limb.py 文件源码

def move_to_neutral(self, timeout=15.0, speed=0.3):
        """
        Command the Limb joints to a predefined set of "neutral" joint angles.
        From rosparam named_poses/<limb>/poses/neutral.

        @type timeout: float
        @param timeout: seconds to wait for move to finish [15]
        @type speed: float
        @param speed: ratio of maximum joint speed for execution
                      default= 0.3; range= [0.0-1.0]
        """
        try:
            neutral_pose = rospy.get_param("named_poses/{0}/poses/neutral".format(self.name))
        except KeyError:
            rospy.logerr(("Get neutral pose failed, arm: \"{0}\".").format(self.name))
            return
        angles = dict(zip(self.joint_names(), neutral_pose))
        self.set_joint_position_speed(speed)
        return self.move_to_joint_positions(angles, timeout)