def execute(self, userdata):
# grasps first object in list
# THIS SHOULD BE BROUGHT OUT AS A SEPARATE STATE
ah = action_cmdr.pick_up(userdata.object_list[0])
if ah.get_state() == 3:
return 'succeeded'
else:
return 'failed'
def execute(self, userdata):
# grasps first object in list
# THIS SHOULD BE BROUGHT OUT AS A SEPARATE STATE
ah = action_cmdr.pick_up(userdata.object_list[0])
if ah.get_state() == 3:
return 'succeeded'
else:
return 'failed'
rospy.init_node(
'test'
) # needed to add this so I could make trajectory messages, require timestamp
rospy.sleep(2)
action_cmdr.move_base(target="S1", blocking=True)
action_cmdr.prepare_perception()
det_objects = action_cmdr.execute_perception(wait_time=1,
retries=10,
blocking=True)
if len(det_objects) > 0:
print("Got: %s", det_objects)
obj = det_objects[0]
ret = action_cmdr.pick_up(target=obj, blocking=True)
print("Got: %s", ret)
action_cmdr.move_base(target="D1", blocking=True)
action_cmdr.move_gripper(target="open", blocking=True)
else:
print("didn't find anything!")
#action_cmdr.test("foo")
#action_cmdr.move_gripper(target="cylopen", blocking=True)
#action_cmdr.move_torso(target="front", blocking=True)
#action_cmdr.move_tray(target="down", blocking=True)
#action_cmdr.move_head(target="front", blocking=True)
action_cmdr.load(["generic_actions","youbot_actions"])
from geometry_msgs.msg import PoseStamped
if __name__ == "__main__":
rospy.init_node('test') # needed to add this so I could make trajectory messages, require timestamp
rospy.sleep(2)
action_cmdr.move_base(target="S1",blocking=True)
action_cmdr.prepare_perception()
det_objects = action_cmdr.execute_perception(wait_time=1,retries=10,blocking=True)
if len(det_objects) > 0:
print("Got: %s",det_objects);
obj = det_objects[0]
ret = action_cmdr.pick_up(target=obj,blocking=True)
print("Got: %s",ret);
action_cmdr.move_base(target="D1",blocking=True)
action_cmdr.move_gripper(target="open",blocking=True)
else:
print("didn't find anything!")
#action_cmdr.test("foo")
#action_cmdr.move_gripper(target="cylopen", blocking=True)
#action_cmdr.move_torso(target="front", blocking=True)
#action_cmdr.move_tray(target="down", blocking=True)
