本文整理匯總了Python中baxter_interface.Gripper.position方法的典型用法代碼示例。如果您正苦於以下問題：Python Gripper.position方法的具體用法？Python Gripper.position怎麽用？Python Gripper.position使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類baxter_interface.Gripper的用法示例。
在下文中一共展示了Gripper.position方法的1個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: put
# 需要導入模塊: from baxter_interface import Gripper [as 別名]
# 或者: from baxter_interface.Gripper import position [as 別名]
def put(object, count):
tf_listener = tf.TransformListener()
robot = moveit_commander.RobotCommander()
scene = moveit_commander.PlanningSceneInterface()
gripper_left = Gripper("left")
gripper_right = Gripper("right")
group_left = moveit_commander.MoveGroupCommander("left_arm")
group_right = moveit_commander.MoveGroupCommander("right_arm")
group_left.set_planner_id('RRTConnectkConfigDefault')
group_right.set_planner_id('RRTConnectkConfigDefault')
# parameters
no_detection = False
drop_lemon = True
press_faucet = False
place_cup = False
gripper_position_threshold = 4.6
# count = 3 # number of lemon slices
# clean the scene
# scene.remove_world_object()
# forward kinematic object
kin = baxter_kinematics('left')
while True:
rospy.sleep(1)
# initial pose
initial_pose = Pose()
# initial_pose.orientation.x = 0.9495
# initial_pose.orientation.y = 0.017127
# initial_pose.orientation.z = -0.31322
# initial_pose.orientation.w = 0.0071202
# initial_pose.orientation.x = 0.37
# initial_pose.orientation.y = 0.93
# initial_pose.orientation.z = 0.0
# initial_pose.orientation.w = 0.0
initial_pose.orientation.y = 1.0
initial_pose.position.x = 0.0
initial_pose.position.y = 0.88
initial_pose.position.z = 0.214
rospy.sleep(1)
execute_valid_plan(group_left, initial_pose)
if count == 0:
rospy.loginfo("Finish the task")
break
if no_detection:
rospy.loginfo("No detection")
break
rospy.loginfo("Time to kill the process")
start_time = rospy.get_time()
while (rospy.get_time() - start_time < 3.0):
if rospy.is_shutdown():
no_detection = True
press_faucet = False
break
rospy.loginfo("Looking for the detected pose")
start_time = rospy.get_time()
while not rospy.is_shutdown():
if(rospy.get_time() - start_time > 4.0):
no_detection = True
break
try:
tf_listener.waitForTransform('/base', '/circle', rospy.Time(0), rospy.Duration(1.0))
break
except (tf.Exception, tf.ConnectivityException, tf.LookupException):
continue
if not no_detection:
time_delay = rospy.get_time() - tf_listener.getLatestCommonTime('/circle' , '/base').to_sec()
rospy.loginfo("The time delay for the detection is: %f sec" , time_delay)
if(time_delay > 3.0):
rospy.loginfo("Time delay of the detection exceeds 2.0 second. Stop the process")
break
trans, rot = tf_listener.lookupTransform('/base', '/circle', rospy.Time(0))
rospy.loginfo(trans)
# move to the position that is above the lime
above_pose = get_pose_with_sleep(group_left)
above_pose.pose.position.x = trans[0]
above_pose.pose.position.y = trans[1]
#plan = plan_with_orientation_lock(group_left, above_pose, side = "left", tolerance=1000)
#.........這裏部分代碼省略.........