def __init__ (self, init_pos=None, rave_items=False): PR2.__init__(self) self.rarm = PlannerArm(self,'r') self.larm = PlannerArm(self,'l') if init_pos is not None: try: self.gotoArmPosture(init_pos) except: rospy.logwarn ("Cannot go to pose " + str(init_pos)) if rave_items: self.initRave()
def __init__ (self,initPos=None): PR2.__init__(self) self.rarm = PlannerArm(self,'r') self.larm = PlannerArm(self,'l') # In case needle is not added self.sneedle = None self.sneedle_radius = 0.112 self.sneedle_pose = 0 self.grabbingArm = None # In case sponge is not added (supporting sponge) self.sponge = None self.sponge_enabled = False if initPos is not None: try: self.gotoArmPosture(initPos) except: rospy.logwarn ("Cannot go to pose " + str(initPos)) self.addTableToRave() self.addSpongeToRave() self.addNeedleToRave()