def init_hand(): hand.connect( rospy.get_param('/hiro_hand_ip_addr','192.168.128.130') ) hand.servoOn(r) #hand.servoOn(l) # This gp_initial() move all finger joints to 0. position hand.go_initial(r)
def init_hand(): hand.connect(rospy.get_param('/hiro_hand_ip_addr', '192.168.128.130')) hand.servoOn(r) #hand.servoOn(l) # This gp_initial() move all finger joints to 0. position hand.go_initial(r)
def ungrasp(): # TODO should check the current pos open_hand_pos_diff_from_grasp = [0.0, 0.0, 0.0, -37., -69.99916992187501-(-29.995751953125), 0] rospy.loginfo('%s', 'Open the hand ...') hand.i_moveAll(r,open_hand_pos_diff_from_grasp) rospy.sleep(10.)# TODO wait appropriately .... rospy.loginfo('%s', 'Go initial pose ...') hand.go_initial(r) rospy.sleep(10.)# TODO wait appropriately ....
def ungrasp(): # TODO should check the current pos open_hand_pos_diff_from_grasp = [ 0.0, 0.0, 0.0, -37., -69.99916992187501 - (-29.995751953125), 0 ] rospy.loginfo('%s', 'Open the hand ...') hand.i_moveAll(r, open_hand_pos_diff_from_grasp) rospy.sleep(10.) # TODO wait appropriately .... rospy.loginfo('%s', 'Go initial pose ...') hand.go_initial(r) rospy.sleep(10.) # TODO wait appropriately ....