def make_gripper_translation(self, min_dist, desired, axis=1.0): g = GripperTranslation() g.direction.vector.x = axis g.direction.header.frame_id = GRIPPER_FRAME g.min_distance = min_dist g.desired_distance = desired return g
def make_gripper_translation(self, min_dist, desired, axis=-1.0): g = GripperTranslation() g.direction.vector.z = axis g.direction.header.frame_id = 'right_l6' g.min_distance = min_dist g.desired_distance = desired return g
def make_gripper_translation(self, min_dist, desired, vector): g = GripperTranslation() g.direction.vector.x = vector[0] g.direction.vector.y = vector[1] g.direction.vector.z = vector[2] g.direction.header.frame_id = "panda_link0" g.min_distance = min_dist g.desired_distance = desired return g
def create_gripper_translation(direction_vector, desired_distance=0.15, min_distance=0.01): g_trans = GripperTranslation() g_trans.direction.header.frame_id = REFERENCE_LINK g_trans.direction.header.stamp = rospy.Time.now() g_trans.direction.vector.x = direction_vector.x g_trans.direction.vector.y = direction_vector.y g_trans.direction.vector.z = direction_vector.z g_trans.desired_distance = desired_distance g_trans.min_distance = min_distance return g_trans
def create_gripper_translation(direction_vector, desired_distance=0.10, min_distance=0.05): gt = GripperTranslation() gt.direction.header.frame_id = REFERENCE_FRAME gt.direction.header.stamp = rospy.Time.now() gt.direction.vector.x = direction_vector.x gt.direction.vector.y = direction_vector.y gt.direction.vector.z = direction_vector.z gt.desired_distance = desired_distance gt.min_distance = min_distance return gt
def make_grab_translation(self, min_dist, desired, vector): g = GripperTranslation() g.direction.vector.x = vector[0] g.direction.vector.y = vector[1] g.direction.vector.z = vector[2] g.direction.header.frame_id = 'lh_palm' g.min_distance = min_dist g.desired_distance = desired return g
def createGripperTranslation(direction_vector, desired_distance=0.15, min_distance=0.01): """Returns a GripperTranslation message with the direction_vector and desired_distance and min_distance in it. Intended to be used to fill the pre_grasp_approach and post_grasp_retreat field in the Grasp message.""" g_trans = GripperTranslation() g_trans.direction.header.frame_id = "base_link" g_trans.direction.header.stamp = rospy.Time.now() g_trans.direction.vector.x = direction_vector.x g_trans.direction.vector.y = direction_vector.y g_trans.direction.vector.z = direction_vector.z g_trans.desired_distance = desired_distance g_trans.min_distance = min_distance return g_trans
def create_gripper_translation(self, direction_vector, min_distance, desired_distance, frame_id='base_footprint'): # used to generate pre-grasp approach and post-grasp retreat for grasps g_trans = GripperTranslation() g_trans.direction.header.frame_id = frame_id g_trans.direction.vector = direction_vector g_trans.min_distance = min_distance g_trans.desired_distance = desired_distance return g_trans
def make_gripper_translation(min_dist, desired, vector): #Inicio el objeto grippert translation g = GripperTranslation() # Defino las componentes del vector g.direction.vector.x = vector[0] g.direction.vector.y = vector[1] g.direction.vector.z = vector[2] #EL vector es relativo al gripper_frame g.direction.header.frame_id = GRIPPER_FRAME #Defino la distancia minima y deseada al objetivo g.min_distance = min_dist g.desired_distance = desired return g
def get_gripper_translation(direction,desired_dis, min_dis,reference_frame): """ Return "pre_grasp_approach"/"post_grasp_retreat"/"post_place_retreat" for the moveit_msgs/Grasp input: direction of translation desired_dis: distance should translate in that direction min_dis: minimum distance to consider before changing grasp posture """ translation=GripperTranslation() translation.direction.header.frame_id=reference_frame #directions defined with respect of this reference frame translation.direction.vector.x=direction[0] translation.direction.vector.y=direction[1] translation.direction.vector.z=direction[2] translation.desired_distance=desired_dis translation.min_distance=min_dis return translation
def make_gripper_translation(self, min_dist, desired, vector): # 初始化translation对象 g = GripperTranslation() # 设置方向向量 g.direction.vector.x = vector[0] g.direction.vector.y = vector[1] g.direction.vector.z = vector[2] # 设置参考坐标系 g.direction.header.frame_id = GRIPPER_FRAME # 设置最小和期望的距离 g.min_distance = min_dist g.desired_distance = desired return g
def make_gripper_translation(self, min_dist, desired, vector): # Initialize the gripper translation object g = GripperTranslation() # Set the direction vector components to the input g.direction.vector.x = vector[0] g.direction.vector.y = vector[1] g.direction.vector.z = vector[2] # The vector is relative to the gripper frame g.direction.header.frame_id = GRIPPER_FRAME # Assign the min and desired distances from the input g.min_distance = min_dist g.desired_distance = desired return g