task2.py 文件源码

def start(self, _=None):
        """ Start the macro """

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

        log("Looking down and left")
        self.fc.zarj.neck.neck_control([0.5, 1.0, 0], True)

        rospy.sleep(0.5)

        self.fc.clear_points()
        if not self.chain_okay:
            self.fc.send_stereo_camera()
            log("Click the button.")

        self.done = True