本文整理汇总了Python中baxter_interface.Gripper方法的典型用法代码示例。如果您正苦于以下问题:Python baxter_interface.Gripper方法的具体用法?Python baxter_interface.Gripper怎么用?Python baxter_interface.Gripper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
的用法示例。
在下文中一共展示了baxter_interface.Gripper方法的12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: __init__
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def __init__(self, arm):
""" Initialize and start actionlib server. """
self.as_goal = {'left': baxterGoal(), 'right': baxterGoal()}
self.as_feed = {'left': baxterFeedback(), 'right': baxterFeedback()}
self.as_res = {'left': baxterResult(), 'right': baxterResult()}
self.action_server_left = actionlib.SimpleActionServer("baxter_action_server_left", baxterAction,
self.execute_left, auto_start=False)
self.action_server_right = actionlib.SimpleActionServer("baxter_action_server_right", baxterAction,
self.execute_right, auto_start=False)
self.left_arm = Limb('left')
self.right_arm = Limb('right')
self.left_gripper = Gripper('left')
self.right_gripper = Gripper('right')
self.left_gripper.calibrate()
self.arm = arm
示例2: __init__
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def __init__(self):
self.gripper = baxter_interface.Gripper('left')
self.values = []
self.acc_x = []
self.acc_y = []
self.acc_z = []
self.eff = []
self.gripperAperture = []
self.time1 = []
self.time2 = []
self.time3 = []
示例3: __init__
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def __init__(self, limb_name, gripper=None):
self.limb_name = limb_name
self.limb = baxter_interface.Limb(limb_name)
if gripper is None:
self.gripper = baxter_interface.Gripper(limb_name)
else:
self.gripper = gripper(limb_name)
# Enable actuators (doesn't seem to work?) I need to rosrun
# robot_enable.py -e
baxter_interface.RobotEnable().enable()
# Calibrate gripper
self.gripper.calibrate()
示例4: gripperApertureNode
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def gripperApertureNode():
gripper = baxter_interface.Gripper('left')
rospy.init_node('gripperApertureNode')
pub = rospy.Publisher('/gripperAperture_values', Int32, queue_size=1)
rate = rospy.Rate(20)
while not rospy.is_shutdown():
ap = gripper.position()
pub.publish(ap)
rate.sleep()
示例5: __init__
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def __init__(self, limb_name, gripper=None):
self.limb_name = limb_name
self.limb = baxter_interface.Limb(limb_name)
if gripper is None:
self.gripper = baxter_interface.Gripper(limb_name)
else:
self.gripper = gripper(limb_name)
baxter_interface.RobotEnable().enable()
示例6: map_keyboardL
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def map_keyboardL(self):
rs = baxter_interface.RobotEnable(CHECK_VERSION)
init_state = rs.state().enabled
limb_0 = baxter_interface.Gripper(self.limb_name, CHECK_VERSION)
#baxter_interface.Limb(limb_name).set_joint_position_speed(0.7)
self.move((0,1,0),0.01)
示例7: map_keyboard
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def map_keyboard(self):
# initialize interfaces
print("Getting robot state... ")
rs = baxter_intercontrollerface.RobotEnable(CHECK_VERSION)
init_state = rs.state().enabled
limb_0 = baxter_interface.Gripper(self.limb_name, CHECK_VERSION)
done = False
print("Enabling robot... ")
rs.enable()
print("Controlling grippers. Press ? for help, Esc to quit.")
while not done and not rospy.is_shutdown():
c = baxter_external_devices.getch()
if c:
if c in ['\x1b', '\x03']:
done = True
elif c == 'a':
rospy.loginfo("%s is pressed" %c)
self.move((0,-1,0),0.05)
elif c == 'd':
rospy.loginfo("%s is pressed" %c)
self.move((0,1,0),0.05)
elif c == 'w':
rospy.loginfo("%s is pressed" %c)
self.move((-1,0,0),0.05)
elif c == 's':
rospy.loginfo("%s is pressed" %c)
self.move((1,0,0),0.05)
elif c == 'z':
rospy.loginfo("%s is pressed" %c)
self.move((0,0,-1),0.05)
elif c == 'x':
rospy.loginfo("%s is pressed" %c)
self.move((0,0,1),0.05)
else:
print("Not implement it yet...")
rospy.signal_shutdown("Move.py finished.")
