def main():
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
required = parser.add_argument_group('required arguments')
required.add_argument('-p',
'--position',
dest='position',
nargs=3,
type=float,
required=True,
help='the x, y, z position of the end-effector')
parser.add_argument(
'-o',
'--orientation',
dest='orientation',
nargs=4,
type=float,
required=True,
help='the x, y, z, w quaternion orientation of the end-effector')
args = parser.parse_args(rospy.myargv()[1:])
print(args.position)
""" Create the moveit_interface """
moveit_interface = SawyerMoveitInterface()
moveit_interface.set_velocity_scaling(.55)
moveit_interface.set_acceleration_scaling(.55)
pose = convert_data_to_pose(position=args.position,
orientation=args.orientation)
moveit_interface.set_pose_target(pose)
moveit_interface.execute(moveit_interface.plan())
def _move_to_start_configuration(self):
""" Create the moveit_interface """
if self.start_configuration is not None:
moveit_interface = SawyerMoveitInterface()
moveit_interface.set_velocity_scaling(.35)
moveit_interface.set_acceleration_scaling(.25)
moveit_interface.set_joint_target(self.start_configuration)
moveit_interface.execute(moveit_interface.plan())
else:
rospy.logwarn("No start configuration provided in your config.json file.")
self._clear_command()