src/conntact/assembly_tools.py
def linear_search_position(self, direction_vector = [0,0,0], desired_orientation = [0, 1, 0, 0]):
        """Generates a command pose vector which causes the robot to hold a certain orientation
         and comply in z while maintaining the approach vector along x_ and y_pos_offset.
        :param direction_vector: (list of floats) vector directional offset from normal position. Causes constant motion in z.
        :param desired_orientation: (list of floats) quaternion parameters for orientation. 
        """
        pose_position = self.current_pose.transform.translation
        pose_position.x = self.x_pos_offset + direction_vector[0]
        pose_position.y = self.y_pos_offset + direction_vector[1]
        pose_position.z = pose_position.z + direction_vector[2]
        pose_orientation = desired_orientation
        return [[pose_position.x, pose_position.y, pose_position.z], pose_orientation]
Generates a command pose vector which causes the robot to hold a certain orientation
         and comply in z while maintaining the approach vector along x_ and y_pos_offset.
        :param direction_vector: (list of floats) vector directional offset from normal position. Causes constant motion in z.
        :param desired_orientation: (list of floats) quaternion parameters for orientation. 
        
Generates a command pose vector which causes the robot to hold a certain orientation
and comply in z while maintaining the approach vector along x_ and y_pos_offset.
Generates a command pose vector which causes the robot to hold a certain orientation and comply in z while maintaining the approach vector along x_ and y_pos_offset .
def linear_search_position(self, direction_vector = [0,0,0], desired_orientation = [0, 1, 0, 0]):
        pose_position = self.current_pose.transform.translation
        pose_position.x = self.x_pos_offset + direction_vector[0]
        pose_position.y = self.y_pos_offset + direction_vector[1]
        pose_position.z = pose_position.z + direction_vector[2]
        pose_orientation = desired_orientation
        return [[pose_position.x, pose_position.y, pose_position.z], pose_orientation]
def linear_search_position ( self , direction_vector = [ 0 , 0 , 0 ] , desired_orientation = [ 0 , 1 , 0 , 0 ] ) : pose_position = self . current_pose . transform . translation pose_position . x = self . x_pos_offset + direction_vector [ 0 ] pose_position . y = self . y_pos_offset + direction_vector [ 1 ] pose_position . z = pose_position . z + direction_vector [ 2 ] pose_orientation = desired_orientation return [ [ pose_position . x , pose_position . y , pose_position . z ] , pose_orientation ]
Generates a command pose vector which causes the robot to hold a certain orientation
and comply in z while maintaining the approach vector along x_ and y_pos_offset.
Generates a command pose vector which causes the robot to hold a certain orientation and comply in z while maintaining the approach vector along x_ and y_pos_offset .
"""Generates a command pose vector which causes the robot to hold a certain orientation
         and comply in z while maintaining the approach vector along x_ and y_pos_offset.
        :param direction_vector: (list of floats) vector directional offset from normal position. Causes constant motion in z.
        :param desired_orientation: (list of floats) quaternion parameters for orientation. 
        """
self
direction_vector
(list of floats) vector directional offset from normal position. Causes constant motion in z.
( list of floats ) vector directional offset from normal position . Causes constant motion in z .
desired_orientation
(list of floats) quaternion parameters for orientation.
( list of floats ) quaternion parameters for orientation .