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)