def set_open_goal(self,
tip_link,
object_name,
object_link_name,
root_link=None,
goal_joint_state=None,
weight=WEIGHT_ABOVE_CA):
"""
:type tip_link: str
:param tip_link: tip of manipulator (gripper) which is used
:type object_name str
:param object_name
:type object_link_name str
:param object_link_name handle to grasp
:type root_link: str
:param root_link: default is root link of robot
:type goal_joint_state: float
:param goal_joint_state: how far to open
"""
constraint = Constraint()
params = {
u'tip_link': tip_link,
u'object_name': object_name,
u'object_link_name': object_link_name
}
if root_link:
params[u'root_link'] = root_link
if goal_joint_state:
params[u'goal_joint_state'] = goal_joint_state
if weight:
params[u'weight'] = weight
constraint.parameter_value_pair = json.dumps(params)
self.cmd_seq[-1].constraints.append(constraint)
def set_json_goal(self, constraint_type, **kwargs):
constraint = Constraint()
constraint.type = constraint_type
for k, v in kwargs.items():
if isinstance(v, Message):
kwargs[k] = convert_ros_message_to_dictionary(v)
constraint.parameter_value_pair = json.dumps(kwargs)
self.cmd_seq[-1].constraints.append(constraint)
def set_json_goal(self, constraint_type, **kwargs):
"""
Set a goal for any of the goals defined in Constraints.py
:param constraint_type: Name of the Goal
:type constraint_type: str
:param kwargs: maps constraint parameter names to values. Values should be float, str or ros messages.
:type kwargs: dict
"""
constraint = Constraint()
constraint.type = constraint_type
for k, v in kwargs.items():
if isinstance(v, Message):
kwargs[k] = convert_ros_message_to_dictionary(v)
constraint.parameter_value_pair = json.dumps(kwargs)
self.cmd_seq[-1].constraints.append(constraint)
def set_json_goal(self, constraint_type, **kwargs):
constraint = Constraint()
constraint.type = constraint_type
constraint.parameter_value_pair = json.dumps(kwargs)
self.cmd_seq[-1].constraints.append(constraint)