Python gen_pose示例

示例#1

文件： test_move_around_torus.py 项目： patelmayank2092/cob_control

 def move(self, title, pos=[0.0, 0.0, 0.0], rpy=None, hold_duration=None):
     rospy.loginfo(title)
     if rpy is not None:
         self._rpy = rpy
     pose = sci.gen_pose(pos, self._rpy)
     success = sci.move_lin(pose, self._world, self._profile)
     if hold_duration is not None:
         time.sleep(hold_duration)
     return success

示例#2

文件： test_move_circ_interface.py 项目： stefandoerr/cob_control

#! /usr/bin/env python
import math
import rospy

from geometry_msgs.msg import Pose
from cob_cartesian_controller.msg import Profile
import simple_cartesian_interface as sci

if __name__ == '__main__':
    rospy.init_node('test_move_circ_interface')

    pose = sci.gen_pose(pos=[0.0, 0.7, 1.0], rpy=[0.0, 0.0, 0.0])
    start_angle = 0.0 * math.pi / 180.0
    end_angle = 90.0 * math.pi / 180.0
    profile = Profile()
    profile.vel = 0.2
    profile.accl = 0.1
    #profile.profile_type = Profile.SINOID
    profile.profile_type = Profile.RAMP

    success, message = sci.move_circ(pose, "world", start_angle, end_angle,
                                     0.3, profile)
    if success:
        rospy.loginfo(message)
    else:
        rospy.logerr(message)

示例#3

文件： move_lin.py 项目： KING1360/mobman

from geometry_msgs.msg import Pose
from cob_cartesian_controller.msg import Profile
from simple_script_server.simple_script_server import simple_script_server
import simple_cartesian_interface as sci


def init_pos():
    sss = simple_script_server()
    sss.move("arm", [[-0.00032004093963244884, -0.7064191894021441, -1.577532922958369e-06, 1.4183686971944311, 1.2084352562169443e-05, -0.6913530502577565, -0.0002663056533762642]])

if __name__ == '__main__':
    rospy.init_node('test_move_lin_interface')
    init_pos()


    pose = sci.gen_pose(pos=[0.0, 0.0, 0.9], rpy=[0.0, 0.0, 0.0])
    profile = Profile()
    profile.vel = 0.1
    profile.accl = 0.05
    #profile.profile_type = Profile.SINOID
    profile.profile_type = Profile.RAMP

    success, message = sci.move_lin(pose, "world", profile)
    if success:
        rospy.loginfo(message)
    else:
        rospy.logerr(message)

    rospy.sleep(3.0)

示例#4

#! /usr/bin/env python
import math
import rospy

from geometry_msgs.msg import Pose
from cob_cartesian_controller.msg import Profile
import simple_cartesian_interface as sci

if __name__ == '__main__':
    rospy.init_node('test_move_lin_interface')

    pose = sci.gen_pose(pos=[-0.9, 0.0, 0.0], rpy=[0.0, 0.0, 0.0])
    profile = Profile()
    profile.vel = 0.2
    profile.accl = 0.1
    #profile.profile_type = Profile.SINOID
    profile.profile_type = Profile.RAMP

    success, message = sci.move_lin(pose, "world", profile)
    if success:
        rospy.loginfo(message)
    else:
        rospy.logerr(message)

示例#5

文件： test_move_santa.py 项目： nbfigueroa/cob_control

# See the License for the specific language governing permissions and
# limitations under the License.

from math import radians
import rospy

from geometry_msgs.msg import Pose
from cob_cartesian_controller.msg import Profile
import simple_cartesian_interface as sci

if __name__ == '__main__':
    rospy.init_node('test_move_santa')

    # Step 1
    pose = sci.gen_pose(pos=[-1.0, 0.0, 0.0],
                        rpy=[radians(45.0), 0.0,
                             radians(-25.0)])
    profile = Profile()
    profile.vel = 0.1
    profile.accl = 0.2
    profile.profile_type = Profile.SINOID
    success, message = sci.move_lin(pose, "world", profile)

    rospy.sleep(4.0)

    # Step 2
    pose = sci.gen_pose(pos=[-0.5, 0.5, 0.0],
                        rpy=[radians(-45.0), 0.0,
                             radians(-30.0)])
    profile = Profile()
    profile.vel = 0.1

示例#6

def init_pos():
    sss = simple_script_server()
    sss.move("arm", [[
        -0.0002934322105607734, -0.38304632633953606, 6.931483707006691e-07,
        0.8526320037121202, 5.69952198326007e-07, -0.47039657856235184,
        -0.00029228225570943067
    ]])


if __name__ == '__main__':
    rospy.init_node('test_move_circ_interface')
    init_pos()

    pose = sci.gen_pose(pos=[-0.2, 0.0, 0.8], rpy=[0, 0.0, 0.0])
    profile = Profile()
    profile.vel = 0.2
    profile.accl = 0.1
    profile.profile_type = Profile.SINOID
    #profile.profile_type = Profile.RAMP

    success, message = sci.move_lin(pose, "world", profile)
    if success:
        rospy.loginfo(message)
    else:
        rospy.logerr(message)

    pose = sci.gen_pose(pos=[0.0, 0.0, 0.8], rpy=[0.0, 0.0, 0.0])
    start_angle = 180.0 * math.pi / 180.0
    end_angle = 0.0 * math.pi / 180.0

示例#7

文件： test_move_lin_interface.py 项目： hitrobotgroup/release

#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import math
import rospy

from geometry_msgs.msg import Pose
from cob_cartesian_controller.msg import Profile
import simple_cartesian_interface as sci

if __name__ == '__main__':
    rospy.init_node('test_move_lin_interface')

    pose = sci.gen_pose(pos=[-0.9, 0.0, 0.0], rpy=[0.0, 0.0, 0.0])
    profile = Profile()
    profile.vel = 0.2
    profile.accl = 0.1
    #profile.profile_type = Profile.SINOID
    profile.profile_type = Profile.RAMP

    success, message = sci.move_lin(pose, "world", profile)
    if success:
        rospy.loginfo(message)
    else:
        rospy.logerr(message)