示例8: __init__
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def __init__(self, arm):
# initialise arm communication channel
if arm == "right":
self.pub = rospy.Publisher('arm_rendezvous_right', String, queue_size=5)
self.sub = rospy.Subscriber('arm_rendezvous_left', String, self.store_sub)
self.RZsub = rospy.Subscriber('rendezvous_point', String, self.store_RZsub) #Right listens for RZ point
elif arm == "left":
self.pub = rospy.Publisher('arm_rendezvous_left', String, queue_size=5)
self.sub = rospy.Subscriber('arm_rendezvous_right', String, self.store_sub)
self.RZpub = rospy.Publisher('rendezvous_point', String, queue_size=5) #Left sends the RZ point
else:
print "ERROR - initialisation - no valid arm selected"
return
print "Rendezvous Channel Initialised"
self.state = 0 #Initial State
self.sub_data = 0 #Initial State
self.RZ = ""
# initialise ros node
self.rate = rospy.Rate(5) #5hz when continuously sending
# gripper ("left" or "right")
self.gripper = baxter_interface.Gripper(arm)
# arm ("left" or "right")
self.limb = arm
self.limb_interface = baxter_interface.Limb(self.limb)
示例9: calibrateGripper
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def calibrateGripper(self):
# gripper ("left" or "right")
self.gripper = baxter_interface.Gripper(self.limb)
self.gripper.calibrate()
#Send a state number to the other node
示例10: __init__
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def __init__(self):
"""
BaxterManipulator control from torch - Initialisation
"""
# Publishers
self._pub_rate = rospy.Publisher('robot/joint_state_publish_rate', UInt16, queue_size=10)
self.image_pub = rospy.Publisher("baxter_view",Image,queue_size=4)
self._obj_state = rospy.ServiceProxy("/gazebo/set_model_state",SetModelState)
# Link with baxter interface
self._left_arm = baxter_interface.limb.Limb("left")
self._right_arm = baxter_interface.limb.Limb("right")
self._left_joint_names = self._left_arm.joint_names()
self.grip_left = baxter_interface.Gripper('left', CHECK_VERSION)
print("Getting robot state... ")
self._rs = baxter_interface.RobotEnable(CHECK_VERSION)
self._init_state = self._rs.state().enabled
print("Enabling robot... ")
self._rs.enable()
# Control parameters
self._rate = 500.0 # Hz
self._pub_rate.publish(self._rate)
self.bridge = CvBridge()
self._left_arm.set_joint_position_speed(0.3)
self._object_type = 0
示例11: main
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def main():
rospy.init_node('execute')
rs = baxter_interface.RobotEnable(CHECK_VERSION)
rs.enable()
arm = baxter_interface.Limb('left')
gripper = baxter_interface.Gripper('left')
gripper.calibrate()
def open_grippers(msg):
if msg.state == DigitalIOState.PRESSED:
gripper.open()
rospy.Subscriber('/robot/digital_io/left_upper_button/state', DigitalIOState, open_grippers)
# target position
target_x = 0.7
target_y = 0.3
initial_z = 0.1
target_z = -0.17
target_theta = np.pi / 4
planar_grasp(arm, gripper, target_x, target_y, initial_z, target_z, target_theta)
rospy.spin()
print 'executed trajectory'
return 0
示例12: __init__
# 需要导入模块: import baxter_interface [as 别名]
# 或者: from baxter_interface import Gripper [as 别名]
def __init__(self):
# Physical interfaces
self.limb = baxter_interface.limb.Limb(arm)
self.gripper = baxter_interface.Gripper(arm)
self.head = baxter_interface.Head()
# Virtual attributes
self.angle_corrected = False
self.finished = 3
self.moving = False
self.tol = pixel_tolerance
self.prev_err = 0
self.finder = vis_tools.thing_finder(cv2.imread(thing_path,
cv2.IMREAD_GRAYSCALE))
# Gripper center coordinates
self.gx = center_x
self.gy = center_y
# Get range to surface in meters
self.dist = float(baxter_interface.analog_io.AnalogIO(
arm + '_hand_range').state() / 1000.0)
# Set arm speed
self.limb.set_joint_position_speed(speed)
# Calibrate gripper
if not self.gripper.calibrated():
self.gripper.calibrate()
# Prepare for image processing
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber(
'/cameras/' + arm + '_hand_camera/image', Image, self.callback,
queue_size=1)