def grasp(self, effort=0.0):
goal = GripperApplyEffortGoal()
goal.effort = effort
result = self.gripper_client.send_goal_and_wait(goal)
if result == GoalStatus.SUCCEEDED:
return True
else:
return False
def grasp(self, effort):
"""Gripper torque control"""
goal = GripperApplyEffortGoal()
goal.effort = effort
# Send message to the action server
if (self._gripper_control_client.send_goal_and_wait(goal) ==GoalStatus.SUCCEEDED):
return True
else:
return False
def close_gripper_force(self, force=0.8):
"""
Closes the gripper with the given force.
:param force: force to grasp with should be between 0.2 and 0.8 (N)
:return: applied effort
"""
rospy.loginfo("Closing gripper with force: {}".format(force))
f = max(min(0.8, force), 0.2)
goal = GripperApplyEffortGoal()
goal.effort = f
self._gripper_apply_force_client.send_goal(goal)
if self._gripper_apply_force_client.wait_for_result(
rospy.Duration(secs=5)):
result = self._gripper_apply_force_client.get_result()
rospy.loginfo("close_gripper: force {}".format(result.effort))
else:
rospy.logwarn("Close Gripper Server timed out.")
def _close_gripper(self, effort=0.1):
"""
:param effort: (float) Force applied to grasping[N], should be a positive number
:return: (bool) stating the goalstatus of the Actionlib
"""
goal = GripperApplyEffortGoal()
goal.effort = -effort * HAND_MOMENT_ARM_LENGTH
self._grasp_client.send_goal(goal)
timeout = rospy.Duration(10)
if self._grasp_client.wait_for_result(timeout):
self._grasp_client.get_result()
state = self._grasp_client.get_state()
if state != actionlib.GoalStatus.SUCCEEDED:
rospy.logwarn("State is not SUCCEEDED")
return False
else:
self._grasp_client.cancel_goal()
rospy.logwarn("Timeout")
return False
return True