task2.py 文件源码

def start(self, _=None):
        """ Start the macro """
        joints = deepcopy(LimbTypes.arm_styles['pass_football'])
        joints = LimbTypes.invert_arm_configuration('right', joints)
        log("Setting right hand to pass a football")
        self.fc.zarj.hands.set_arm_configuration('right', joints)

        joints = deepcopy(LimbTypes.arm_styles['tuck'])
        joints = LimbTypes.invert_arm_configuration('left', joints)
        log("Tucking left arm, setting left hand to opposition")
        self.fc.zarj.hands.set_arm_configuration('left', joints)

        joints = deepcopy(LimbTypes.hand_styles['oppose'])
        joints = LimbTypes.invert_hand_configuration('left', joints)
        self.fc.zarj.hands.set_hand_configuration('left', joints)

        log("Looking down")
        self.fc.zarj.neck.neck_control([0.5, 0, 0], True)

        rospy.sleep(0.5)

        self.fc.send_stereo_camera()
        log("Pick the two top corners of the array handle.")
        self.done = True