def get_left_gripper_pose(self, frame = "/base_link"): """Returns a PoseStamped with the position/orientation of the left gripper. Parameters: frame: the frame to use for the returned PoseStamped. """ link_name = "l_wrist_roll_link" return utils.convert_to_posestamped(self.tf_listener, (0,0,0), (0,0,0), link_name, frame, )
def get_left_gripper_pose(self, frame="/base_link"): """Returns a PoseStamped with the position/orientation of the left gripper. Parameters: frame: the frame to use for the returned PoseStamped. """ link_name = "l_wrist_roll_link" return utils.convert_to_posestamped( self.tf_listener, (0, 0, 0), (0, 0, 0), link_name, frame, )
def current_pose_stamped(self, frame="/odom_combined"): return utils.convert_to_posestamped(self.listener, (0, 0, 0), (0, 0, 0), "/base_link", frame)
def current_pose_stamped(self, frame="/odom_combined"): return utils.convert_to_posestamped(self.listener, (0,0,0), (0,0,0), "/base_link", frame)