Variables | |
| string | object_name = 'bowl_1' |
| tuple | psi = get_planning_scene_interface() |
| tuple | putdwon_service = rospy.ServiceProxy('/tidyup/request_putdown_pose', srv.GetPutdownPose) |
| pose.position.x = 15.84 pose.position.y = 18.40 pose.position.z = 0.0510018 pose.orientation.x = 0 pose.orientation.y = 0 pose.orientation.z = 1 pose.orientation.w = 0 #table2_loc4_room2 1348583312 347842222 /map 20.0308 17.9577 0.0500652 0 0 -0.723473 0.690353 pose.position.x = 20.0308 pose.position.y = 17.9577 pose.position.z = 0.0510018 pose.orientation.x = 0 pose.orientation.y = 0 pose.orientation.z = -0.707 pose.orientation.w = 0.707 robot_state = psi.get_robot_state() robot_state.multi_dof_joint_state.poses[0] = pose converted = list(robot_state.joint_state.position) converted[0] = pose.position.x converted[1] = pose.position.y; converted[2] = pose.position.z; converted[3] = pose.orientation.x; converted[4] = pose.orientation.y; converted[5] = pose.orientation.z; converted[6] = pose.orientation.w; robot_state.joint_state.position = converted rospy.loginfo('setting robot state...') #psi.set_robot_state(robot_state) rospy.loginfo(psi.get_robot_state()) | |
| tuple | request = srv.GetPutdownPoseRequest() |
| tuple | response = putdwon_service.call(request) |
| string test_putdown_module::object_name = 'bowl_1' |
Definition at line 18 of file test_putdown_module.py.
| tuple test_putdown_module::psi = get_planning_scene_interface() |
Definition at line 15 of file test_putdown_module.py.
| tuple test_putdown_module::putdwon_service = rospy.ServiceProxy('/tidyup/request_putdown_pose', srv.GetPutdownPose) |
pose.position.x = 15.84 pose.position.y = 18.40 pose.position.z = 0.0510018 pose.orientation.x = 0 pose.orientation.y = 0 pose.orientation.z = 1 pose.orientation.w = 0 #table2_loc4_room2 1348583312 347842222 /map 20.0308 17.9577 0.0500652 0 0 -0.723473 0.690353 pose.position.x = 20.0308 pose.position.y = 17.9577 pose.position.z = 0.0510018 pose.orientation.x = 0 pose.orientation.y = 0 pose.orientation.z = -0.707 pose.orientation.w = 0.707 robot_state = psi.get_robot_state() robot_state.multi_dof_joint_state.poses[0] = pose converted = list(robot_state.joint_state.position) converted[0] = pose.position.x converted[1] = pose.position.y; converted[2] = pose.position.z; converted[3] = pose.orientation.x; converted[4] = pose.orientation.y; converted[5] = pose.orientation.z; converted[6] = pose.orientation.w; robot_state.joint_state.position = converted rospy.loginfo('setting robot state...') #psi.set_robot_state(robot_state) rospy.loginfo(psi.get_robot_state())
Definition at line 68 of file test_putdown_module.py.
Definition at line 71 of file test_putdown_module.py.
Definition at line 75 of file test_putdown_module.py.
