本文整理汇总了Python中baxter_interface.Limb.joint_velocity方法的典型用法代码示例。如果您正苦于以下问题：Python Limb.joint_velocity方法的具体用法？Python Limb.joint_velocity怎么用？Python Limb.joint_velocity使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类baxter_interface.Limb的用法示例。
在下文中一共展示了Limb.joint_velocity方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: vision_server
# 需要导入模块: from baxter_interface import Limb [as 别名]
# 或者: from baxter_interface.Limb import joint_velocity [as 别名]
class vision_server():
def __init__(self):
rospy.init_node('vision_server_right')
self.pub = rospy.Publisher('/robot/xdisplay', Image, latch=True)
self.busy = False
self.dx = 0
self.dy = 0
self.avg_dx = -1
self.avg_dy = -1
self.H = homography()
self.framenumber = 0
self.history_x = np.arange(0,10)*-1
self.history_y = np.arange(0,10)*-1
self.bowlcamera = None
self.newPosition = True
self.foundBowl = 0
self.centerx = 400
#self.centerx = 250
self.centery = 150
#self.centery = 190
self.coefx = 0.1/(526-369)
self.coefy = 0.1/(237-90)
self.v_joint = np.arange(7)
self.v_end = np.arange(6)
self.cmd = {}
self.found = False
self.finish = 0
self.distance = 10
self.gripper = Gripper("right")
#self.gripper.calibrate()
cv2.namedWindow('image')
self.np_image = np.zeros((400,640,3), np.uint8)
cv2.imshow('image',self.np_image)
#self._set_threshold()
s = rospy.Service('vision_server_vertical', Vision, self.handle_vision_req)
camera_topic = '/cameras/right_hand_camera/image'
self.right_camera = rospy.Subscriber(camera_topic, Image, self._on_camera)
ifr = rospy.Subscriber("/robot/range/right_hand_range/state", Range, self._read_distance)
print "\nReady to use right hand vision server\n"
self.kin = baxter_kinematics('right')
self.J = self.kin.jacobian()
self.J_inv = self.kin.jacobian_pseudo_inverse()
self.jointVelocity = np.asarray([1,2,3,4,5,6,7],np.float32)
self.control_arm = Limb("right")
self.control_joint_names = self.control_arm.joint_names()
#print np.dot(self.J,self.jointVelocity)
def _read_distance(self,data):
self.distance = data.range
def _set_threshold(self):
cv2.createTrackbar('Min R(H)','image',0,255,nothing)
cv2.createTrackbar('Max R(H)','image',255,255,nothing)
cv2.createTrackbar('Min G(S)','image',0,255,nothing)
cv2.createTrackbar('Max G(S)','image',255,255,nothing)
cv2.createTrackbar('Min B(V)','image',0,255,nothing)
cv2.createTrackbar('Max B(V)','image',255,255,nothing)
def get_joint_velocity(self):
cmd = {}
velocity_list = np.asarray([1,2,3,4,5,6,7],np.float32)
for idx, name in enumerate(self.control_joint_names):
v = self.control_arm.joint_velocity( self.control_joint_names[idx])
velocity_list[idx] = v
cmd[name] = v
return velocity_list
def list_to_dic(self,ls):
cmd = {}
for idx, name in enumerate(self.control_joint_names):
v = ls.item(idx)
cmd[name] = v
return cmd
def PID(self):
Kp = 0.5
vy = -Kp*self.dx
vx = -Kp*self.dy
return vx,vy
def _on_camera(self, data):
self.busy = True
self.framenumber += 1
index = self.framenumber % 10
cv2.namedWindow('image')
#.........这里部分代码省略.........