Python baxter_interface.Limb方法代碼示例

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def limb_pose(limb_name):
    """Get limb pose at time of OK cuff button press."""
    button = CuffOKButton(limb_name)
    rate = rospy.Rate(20)  # rate at which we check whether button was
                           # pressed or not
    rospy.loginfo(
        'Waiting for %s OK cuff button press to save pose' % limb_name)
    while not button.pressed and not rospy.is_shutdown():
        rate.sleep()
    joint_pose = baxter_interface.Limb(limb_name).joint_angles()
    # Now convert joint coordinates to end effector cartesian
    # coordinates using forward kinematics.
    kinematics = baxter_kinematics(limb_name)
    endpoint_pose = kinematics.forward_position_kinematics(joint_pose)
    # How is this different from
    # baxter_interface.Limb(limb_name).endpoint_pose()
    print()
    print('baxter_interface endpoint pose:')
    print(baxter_interface.Limb(limb_name).endpoint_pose())
    print('pykdl forward kinematics endpoint pose:')
    print(endpoint_pose)
    print()
    return endpoint_pose 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def __init__(self, limb_name, gripper=None):
        super(Baxter, self).__init__(base='base')
        self.limb_name = limb_name
        self.other_limb_name = {'right': 'left',
                                'left': 'right'}[limb_name]

        self.limb = baxter_interface.Limb(limb_name)
        self.limb.set_joint_position_speed(0.1)

        if gripper is None:
            self.gripper = BaxterGripper(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()

        self.kinematics = baxter_kinematics(self.limb_name) 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
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 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
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() 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def limb_pose(limb_name):
	button = CuffOKButton(limb_name)
	rate = rospy.Rate(20)
	joint_pose = baxter_interface.Limb(limb_name).joint_angles()
	kinematics = baxter_kinematics(limb_name)
	endpoint_pose = kinematics.forward_position_kinematics(joint_pose)
	return endpoint_pose 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
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() 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
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) 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def limb_pose(limb_name):
    """Get limb pose at time of OK cuff button press."""
    button = CuffOKButton(limb_name)
    rate = rospy.Rate(20)  # rate at which we check whether button was
                           # pressed or not
    rospy.loginfo(
        'Waiting for %s OK cuff button press to save pose' % limb_name)
    while not button.pressed and not rospy.is_shutdown():
        rate.sleep()
    joint_pose = baxter_interface.Limb(limb_name).joint_angles()
    # Now convert joint coordinates to end effector cartesian
    # coordinates using forward kinematics.
    kinematics = baxter_kinematics(limb_name)
    endpoint_pose = kinematics.forward_position_kinematics(joint_pose)
    return endpoint_pose 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def __init__(self, P=1/30000):
        self.limb_name = 'left'
        self.other_limb_name = 'right'
        self.limb = baxter_interface.Limb(self.limb_name)
        self.err_pub = rospy.Publisher('/error', Float64, queue_size=1)
        self.P = P
        self.kinematics = baxter_kinematics(self.limb_name)
        self.jinv = self.kinematics.jacobian_pseudo_inverse() 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def __init__(self, limb, reconfig_server):
        self._dyn = reconfig_server
        self.movearm = []
        # control parameters
        self._rate = 1000.0  # Hz
        self._missed_cmds = 20.0  # Missed cycles before triggering timeout

        # create our limb instance
        self._limb = baxter_interface.Limb(limb)

        # initialize parameters
        self._springs = dict()
        self._damping = dict()
        self._start_angles = dict()
        self.left_joint_names = []
        self.i = 1
        self.joint_names = []
        self.sum_sqr_error = 0

        # create cuff disable publisher
        cuff_ns = 'robot/limb/' + limb + '/suppress_cuff_interaction'
        self._pub_cuff_disable = rospy.Publisher(cuff_ns, Empty, queue_size=1)

        # verify robot is enabled
        print("Getting robot state... ")
        self._rs = baxter_interface.RobotEnable(CHECK_VERSION)
        self._init_state = self._rs.state().enabled
        print("Enabling robot... ")
        self._rs.enable()
        print("Running. Ctrl-c to quit") 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def limb_pose(limb_name):
    """Get limb pose at time of OK cuff button press.

    The returned pose matches """
    button = CuffOKButton(limb_name)
    rate = rospy.Rate(20)  # rate at which we check whether button was
                           # pressed or not
    rospy.loginfo(
        'Waiting for %s OK cuff button press to save pose' % limb_name)
    while not button.pressed and not rospy.is_shutdown():
        rate.sleep()
    endpoint_pose = baxter_interface.Limb(limb_name).endpoint_pose()
    pose_list = ([getattr(endpoint_pose['position'], i) for i in
                  ('x', 'y', 'z')] +
                 [getattr(endpoint_pose['orientation'], i) for i in
                  ('x', 'y', 'z', 'w')])
    return pose_list
    # How is
    # baxter_kinematics(limb_name).forward_position_kinematics(
    #     baxter_interface.Limb(limb_name).joint_angles())
    # different from
    # baxter_interface.Limb(limb_name).endpoint_pose()
    # After some testing, we find that the differences are
    # negligible. In rviz, pretty much the same. In numerical terms,
    # they agree to at least two significant figures.
    # Eg:
    """
    baxter_interface endpoint pose:
    {'position': Point(x=0.8175678653720638,
                       y=0.11419185934519176,
                       z=-0.18813767395654984),
     'orientation': Quaternion(x=0.9983899777382322,
                               y=-0.008582355126430147,
                               z=0.051452248110337225,
                               w=-0.022281420437849815)}
    pykdl forward kinematics endpoint pose:
    [ 0.81954073  0.11447536 -0.18811824
      0.9983032  -0.00843487  0.0532936  -0.02189443]""" 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def __init__(self):
        """Initialize and start actionlib client."""
        self.left_client = actionlib.SimpleActionClient("baxter_action_server_left", baxterAction)
        self.left_client.wait_for_server(rospy.Duration(10.0))
        self.listener = tf.TransformListener()
        self.left_arm = Limb('left')

        # Get ROS parameters set up from launch file
        self.left_rod_offset = rospy.get_param('~left_rod')
        self.right_rod_offset = rospy.get_param('~right_rod')
        self.center_rod_offset = rospy.get_param('~center_rod') 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
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) 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
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 

# 需要導入模塊: import baxter_interface [as 別名]
# 或者: from baxter_interface import Limb [as 別名]
def arm_goaway():
    left2_w0 = rospy.get_param('left2_w0', default=0)
    left2_w1 = rospy.get_param('left2_w1', default=0)
    left2_w2 = rospy.get_param('left2_w2', default=0)
    left2_e0 = rospy.get_param('left2_e0', default=0)
    left2_e1 = rospy.get_param('left2_e1', default=0)
    left2_s0 = rospy.get_param('left2_s0', default=0)
    left2_s1 = rospy.get_param('left2_s1', default=0)

    # Send the left arm to the desired position
    away = {'left_w0': left2_w0, 'left_w1': left2_w1, 'left_w2': left2_w2, 'left_e0': left2_e0, 'left_e1': left2_e1,
            'left_s0': left2_s0, 'left_s1': left2_s1}
    limb = baxter_interface.Limb('left')
    limb.move_to_joint_positions(away)