Python KukaCommander.home Examples

Example #1

File: open_door.py Project: rorromr/kuka_kr6

#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import division

__author__ = "Rodrigo Muñoz , David Valenzuela Urrutia"
__email__ = "[email protected] , [email protected]"

# ROS
import rospy
from kuka_driver.kuka_commander import KukaCommander

if __name__ == "__main__":
    rospy.init_node("kuka_commander")
    kuka = KukaCommander()
    kuka.set_vel(80)
    kuka.home()
    rospy.sleep(0.5)
    kuka.ptp(
        [
            0.10772384992907114,
            0.7154650789473394,
            -0.8016527609008506,
            -6.087224938771763e-06,
            1.0266153515233172e-05,
            6.821469104602556e-05,
        ]
    )  # OPEN DOOR
    rospy.sleep(0.5)
    kuka.ptp(
        [
            0.10770660596114645,

Example #2

File: lector.py Project: mecatronica-fcfm/kuka_universal_gripper

def main():
	rospy.init_node('gripper_rutina')
	kuka = KukaCommander()  
	kuka.set_vel(40)
	kuka.home()

	rate = rospy.Rate(1) # 1hz
	gripper= Gripper()
	gripper.start()

	NombreRutina=raw_input("Ingrese nombre de la rutina a seguir: ")

	rospy.loginfo(" Realizando Rutina: "+ NombreRutina)
	
	Rutina=open(NombreRutina + ".txt","r")

	for orden in Rutina:
		if orden[0:3]=="fin":
			rospy.loginfo("Fin de la Rutina")
			break

		if orden=="home":
			kuka.home()
			rospy.loginfo("kuka home")
			rospy.sleep(3.0)

		if orden[0:3]=="vel":
			kuka.set_vel(int(orden[3:6]))
			rospy.loginfo("Velocidad Kuka : " + orden[3:6])
			rospy.sleep(1.0)

		if orden[0]=="#":
			pass

		if orden[0:4]=="open":
			gripper.open()
			rospy.loginfo("Gripper Open")

		if orden[0:5]=="close":
			gripper.close()
			rospy.loginfo("Gripper Close")


		if orden[0:5]=="sleep":
			rospy.loginfo("sleep:"+ str(orden[6:(len(orden))]))
			rospy.sleep(float(orden[6:(len(orden))]))


		if orden[0:3]=="ptp":
			punto=map(float,orden[4:len(orden)-2].split( ','))
			kuka.ptp(punto)
			rospy.loginfo("kuka.ptp("+str(punto)+")")
			rospy.sleep(1.0)
		else:
			pass

	Rutina.close()
	gripper.shutdown()