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Vec stamped #15

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Vec stamped #15

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8178a7a
Use stamped vector
mamueluth Jun 18, 2024
c0dc8c8
Adjust to new vector translation name
mamueluth Jun 24, 2024
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32 changes: 20 additions & 12 deletions sr_moveit2_utils/sr_moveit2_utils/robot_client_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -361,11 +361,17 @@ def compute_manip_pose(
) -> Pose:
pose_source_frame = deepcopy(source_pose)
if use_offset:
offset_transformed = self.tcp_transforms.to_from_tcp_vec3_conversion(
offset_dir, offset_dir.header.frame_id, pose_source_frame.header.frame_id
offset_transformed = self.tcp_transforms.transform_vector3stamped_to_target_frame(
offset_dir, pose_source_frame.header.frame_id
)
# add offset
dir = np.array([offset_transformed.x, offset_transformed.y, offset_transformed.z])
dir = np.array(
[
offset_transformed.vector.x,
offset_transformed.vector.y,
offset_transformed.vector.z,
]
)
offset = dir * offset_distance
pose_source_frame.pose.position.x += offset[0]
pose_source_frame.pose.position.y += offset[1]
Expand Down Expand Up @@ -457,17 +463,19 @@ def manip_execute_cb(self, goal_handle: ServerGoalHandle):
ret = self.move_client.send_move_request(
reach_pose_robot_base_frame,
cartesian_trajectory=False,
planner_profile=request.planner_profile
if request.planner_profile
else "ompl",
planner_profile=(
request.planner_profile if request.planner_profile else "ompl"
),
)
if manip == ManipType.MANIP_REACH_PREPLACE:
ret = self.move_client.send_move_request(
reach_pose_robot_base_frame,
cartesian_trajectory=False,
planner_profile=request.planner_profile
if request.planner_profile
else "ompl_with_constraints",
planner_profile=(
request.planner_profile
if request.planner_profile
else "ompl_with_constraints"
),
)

if not self.did_manip_plan_succeed(ret, "Reach", goal_handle):
Expand Down Expand Up @@ -585,9 +593,9 @@ def manip_execute_cb(self, goal_handle: ServerGoalHandle):
move_pose_robot_base_frame,
cartesian_trajectory=True,
velocity_scaling_factor=0.1,
planner_profile=request.planner_profile
if request.planner_profile
else "pilz_lin",
planner_profile=(
request.planner_profile if request.planner_profile else "pilz_lin"
),
)

if not self.did_manip_plan_succeed(ret, "Move", goal_handle):
Expand Down