BaxterArmClient.py 文件源码

python
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项目:qlearn_baxter 作者: mkrizmancic 项目源码 文件源码
def test_absolute(self):
        """Test robot's ability to position its gripper in absolute coordinates (base frame)."""
        goal = Pose()
        roll = -math.pi / 2
        pitch = 0
        yaw = -math.pi / 2
        quaternion = tf.transformations.quaternion_from_euler(roll, pitch, yaw)
        goal.orientation.x = quaternion[0]
        goal.orientation.y = quaternion[1]
        goal.orientation.z = quaternion[2]
        goal.orientation.w = quaternion[3]
        while True:
            end = user_input("Zelite li nastaviti? d/n")
            if end != 'd':
                break
            goal.position.x = float(user_input("X?"))
            goal.position.y = float(user_input("Y?"))
            goal.position.z = float(user_input("Z?"))
            goal_final = baxterGoal(id=1, pose=goal)
            self.left_client.send_goal_and_wait(goal_final)
            result = self.left_client.get_result()
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