task3.py 文件源码

def start(self, _=None):
        """ Start the macro """
        anchor = self.fc.assure_anchor("center")
        if anchor is None:
            return False

        x = anchor.adjusted[0]
        y = anchor.adjusted[1]
        z = 0.838 + 0.1

        log("Commanding hand to position just above object")
        msg = ZarjMovePalmCommand('left', False, x, y, z, -1 * anchor.angle, 25, 90, True)
        self.fc.process_palm_msg(msg)

        log("Giving it a while to settle")
        rospy.sleep(3.0)

        log("Commanding hand onto object")
        msg = ZarjMovePalmCommand('left', False, x, y, z - .08, -1 * anchor.angle, 25, 90, True)
        self.fc.process_palm_msg(msg)

        rospy.sleep(0.5)