import roslib
roslib.load_manifest("edufill_blockly")
import rospy
import move_gripper_component
import move_arm_component
# move_gripper_component example script
#### 1.move_gripper_component.to_pose(command_string)
######### command_string-'OPEN'/'CLOSE'
#### 2.move_gripper_component.to_positions(gripper_value)
######### gripper_value=[left_gripper_value,right_gripper_value]
if __name__ == "__main__":
rospy.init_node('move_gripper')
# initialize the arm to a nice position
move_arm_component.to_joint_positions([0.2, 0.1, 0.1, 0.1, 0.1])
#move gripper by command- OPEN/CLOSE
move_gripper_component.to_pose('OPEN') # component 'to_pose()'
move_gripper_component.to_pose('CLOSE') # component 'to_pose()'
#move gripper by values -[left_gripper_value,right_gripper_value]
left_gripper_value = 0.0000 # range - 0 to 0.0115
right_gripper_value = 0.0
# input argument list
gripper_value = [left_gripper_value, right_gripper_value]
move_gripper_component.to_joint_positions(
gripper_value) # component 'to_joint_positions()'
move_gripper_component.to_pose('CLOSE')
jp.poisonStamp = p
jp.positions = [jv1, jv2]
return jp
if __name__ == "__main__":
rospy.init_node('edufill_blockly_node')
print('high level open ')
move_gripper_component.move("OPEN")
print('high level close')
move_gripper_component.move("CLOSE")
print('mid level open, close, in between')
move_gripper_component.to_joint_positions([0.0115, 0.0115])
print('mid level close')
move_gripper_component.to_joint_positions([0, 0])
print('mid level in between')
move_gripper_component.to_joint_positions([0.0075, 0.0075])
print('low level close')
pub = rospy.Publisher('arm_1/gripper_controller/position_command',
JointPositions)
rospy.sleep(0.5)
try:
pub.publish(create_gripper_msg(0, 0))
except err:
print(err)
print('low level open')
rospy.sleep(0.5)
try:
jp.poisonStamp = p
jp.positions = [jv1, jv2]
return jp
if __name__=="__main__":
rospy.init_node('edufill_blockly_node')
print('high level open ')
move_gripper_component.move("OPEN")
print('high level close')
move_gripper_component.move("CLOSE")
print('mid level open, close, in between')
move_gripper_component.to_joint_positions([0.0115, 0.0115])
print('mid level close')
move_gripper_component.to_joint_positions([0, 0])
print('mid level in between')
move_gripper_component.to_joint_positions([0.0075, 0.0075])
print('low level close')
pub = rospy.Publisher('arm_1/gripper_controller/position_command', JointPositions)
rospy.sleep(0.5)
try:
pub.publish(create_gripper_msg(0, 0))
except err:
print(err)
print('low level open')
rospy.sleep(0.5)
try:
pub.publish(create_gripper_msg(0.0115, 0.0115))
import roslib
roslib.load_manifest("edufill_blockly")
import rospy
import move_gripper_component
import move_arm_component
# move_gripper_component example script
#### 1.move_gripper_component.to_pose(command_string)
######### command_string-'OPEN'/'CLOSE'
#### 2.move_gripper_component.to_positions(gripper_value)
######### gripper_value=[left_gripper_value,right_gripper_value]
if __name__ == "__main__":
rospy.init_node("move_gripper")
# initialize the arm to a nice position
move_arm_component.to_joint_positions([0.2, 0.1, 0.1, 0.1, 0.1])
# move gripper by command- OPEN/CLOSE
move_gripper_component.to_pose("OPEN") # component 'to_pose()'
move_gripper_component.to_pose("CLOSE") # component 'to_pose()'
# move gripper by values -[left_gripper_value,right_gripper_value]
left_gripper_value = 0.0000 # range - 0 to 0.0115
right_gripper_value = 0.0
# input argument list
gripper_value = [left_gripper_value, right_gripper_value]
move_gripper_component.to_joint_positions(gripper_value) # component 'to_joint_positions()'
move_gripper_component.to_pose("CLOSE")
