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Python Gripper.set_holding_force方法代碼示例

本文整理匯總了Python中baxter_interface.Gripper.set_holding_force方法的典型用法代碼示例。如果您正苦於以下問題：Python Gripper.set_holding_force方法的具體用法？Python Gripper.set_holding_force怎麽用？Python Gripper.set_holding_force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.set_holding_force方法的6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: track

# 需要導入模塊: from baxter_interface import Gripper [as 別名]
# 或者: from baxter_interface.Gripper import set_holding_force [as 別名]
class track():
    
    def __init__(self):
        
        self.centerx = 365
        self.centery = 120
        self.coefx = 0.1/(526-369)
        self.coefy = 0.1/(237-90)
        self.count = 0
        self.hdr = Header(stamp=rospy.Time.now(), frame_id='base')
        self.gripper = Gripper("right")
        self.gripper.calibrate()
        self.gripper.set_moving_force(0.1)
        rospy.sleep(0.5)
        self.gripper.set_holding_force(0.1)
        rospy.sleep(0.5)
        self.busy = False
        self.gripper_distance = 100
        self.subscribe_gripper()
        self.robotx = -1
        self.roboty = -1
        self.framenumber = 0
        self.history = np.arange(0,20)*-1
        self.newPosition = True
        self.bowlcamera = None
        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()
        self.dx = 0
        self.dy = 0
        self.distance = 1000
        self.finish = False
        self.found = 0
        ifr = rospy.Subscriber("/robot/range/right_hand_range/state", Range, self._read_distance)


    def _read_distance(self,data):
        self.distance = data.range

    def vision_request_right(self, controlID, requestID):
        
        try:
            
            rospy.wait_for_service('vision_server_vertical')
            vision_server_req = rospy.ServiceProxy('vision_server_vertical', VisionVertical)
            return vision_server_req(controlID, requestID)
        
        except (rospy.ServiceException,rospy.ROSInterruptException), e:
            print "Service call failed: %s" % e
            self.clean_shutdown_service()
開發者ID:YZHANGFPE，項目名稱:test，代碼行數:55，代碼來源:MD_pour.py

示例2: track

# 需要導入模塊: from baxter_interface import Gripper [as 別名]
# 或者: from baxter_interface.Gripper import set_holding_force [as 別名]
class track():
    
    def __init__(self, pr_init, pl_init):
        
        self.centerx = 365
        self.centery = 140
        self.coefx = 0.1/(526-369)
        self.coefy = 0.1/(237-90)
        self.count = 0
        self.right = MoveGroupCommander("right_arm")
        self.left = MoveGroupCommander("left_arm")
        self.gripper = Gripper("right")
        self.gripper.calibrate()
        self.gripper.set_moving_force(0.1)
        self.gripper.set_holding_force(0.1)
        self.pr = pr_init
        self.pl = pl_init
        self.angle = 0
        self.position_list = (0.7,-0.3,-0.06,0,0.0,self.angle)
        self.busy = False
        self.blank_image = np.zeros((400,640,3),np.uint8)
        cv2.putText(self.blank_image,"DEMO", (180,200), cv2.FONT_HERSHEY_SIMPLEX, fontScale = 4, color = 255,  thickness = 10 )
        self.movenum = 0
        self.gripper_distance = 100
        self.subscribe_gripper()
        self.robotx = -1
        self.roboty = -1
        self.H = homography()
        self.framenumber = 0
        self.history = np.arange(0,20)*-1
        self.newPosition = True
        self.bowlcamera = None

    def vision_request_right(self, controlID, requestID):
        rospy.wait_for_service('vision_server_vertical')
        try:
            vision_server_req = rospy.ServiceProxy('vision_server_vertical', Vision)
            return vision_server_req(controlID, requestID)
        
        except rospy.ServiceException, e:
            print "Service call failed: %s" % e
開發者ID:YZHANGFPE，項目名稱:pick_challenge，代碼行數:43，代碼來源:pick_client.py

