libhsrpub

Library for ROS Publish of HSR.

class libhsrpub.LibHSRPub

Bases: object

HSR Publish library for WRS simlator.

delete()
omni_base_vel(x, y, yaw)

Move an omni_base at a specified speed.

Parameters

  • x (float) – Speed of x direction.

  • y (float) – Speed of y direction.

  • yaw (float) – Speed of yaw angle.

whole_body_move_to_arm_positions(joints, time=1.0)

Transition a robot arm by specified values.

Parameters

  • joints (dict[str, float]) – Target value each arm joint. Note that joints that are not specified do not transition.

  • time (float, optional) – Time to transition completion. If the robot cannot reach the target in the specified time, it drives as fast as possible. Defaults to 1.0[sec].

whole_body_move_to_go(time=1.0)

Transition the whole body to go posture.

Parameters

time (float, optional) – Time to transition completion. If the robot cannot reach the target in the specified time, it drives as fast as possible. Defaults to 1.0[sec].

whole_body_move_to_head_positions(joints, time=1.0)

Transition a robot head by specified values.

Parameters

  • joints (dict[str, float]) – Target value each arm joint. Note that joints that are not specified do not transition.

  • time (float, optional) – Time to transition completion. If the robot cannot reach the target in the specified time, it drives as fast as possible. Defaults to 1.0[sec].