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.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 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 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(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 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
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
