def pick(self, x, y):
self.moveTo(x, y, 0.21)
ioOutput0 = SetOutputIO()
ioOutput0.ioNumber = 1
ioOutput0.status = SetOutputIO.IO_HIGH
self.ioPub.publish(ioOutput0)
rospy.sleep(1)
def place(self, x, y):
if self.moveTo(x, y, 0.015) == True:
print "Place Once"
ioOutput = SetOutputIO()
ioOutput.mask = 1
ioOutput.status = SetOutputIO.IO_OFF
self.ioPub.publish(ioOutput)
rospy.sleep(0.15)
else:
print "Can not place"
def place(self, x, y):
if self.moveTo(x, y, 0.10) == True:
print "Place Once"
ioOutput = SetOutputIO()
ioOutput.type = SetOutputIO.TYPE_RELAY
ioOutput.mask = 3
ioOutput.status = 0
self.ioPub.publish(ioOutput)
rospy.sleep(2)
else:
print "Can not place"
def place(self, x, y):
self.ro(1.57, 5)
pose = self.arm.get_current_pose(self.end_effector_link)
print pose
self.moveTo2(x, y, 0.27, pose.pose.orientation.x,
pose.pose.orientation.y, pose.pose.orientation.z,
pose.pose.orientation.w)
ioOutput0 = SetOutputIO()
ioOutput0.ioNumber = 1
ioOutput0.status = SetOutputIO.IO_LOW
self.ioPub.publish(ioOutput0)
rospy.sleep(1)
def place(self, x, y, z):
if self.moveTo(x, y, place_prepare_height) == True:
print "Place Once"
self.moveTo(x, y, z)
ioOutput = SetOutputIO()
ioOutput.type = SetOutputIO.TYPE_RELAY
ioOutput.mask = 3
ioOutput.status = 0
self.ioPub.publish(ioOutput)
rospy.sleep(1)
self.moveTo(x, y, place_prepare_height)
else:
print "Can not place"
def pick(self, x, y):
if self.moveTo(x, y, 0.004) == True:
print "Pick Once"
self.moveSingleJoint(3, 0.0)
ioOutput = SetOutputIO()
ioOutput.mask = 1
ioOutput.status = SetOutputIO.IO_ON
self.ioPub.publish(ioOutput)
rospy.sleep(0.05)
self.moveSingleJoint(3, 0.01)
return True
else:
print "Can not pick"
return False
def pick(self, x, y, z):
if self.moveTo(x, y, pick_prepare_height) == True:
print "Pick Once"
self.moveTo(x, y, z)
ioOutput = SetOutputIO()
ioOutput.type = SetOutputIO.TYPE_RELAY
ioOutput.mask = 3
ioOutput.status = 3
self.ioPub.publish(ioOutput)
rospy.sleep(1)
self.moveTo(x, y, pick_prepare_height)
return True
else:
print "Can not pick"
return False
def pick(self, x, y):
if self.moveTo(x, y, 0.10) == True:
print "Pick Once"
self.moveTo(x, y, 0.05)
ioOutput = SetOutputIO()
ioOutput.type = SetOutputIO.TYPE_RELAY
ioOutput.mask = 3
ioOutput.status = 3
self.ioPub.publish(ioOutput)
rospy.sleep(2)
self.moveTo(x, y, 0.10)
return True
else:
print "Can not pick"
return False
def pick(self, x, y):
self.moveTo(x, y, pickparam['hight'])
ioOutput0 = SetOutputIO()
ioOutput0.ioNumber = 1
ioOutput0.status = SetOutputIO.IO_HIGH
self.ioPub.publish(ioOutput0)
rospy.sleep(1)
ioOutput1 = SetOutputIO()
ioOutput1.ioNumber = 2
ioOutput1.status = SetOutputIO.IO_HIGH
self.ioPub.publish(ioOutput1)
rospy.sleep(1)
def place(self, x, y):
self.moveTo(x, y, placeparam['placehight'])
rospy.sleep(0.3)
ioOutput0 = SetOutputIO()
ioOutput0.ioNumber = 1
ioOutput0.status = SetOutputIO.IO_LOW
self.ioPub.publish(ioOutput0)
rospy.sleep(1)
ioOutput1 = SetOutputIO()
ioOutput1.ioNumber = 2
ioOutput1.status = SetOutputIO.IO_LOW
self.ioPub.publish(ioOutput1)
rospy.sleep(1)