position_values = [0.35, 0.18, 0.38] # Moving to a target determined by the values in position_values. rospy.loginfo("Hand moving to script specified target") position_1 = dict(zip(joints, position_values)) hand_commander.move_to_joint_value_target(position_1) named_target_1 = "pack" rospy.loginfo("Hand moving to named target: " + named_target_1) hand_commander.move_to_named_target(named_target_1) named_target_2 = "open" rospy.loginfo("Hand moving to named target: " + named_target_2) hand_commander.move_to_named_target(named_target_2) # Hand joints state, velocity and effort are read and displayed to screen. hand_joints_state = hand_commander.get_joints_position() hand_joints_velocity = hand_commander.get_joints_velocity() hand_joints_effort = hand_commander.get_joints_effort() rospy.loginfo("Hand joints position \n " + str(hand_joints_state) + "\n") rospy.loginfo("Hand joints velocity \n " + str(hand_joints_velocity) + "\n") rospy.loginfo("Hand joints effort \n " + str(hand_joints_effort) + "\n") # Tactile type and state are read and displayed to screen. tactile_type = hand_commander.get_tactile_type() tactile_state = hand_commander.get_tactile_state() rospy.loginfo("Tactile type \n " + str(tactile_type) + "\n") rospy.loginfo("Tactile state \n " + str(tactile_state) + "\n")
# Software Foundation version 2 of the License. # # This program is distributed in the hope that it will be useful, but WITHOUT # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or # FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for # more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see <http://www.gnu.org/licenses/>. # Reading the tactiles from the hand. from __future__ import absolute_import import rospy from sr_robot_commander.sr_hand_commander import SrHandCommander from sr_utilities.hand_finder import HandFinder rospy.init_node("tactile_reader", anonymous=True) hand_finder = HandFinder() hand_parameters = hand_finder.get_hand_parameters() hand_serial = hand_parameters.mapping.keys()[0] hand_commander = SrHandCommander(hand_parameters=hand_parameters, hand_serial=hand_serial) rospy.sleep(1.0) print("Tactile type: ", hand_commander.get_tactile_type()) print("Tactile state: ", hand_commander.get_tactile_state())