task_stacking_blocks.py 文件源码

def cmmnd_CartesianPosition(self, pose_value, relative):
        pose_action_client.getcurrentCartesianCommand('j2n6a300_')
        pose_mq, pose_mdeg, pose_mrad = pose_action_client.unitParser('mq', pose_value, relative)
        poses = [float(n) for n in pose_mq]
        orientation_XYZ = pose_action_client.Quaternion2EulerXYZ(poses[3:])

        try:
            poses = [float(n) for n in pose_mq]
            result = pose_action_client.cartesian_pose_client(poses[:3], poses[3:])
        except rospy.ROSInterruptException:
            print ("program interrupted before completion")