示例3: Baxter_Deli

# 需要導入模塊: from baxter_interface import Gripper [as 別名]
# 或者: from baxter_interface.Gripper import set_holding_force [as 別名]
class Baxter_Deli(object):
	
	def __init__(self):
		
		self.rightg = Gripper('right')
		self.rightg.set_holding_force(100)
		self.leftg = Gripper('left')
		self.right = Limb('right')
		self.left = Limb('left')
		self.head = Head()

		self.angles= list()

		
		rospy.Subscriber("command", String, self.command)
		rospy.spin()

	def command(self, comm):
		if comm.data == "left":
			self.angles.append(self.left.joint_angles())
		elif comm.data == "right":
			self.angles.append(self.right.joint_angles())
		elif comm.data == "done":
			print self.angles
開發者ID:aashi7，項目名稱:baxter_deli，代碼行數:26，代碼來源:joints_logger.py

示例4: track

# 需要導入模塊: from baxter_interface import Gripper [as 別名]
# 或者: from baxter_interface.Gripper import set_holding_force [as 別名]
class track():
    
    def __init__(self):
        
        self.centerx = 365
        self.centery = 120
        self.coefx = 0.1/(526-369)
        self.coefy = 0.1/(237-90)
        self.count = 0
        self.hdr = Header(stamp=rospy.Time.now(), frame_id='base')

        self.gripper_left = Gripper("left")
        self.gripper_left.calibrate()
        self.gripper_left.set_moving_force(0.01)
        rospy.sleep(0.5)
        self.gripper_left.set_holding_force(0.01)
        rospy.sleep(0.5)
        self.gripper_right = Gripper("right")
        self.gripper_right.calibrate()
        rospy.sleep(1)
        self.busy = False
        self.gripper_distance = 100
        self.subscribe_gripper()
        self.robotx = -1
        self.roboty = -1
        self.framenumber = 0
        self.history = np.arange(0,20)*-1
        self.newPosition = True
        self.bowlcamera = None
        self.kin_right = baxter_kinematics('right')
        self.kin_left = baxter_kinematics('left')
        self.J = self.kin_right.jacobian()
        self.J_inv = self.kin_right.jacobian_pseudo_inverse()
        self.jointVelocity = np.asarray([1,2,3,4,5,6,7],np.float32)
        self.control_arm = Limb("right")
        self.left_arm = Limb("left")
        self.control_joint_names = self.control_arm.joint_names()
        self.dx = 0
        self.dy = 0
        self.distance = 1000
        self.finish = False
        self.found = 0
        self.pour_x = 0
        self.pour_y = 0
        ifr = rospy.Subscriber("/robot/range/right_hand_range/state", Range, self._read_distance)
        self.joint_states = {

            'observe':{
                        'right_e0': -0.631,
                        'right_e1': 0.870,
                        'right_s0': 0.742, 
                        'right_s1': -0.6087,
                        'right_w0': 0.508,
                        'right_w1': 1.386,
                        'right_w2': -0.5538,
                    },
                    'observe_ladle':{
                        'right_e0': -0.829,
                        'right_e1': 0.831,
                        'right_s0': 0.678, 
                        'right_s1': -0.53,
                        'right_w0': 0.716,
                        'right_w1': 1.466,
                        'right_w2': -0.8099,
                    },
                    'observe_left':{
                        'left_w0': 2.761932405432129, 
                        'left_w1': -1.5700293346069336, 
                        'left_w2': -0.8893253607604981, 
                        'left_e0': -0.9805972175354004, 
                        'left_e1': 1.8300390778564455, 
                        'left_s0': 1.4783739826354982, 
                        'left_s1': -0.9503010970092775,

                    },
                    'stir':{
                        'right_e0': -0.179,
                        'right_e1': 1.403,
                        'right_s0': 0.381, 
                        'right_s1': -0.655,
                        'right_w0': 1.3,
                        'right_w1': 2.04,
                        'right_w2': 0.612,

