def move(self,
width: float,
speed: float = 0.05,
wait_for_result: bool = False) -> bool:
"""Moves the gripper fingers to a specified width.
Args:
width (float): Intended opening width [m].
speed (float, optionnal): Closing speed [m/s]. Default to 0.05.
wait_for_result (bool): If True, this method will block until
response is recieved from server.
Returns:
bool: Whether command was successful.
"""
width = self._clip_width(width)
goal = MoveGoal()
goal.width = width
goal.speed = speed
self._move_action_client.send_goal(goal)
if wait_for_result:
return self._move_action_client.wait_for_result(
timeout=rospy.Duration(15.0))
else:
return True
def move_joints(self, width, speed=None, wait_for_result=True):
"""
Moves the gripper fingers to a specified width.
:param width: Intended opening width. [m]
:param speed: Closing speed. [m/s]
:param wait_for_result: if True, this method will block till response is
recieved from server
:type width: float
:type speed: float
:type wait_for_result: bool
:return: True if command was successful, False otherwise.
:rtype: bool
"""
self._caller = "move_joints"
goal = MoveGoal()
if not speed:
speed = self._gripper_speed
goal.width = width
goal.speed = speed
self._move_action_client.send_goal(goal,
done_cb=self._done_cb,
active_cb=self._active_cb,
feedback_cb=self._feedback_cb)
if wait_for_result:
result = self._move_action_client.wait_for_result(
rospy.Duration(15.))
return result
return True
def moveGripper(self, width, speed=0.5):
width_normalized = self._normalize(width, self._MIN_WIDTH, self._MAX_WIDTH)
if self._real_robot:
# Create goal
goal = MoveGoal()
goal.width = self.safe_width(width_normalized)
goal.speed = speed
# Send goal
self._client_move.send_goal_and_wait(goal, rospy.Duration.from_sec(self._timeout))
else:
self._moveHand(width_normalized)
self._current_width = width_normalized
def btn_left_gripper_open_on_click(self):
req = MoveGoal(width=0.075, speed=0.1)
if self.panda_gripper_grasp_client.wait_for_server(
rospy.Duration(1.0)):
self.panda_gripper_move_client.send_goal(req)
self._widget.textBrowser.append("LEFT: gripper_open")
else:
self._widget.textBrowser.append(
"SERVER NOT WORKING -- LEFT: gripper_open")
def gripper_move(self,
width,
epsilon_inner=0.05,
epsilon_outer=0.05,
speed=0.1,
force=60):
goal = MoveGoal(width=width, speed=speed)
rospy.loginfo('Moving gripper:\n{}'.format(goal))
self._gripper_move.send_goal(goal)
self._gripper_move.wait_for_result()
if not self._gripper_move.get_result().success:
rospy.logerr("Couldn't move gripper")
sys.exit(1)
def open_gripper():
"""Opens robot gripper
If using ``real_panda`` then call move gripper action server. If using gazebo then publish desired
grip width to */franka/gripper_width* topic.
Returns:
bool: returns True when done.
"""
if real_panda:
client = actionlib.SimpleActionClient('/franka_gripper/move', MoveAction)
client.wait_for_server()
goal = MoveGoal(width = 0.08, speed = 0.04)
client.send_goal(goal)
client.wait_for_result(rospy.Duration.from_sec(5.0))
else:
pub_gripper.publish(0.12)
rospy.sleep(2)
return True
def gripper_action_client(self, width, speed=0.1):
'''moves to a target width with the defined speed.'''
self.gripper_client.send_goal(MoveGoal(width, speed))
self.gripper_client.wait_for_result()
self._feedback_publisher.publish(Action(status=0))
return self.gripper_client.get_result()
#!/usr/bin/env python2
import rospy
import actionlib
from franka_gripper.msg import MoveGoal, MoveAction, GraspAction, StopAction, GraspGoal, StopGoal
import curses
if __name__ == '__main__':
rospy.init_node('Franka_gripper_move_action')
client = actionlib.SimpleActionClient('/franka_gripper/move', MoveAction)
client.wait_for_server()
goal = MoveGoal(width=0.1, speed=0.04)
client.send_goal(goal)
client.wait_for_result(rospy.Duration.from_sec(5.0))
max_open = 0.1
min_open = 0
set_width = 0.1
#step_size = 0.01
grasp = 0.07
release = 0.09
# get the curses screen window
screen = curses.initscr()
# turn off input echoing
curses.noecho()
# respond to keys immediately (don't wait for enter)
curses.cbreak()