本文整理匯總了Python中baxter_interface.Limb.endpoint_effort方法的典型用法代碼示例。如果您正苦於以下問題：Python Limb.endpoint_effort方法的具體用法？Python Limb.endpoint_effort怎麽用？Python Limb.endpoint_effort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.Limb的用法示例。
在下文中一共展示了Limb.endpoint_effort方法的2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: record
# 需要導入模塊: from baxter_interface import Limb [as 別名]
# 或者: from baxter_interface.Limb import endpoint_effort [as 別名]
def record():
rospy.init_node('record')
RobotEnable(CHECK_VERSION).enable()
baxter_limb = Limb(limb_name)
while True:
initial_time = rospy.get_time()
forces_vec3 = baxter_limb.endpoint_effort()['force']
forces = np.array([forces_vec3.x, forces_vec3.y, forces_vec3.z])
print "===========\nEndpoint Forces: \nF_x: {x} \nF_y: {y} \nF_z: {z}\n===========\n".format(forces_vec3)
after_time = rospy.get_time()
rospy.sleep(dt - (after_time - initial_time))示例2: IKHelper
# 需要導入模塊: from baxter_interface import Limb [as 別名]
# 或者: from baxter_interface.Limb import endpoint_effort [as 別名]
class IKHelper(object):
"""An abstraction layer for using Baxter's built in IK service."""
############################################################################
def __init__(self):
self._left_arm = Limb('left')
self._left_arm.set_joint_position_speed(0.3)
self._right_arm = Limb('right')
self._right_arm.set_joint_position_speed(0.3)
self._left_iksvc = rospy.ServiceProxy(
_IKSVC_LEFT_URI,
SolvePositionIK)
self._right_iksvc = rospy.ServiceProxy(
_IKSVC_RIGHT_URI,
SolvePositionIK)
self._joint_update_pub = rospy.Publisher(
'/robot/joint_state_publish_rate',
UInt16)
self._joint_update_pub.publish(250)
############################################################################
def reset(self):
"""Reset both arms to their neutral positions."""
self._left_arm.move_to_neutral()
self._right_arm.move_to_neutral()
def set_left(self, pos, rot=(0, math.pi, math.pi *0.5), wait=False):
"""Set the endpoint of the left arm to the supplied coordinates.
Arguments:
pos -- Position in space in (x, y, z) format.
rot -- Rotation in space in (r, p, y) format. (defaults to pointing
downwards.)
Keyword arguments:
wait -- If True, method will block until in position. (default
False)
"""
self._set_arm(self._left_iksvc, self._left_arm, pos, rot, wait)
def set_left(self, pos, rot=(0, math.pi, math.pi *0.5), wait=False):
"""Set the endpoint of the right arm to the supplied coordinates.
Arguments:
pos -- Position in space in (x, y, z) format.
rot -- Rotation in space in (r, p, y) format. (defaults to pointing
downwards.)
Keyword arguments:
wait -- If True, method will block until in position. (default
False)
"""
self._set_arm(self._right_iksvc, self._right_arm, pos, rot, wait)
def get_left(self):
"""Return the current endpoint pose of the left arm."""
return self._left_arm.endpoint_pose()['position']
def get_right(self):
"""Return the current endpoint pose of the left arm."""
return self._right_arm.endpoint_pose()['position']
def get_left_velocity(self):
"""Return the current endpoint velocity of the left arm."""
return self._left_arm.endpoint_velocity()['linear']
def get_right_velocity(self):
"""Return the current endpoint velocity of the right arm."""
return self._right_arm.endpoint_velocity()['linear']
def get_left_force(self):
"""Return the current endpoint force on the left arm."""
return self._left_arm.endpoint_effort()['force']
def get_right_force(self):
"""Return the current endpoint force on the right arm."""
return self._right_arm.endpoint_effort()['force']
############################################################################
def _set_arm(self, iksvc, limb, pos, rot, wait):
resp = self._get_ik(iksvc, pos, rot)
positions = resp[0]
isValid = resp[1]
if not isValid:
print('invalid: {0} {1} {2}'.format(x, y, z))
if not wait:
limb.set_joint_positions(positions)
else:
limb.move_to_joint_positions(positions)
def _get_ik(self, iksvc, pos, rot):
q = quaternion_from_euler(rot[0], rot[1], rot[2])
#.........這裏部分代碼省略.........