def pose(self): """ @rtype: geometry_msgs.Pose """ return conversions.list_to_pose_stamped( self._robot._r.get_link_pose(self._name), self._robot.get_planning_frame())
def get_random_pose(self, end_effector_link=""): if len(end_effector_link) > 0 or self.has_end_effector_link(): return conversions.list_to_pose_stamped( self._g.get_random_pose(end_effector_link), self.get_planning_frame()) else: raise MoveItCommanderException( "There is no end effector to get the pose of")
def get_current_pose(self, end_effector_link=""): """ Get the current pose of the end-effector of the group. Throws an exception if there is not end-effector. """ if len(end_effector_link) > 0 or self.has_end_effector_link(): return conversions.list_to_pose_stamped( self._g.get_current_pose(end_effector_link), self.get_planning_frame()) else: raise MoveItCommanderException( "There is no end effector to get the pose of")
def baxter_ik_move(self, limb, rpy_pose): quaternion_pose = conversions.list_to_pose_stamped(rpy_pose, "base") node = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService" ik_service = rospy.ServiceProxy(node, SolvePositionIK) ik_request = SolvePositionIKRequest() hdr = Header(stamp=rospy.Time.now(), frame_id="base") ik_request.pose_stamp.append(quaternion_pose) try: rospy.wait_for_service(node, 5.0) ik_response = ik_service(ik_request) except (rospy.ServiceException, rospy.ROSException), error_message: rospy.logerr("Service request failed: %r" % (error_message, )) sys.exit("ERROR - baxter_ik_move - Failed to append pose")
def pose(self): return conversions.list_to_pose_stamped(self._robot._r.get_link_pose(self._name), self._robot.get_planning_frame())
def get_random_pose(self, end_effector_link = ""): if len(end_effector_link) > 0 or self.has_end_effector_link(): return conversions.list_to_pose_stamped(self._g.get_random_pose(end_effector_link), self.get_planning_frame()) else: raise MoveItCommanderException("There is no end effector to get the pose of")
def get_current_pose(self, end_effector_link = ""): """ Get the current pose of the end-effector of the group. Throws an exception if there is not end-effector. """ if len(end_effector_link) > 0 or self.has_end_effector_link(): return conversions.list_to_pose_stamped(self._g.get_current_pose(end_effector_link), self.get_planning_frame()) else: raise MoveItCommanderException("There is no end effector to get the pose of")
def pose(self): return conversions.list_to_pose_stamped( self._robot._r.get_link_pose(self._name), self._robot.get_planning_frame())
def get_link_pose(self, name): return conversions.list_to_pose_stamped(self._r.get_link_pose(name), self.get_planning_frame())