def close_gripper(self): goal = Pose() goal_final = baxterGoal(id=3, pose = goal) #self.left_client.send_goal(goal_final) #result = self.left_client.wait_for_result() status = self.left_client.send_goal_and_wait(goal_final) result = self.left_client.wait_for_result()
def __init__(self, arm):
self.as_goal = {'left': baxterGoal(), 'right': baxterGoal()}
self.as_feed = {'left': baxterFeedback(), 'right': baxterFeedback()}
self.as_res = {'left': baxterResult(), 'right': baxterResult()}
self.action_server_left = actionlib.SimpleActionServer(
"baxter_action_server_left",
baxterAction,
self.execute_left,
auto_start=False)
self.action_server_right = actionlib.SimpleActionServer(
"baxter_action_server_right",
baxterAction,
self.execute_right,
auto_start=False)
self.left_arm = Limb('left')
self.right_arm = Limb('right')
self.left_gripper = Gripper('left')
self.right_gripper = Gripper('right')
self.left_gripper.calibrate()
self.arm = arm
def go_to_position(self, task, destination, height, width, offset_x, offset_y, offset_z): goal = Pose() trans = self.transformations(destination) if task == 'pick': height = Utils().get_pick_height(height) else: height = Utils().get_place_height(height) goal = self.position(goal, trans, height, width) #if destination==0 : offset_y-=0.18 #if destination==2 : offset_y+=0.18 #if destination==2 : offset_z+=0.005 #if destination==0 : offset_y-=0.00 #if destination==1 : offset_y+=0.18 #if destination==2 : offset_y+=0.40 #16.2.2017. if destination==0: offset_y-=0.2 if destination==1: offset_y+=0 if destination==2: offset_y+=0.2 offset_z+=0.05 offset_z-=0.02 offset_y-=0.05 if destination==0: offset_z-=0.005 if destination==1: offset_z-=0.005 goal.position.x = goal.position.x + offset_x goal.position.y = goal.position.y + offset_y goal.position.z = goal.position.z + offset_z goal_final = baxterGoal(id = 1, pose = goal) self.left_client.send_goal_and_wait(goal_final) result = self.left_client.get_result() #print result.status if result.status: #print 'succeeded' return 1 else: #print 'aborted' return 0
def open_gripper(self): goal = Pose() goal_final = baxterGoal(id=2, pose = goal) self.left_client.send_goal(goal_final) self.left_client.wait_for_result()