pick_and_place.py 文件源码

def _add_grasp_block_(self, name):
        p = PoseStamped()
        p.header.frame_id = self._robot.get_planning_frame()
        p.header.stamp = rospy.Time.now()

        p.pose.position.x = 0.25
        p.pose.position.y = 0.05
        p.pose.position.z = 0.32

        q = quaternion_from_euler(0.0, 0.0, 0.0)
        p.pose.orientation = Quaternion(*q)

        # Coke can size from ~/.gazebo/models/coke_can/meshes/coke_can.dae,
        # using the measure tape tool from meshlab.
        # The box is the bounding box of the coke cylinder.
        # The values are taken from the cylinder base diameter and height.
        self._scene.add_box(name, p, (0.03, 0.03, 0.09))

        return p.pose