovements),
TestData('move_repetition', TestRepeatedMovements),
TestData('move_invalid', TestInvalidMovements)
]
tests_before = TestData('move_before', TestBeforeProjectRun)
execute_before = generate_test_callback("rll_move_before",
tests_before,
shutdown_func=None)
execute = generate_test_callback("rll_move", tests, shutdown_func=shutdown)
# wait for the move_iface to start and previous clients to exit
time.sleep(8)
# setup a regular move client and run the tests in the execute callback
rospy.init_node("test_move_iface_client")
client = RLLDefaultMoveClient(execute)
execute_before(client)
run_project_in_background(2)
client.spin()
def main():
rospy.init_node('move_client_example')
move_client = RLLDefaultMoveClient(execute)
move_client.spin(oneshot=True)
def main():
rospy.init_node('hello_world')
client = RLLDefaultMoveClient(hello_world)
client.spin()