                    },
                    'observe_vertical':{
                        'right_e0': 0.699,
                        'right_e1': 1.451,
                        'right_s0': -1.689, 
                        'right_s1': 0.516,
                        'right_w0': 0.204,
                        'right_w1': 0.935,
                        'right_w2': -2.706,
                    },
                    'observe_midpoint':{
                        'right_e0': -0.606,
                        'right_e1': 0.968,
                        'right_s0': 0.0, 
                        'right_s1': -0.645,
                        'right_w0': 0.465,
#.........這裏部分代碼省略.........
開發者ID:YZHANGFPE，項目名稱:test，代碼行數:103，代碼來源:open_cap.py

示例5: Gripper

# 需要導入模塊: from baxter_interface import Gripper [as 別名]
# 或者: from baxter_interface.Gripper import set_holding_force [as 別名]
#!/usr/bin/env python

import sys
import time
import rospy
from std_msgs.msg import UInt32
from msg_types import *
import baxter_interface
from baxter_interface import Gripper, Head, Limb
rospy.init_node('run_condition')
voice_pub = rospy.Publisher('/voice', UInt32, queue_size=10)
time.sleep(1)

rightg = Gripper('right')
rightg.set_holding_force(50)
leftg = Gripper('left')
right = Limb('right')
left = Limb('left')
head = Head()
neutral_right = {'right_s0': 0.476301034638421, 'right_s1': -0.5606699779721187, 'right_w0': 0.07094661143970038, 'right_w1': 0.7037136864424336, 'right_w2': -0.28033498898605935, 'right_e0': -0.16566992509162468, 'right_e1': 1.3077186216723151}
neutral_left = {'left_w0': -0.15339807878854136, 'left_w1': 0.34552917247118947, 'left_w2': 3.0158062289827234, 'left_e0': 0.18676216092504913, 'left_e1': 1.5715633171886063, 'left_s0': -0.5836796897904, 'left_s1': -0.6845389265938658}


right.move_to_joint_positions(neutral_right)
left.move_to_joint_positions(neutral_left)

head.set_pan(0.0, speed = 0.8, timeout = 0.0)

Gripper.calibrate(rightg)
Gripper.calibrate(leftg)
開發者ID:aashi7，項目名稱:baxter_deli，代碼行數:32，代碼來源:run_condition2.py

示例6: cookie

# 需要導入模塊: from baxter_interface import Gripper [as 別名]
# 或者: from baxter_interface.Gripper import set_holding_force [as 別名]
#oatmeal raisin cookie( one ):
	#gripper: narrow (left)
	#holding force: 40

#replace cookie with drink 

#individually wrapped triangle sandwich will not do

#!/usr/bin/env python

import rospy, baxter_interface
from baxter_interface import Gripper, Head, Limb

rospy.init_node('deli_Baxter')
rightg = Gripper('right')
rightg.set_holding_force(100)
leftg = Gripper('left')
right = Limb('right')
left = Limb('left')
head = Head()
head.set_pan(0.0, speed = 0.8, timeout = 0.0)

Gripper.calibrate(rightg)
Gripper.calibrate(leftg)

neutral_right ={'right_s0': 0.5971020216843973, 'right_s1': -0.4237621926533455, 'right_w0': 0.4226117070624315, 'right_w1': 0.8471408901097197, 'right_w2': -0.9725438195193523, 'right_e0': -0.40727189918357737, 'right_e1': 1.161990446823201}

neutral_left = {'left_w0': -0.3006602344255411, 'left_w1': 0.5549175500175484, 'left_w2': 3.050704291907117, 'left_e0': 0.5161845351234418, 'left_e1': 1.1984224905354794, 'left_s0': -0.8904758473674826, 'left_s1': -0.38387869216832476}


right.move_to_joint_positions(neutral_right)
開發者ID:aashi7，項目名稱:baxter_deli，代碼行數:33，代碼來源:db_script.py


注：本文中的baxter_interface.Gripper.set_holding_force方法示例由純淨天空整理自Github/MSDocs等開源代碼及文檔管理平台，相關代碼片段篩選自各路編程大神貢獻的開源項目，源碼版權歸原作者所有，傳播和使用請參考對應項目的License；未經允許，請勿轉載。