task2.py 文件源码

def start(self, _=None):
        """ Start the macro """
        anchor = self.fc.assure_anchor("plugin_start")
        if anchor is None:
            raise ZarjConfused("Cannot find the plug")

        x = anchor.adjusted[0]
        y = anchor.adjusted[1] + 0.05
        z = anchor.adjusted[2]

        log("Commanding hand above and left of plug; x {}, y {}, z {}".format(x, y, z))
        msg = ZarjMovePalmCommand('right', False, x, y, z, 0, 0, 45, True)
        self.fc.process_palm_msg(msg)
        self.done = True

        log("Giving the hand a long time to settle down.")
        rospy.sleep(3.0)