def __init__(self, name, target, seed=None):
transform_listener.get_transform_listener()
self.type = "MoveArmUnplanned"
self.name = name
self.target = target
self.seed = seed
self.joint_goal = None
def __init__(self, name, target, seed=None):
transform_listener.get_transform_listener()
self.type = "MoveArmUnplanned"
self.name = name
self.target = target
self.seed = seed
self.joint_goal = None
def __init__(self, presets = dict(), additional_input=[]): smach.State.__init__(self, outcomes=['grasped','not_grasped','failed'], input_keys=['object']+additional_input, output_keys=['graspdata']) self.tl = transform_listener.get_transform_listener() # create singleton self.default_presets = PRESETS self.default_presets.update(presets)
def __init__(self, arm_name, goal_frame_id=None):
'''
Constructor for CartesianControllerInterface.
**Args**
**arm_name (string):** 'right_arm' or 'left_arm'.
'''
if not arm_name in ['left_arm', 'right_arm']:
raise ValueError('Invalid arm name: %s' % arm_name)
self._arm_name = arm_name
self._goal_link = '%s_wrist_roll_link' % arm_name[0]
self._transform_listener = get_transform_listener()
arm_abbr = arm_name[0]
self._desired_pose_pub = rospy.Publisher('%s_cart/command_pose' % arm_abbr, PoseStamped)
self._hand_description = HandDescription(arm_name)
self.goal_frame_id = goal_frame_id
if self.goal_frame_id is None:
self.br = None
else:
self.br = tf.TransformBroadcaster()
self._state_lock = threading.Lock()
self._desired_pose_stamped = None
self._delta_dist = None
self._pose_sending_thread = threading.Thread(target=self._pose_sending_func)
self._pose_sending_thread.daemon = True
self._pose_sending_thread.start()
def __init__(self, arm_name, goal_frame_id=None):
'''
Constructor for CartesianControllerInterface.
**Args**
**arm_name (string):** 'right_arm' or 'left_arm'.
'''
if not arm_name in ['left_arm', 'right_arm']:
raise ValueError('Invalid arm name: %s' % arm_name)
self._arm_name = arm_name
self._goal_link = '%s_wrist_roll_link' % arm_name[0]
self._transform_listener = get_transform_listener()
arm_abbr = arm_name[0]
self._desired_pose_pub = rospy.Publisher(
'%s_cart/command_pose' % arm_abbr, PoseStamped)
self._hand_description = HandDescription(arm_name)
self.goal_frame_id = goal_frame_id
if self.goal_frame_id is None:
self.br = None
else:
self.br = tf.TransformBroadcaster()
self._state_lock = threading.Lock()
self._desired_pose_stamped = None
self._delta_dist = None
self._pose_sending_thread = threading.Thread(
target=self._pose_sending_func)
self._pose_sending_thread.daemon = True
self._pose_sending_thread.start()
def __init__(self, presets=dict(), additional_input=[]):
smach.State.__init__(self,
outcomes=['grasped', 'not_grasped', 'failed'],
input_keys=['object'] + additional_input,
output_keys=['graspdata'])
self.tl = transform_listener.get_transform_listener(
) # create singleton
self.default_presets = PRESETS
self.default_presets.update(presets)
def grasp_plate(self):
if len(self.world.free_arms) == 2:
lr_force = None
else:
lr_force = self.world.free_arms[0]
listener = transform_listener.get_transform_listener()
try:
if self.tracker is None or self.tracker.poll() is not None:
self.tracker = make_tracker()
self.done = False
print 'subscribing'
rospy.Subscriber('/spinning_tabletop/cylinders',TrackedCylinders,self.handle_detection)
sleep_time = 10
print 'waiting for %d seconds' % sleep_time
rospy.sleep(sleep_time)
self.done = True
key = self.cylinders.keys()[0]
cylinder = self.cylinders[key][0]
x = cylinder[0].pose.position.x
y = cylinder[0].pose.position.y
z = cylinder[0].pose.position.z
try:
self.base.move_manipulable_pose(x, y, z,
try_hard = True, group="torso")
except Exception as e:
rospy.logerr("Got an error: %s", e)
return "failure"
return grasp_plate_from_cylinder(cylinder,listener,lr_force=lr_force)
except Exception as e:
rospy.logerr("Got an error: %s", e)
return "failure"
def __init__(self):
smach.State.__init__(
self, outcomes=["grasped", "not_grasped", "failed"], input_keys=["object"], output_keys=["graspdata"]
)
transform_listener.get_transform_listener()
def __init__(self, components = []):
self.components = components
self.state = self.create_state()
self.state.execute = self.execute
transform_listener.get_transform_listener()
def __init__(self, name, target, seed = None): transform_listener.get_transform_listener()
def __init__(self): smach.State.__init__(self, outcomes=['grasped','not_grasped','failed'], input_keys=['object'],output_keys=['graspdata']) self.tl = transform_listener.get_transform_listener()
