src/conntact/assembly_tools.py
def select_tool(self, tool_name):
        """Sets activeTCP frame according to title of desired peg frame (tip, middle, etc.). This frame must be included in the YAML.
        :param tool_name: (string) Key in tool_data dictionary for desired frame.
        """
        # TODO: Make this a loop-run state to slowly slerp from one TCP to another using https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Slerp.html
        if(tool_name in list(self.tool_data)):
            self.activeTCP = tool_name
            self.reference_frames['tcp'] = self.tool_data[self.activeTCP]['transform']
            self.send_reference_TFs()
        else:
            rospy.logerr_throttle(2, "Tool selection key error! No key '" + tool_name + "' in tool dictionary.")
Sets activeTCP frame according to title of desired peg frame (tip, middle, etc.). This frame must be included in the YAML.
        :param tool_name: (string) Key in tool_data dictionary for desired frame.
        
Sets activeTCP frame according to title of desired peg frame (tip, middle, etc.). This frame must be included in the YAML.
Sets activeTCP frame according to title of desired peg frame ( tip middle etc . ) . This frame must be included in the YAML .
def select_tool(self, tool_name):
        if(tool_name in list(self.tool_data)):
            self.activeTCP = tool_name
            self.reference_frames['tcp'] = self.tool_data[self.activeTCP]['transform']
            self.send_reference_TFs()
        else:
            rospy.logerr_throttle(2, "Tool selection key error! No key '" + tool_name + "' in tool dictionary.")
def select_tool ( self , tool_name ) : if ( tool_name in list ( self . tool_data ) ) : self . activeTCP = tool_name self . reference_frames [ 'tcp' ] = self . tool_data [ self . activeTCP ] [ 'transform' ] self . send_reference_TFs ( ) else : rospy . logerr_throttle ( 2 , "Tool selection key error! No key '" + tool_name + "' in tool dictionary." )
Sets activeTCP frame according to title of desired peg frame (tip, middle, etc.).
Sets activeTCP frame according to title of desired peg frame ( tip middle etc . ) .
"""Sets activeTCP frame according to title of desired peg frame (tip, middle, etc.). This frame must be included in the YAML.
        :param tool_name: (string) Key in tool_data dictionary for desired frame.
        """ # TODO: Make this a loop-run state to slowly slerp from one TCP to another using https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Slerp.html
self
tool_name
(string) Key in tool_data dictionary for desired frame.
( string ) Key in tool_data dictionary for desired frame .