task3.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['king_tut'])
        joints = LimbTypes.invert_arm_configuration('left', joints)
        log("Extending left arm, setting left hand to grab down")
        self.fc.zarj.hands.set_arm_configuration('left', joints)

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

        rospy.sleep(0.5)

        self.fc.send_stereo_camera()
        log("Pick two points along the _GRIP_, long way (antenna <--> base) of "
            "the detector. Generally just a little in toward the robot from "
            "the center line")