def grasp_object(self, label):
offset = RobotInterface.define_pose(-0.02, 0.06, -0.12,
# offset = RobotInterface.define_pose(1, 0.06, 1.12,
0, 0, 0.0, 0.0)
self.add_object_link('pr2::r_gripper_r_finger_tip_link', label, offset)
self.enforce_object_links(link_update_frequency=0.0)
self.grasp()
self.enforce_object_links(link_update_frequency=0.0)
def grasp_object(self, label):
self.open_gripper()
x = 0.06
y = -0.001
z = -0.1
w = 1
offset = RobotInterface.define_pose(x, y, z, 0, 0, 0.0, w)
self.lower_arms()
self.get_on_ground()
rospy.sleep(4)
self.add_object_link('darwin::MP_ARM_GRIPPER_FIX_R', label, offset)
self.enforce_object_links(link_update_frequency=0.0)
self.grasp()
self.enforce_object_links(link_update_frequency=0.0)
self.stand_up()
rospy.sleep(5)
