#!/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,
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()
#!/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(60) kuka.home() rospy.sleep(0.5) #Light ON 1 kuka.ptp([0.056919096553020854, 0.8133463016826425, -0.8952060805821915, -0.07516506634651865, -0.042651152866797215, 0.07450536806010266]) rospy.sleep(0.5) #Light ON wait kuka.ptp([0.057203900823452614, 0.7638405342465404, -0.8145244175607402, -0.07516506634651865, -0.042651152866797215, 0.07450536806010266]) rospy.sleep(0.5) #Light ON 2 kuka.ptp([0.057203900823452614, 0.7876677697558776, -0.8279871628199942, -0.07516506634651865, -0.042651152866797215, 0.07450536806010266]) rospy.sleep(0.5) kuka.home()
#!/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) # INITIAL POINT kuka.ptp([-0.3897044539026773, -0.15259553401200776, 0.627705865646746, -0.7026422912930741, -0.5911389996875371, 0.0]) rospy.sleep(0.5) # kuka.ptp([-0.44034536045511885, 0.42626542761802, 0.1873697596763435, -0.6796934994624948, -0.734177447306692, 0.0]) rospy.sleep(0.5) kuka.ptp([-0.44071204444486867, 0.43805830430770243, 0.20593665286227747, -0.6593012756795602, -0.757754079359394, 0.0]) rospy.sleep(0.5) kuka.ptp([-0.44130316633374633, 0.46125996328182595, 0.23638390757902528, -0.6267650374199363, -0.8003102614057411, 0.0]) rospy.sleep(0.5) kuka.ptp([-0.4418986824383886, 0.491201816606619, 0.2670860268101194, -0.5947949206246506, -0.8496018441128328, 0.0]) rospy.sleep(0.5) kuka.ptp([-0.4423474250785908, 0.520319288422364, 0.2903599240282517, -0.5707626217129658, -0.8930443261630927, 0.0]) rospy.sleep(0.5)
#!/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()
goal_pose_final.append(pose_shadow[0]) goal_pose_final.append(pose_shadow[1]) goal_pose_final.append(pose_shadow[2]) goal_pose_final.append(0.0) goal_pose_final.append(0.0) goal_pose_final.append(0.0) goal_pose_final_glob = goal_pose_final #print goal_pose_final_glob if __name__=='__main__': rospy.init_node('follow_shadow', anonymous=True) rospy.Subscriber("shadow_joint_states", JointState, callbackShadow) rate = rospy.Rate(3) # 3hz kuka = KukaCommander() kuka.set_vel(70) while not rospy.is_shutdown(): #global goal_pose_final_glob print goal_pose_final_glob kuka.ptp(goal_pose_final_glob) rospy.sleep(0.1) rate.sleep() #rospy.spin() # kuka = KukaCommander() # rospy.sleep(0.5) # kuka.set_vel(50) # kuka.home()
#!/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(60) kuka.home() rospy.sleep(0.5) #Light OFF 1 kuka.ptp([0.06919094276104376, 0.8328329175439109, -0.9541489590049679, 1.2174451909374175e-05, 2.0049190529514756e-05, 4.534325117083477e-05]) rospy.sleep(0.5) #Light OFF wait kuka.ptp([0.057203900823452614, 0.7638405342465404, -0.8145244175607402, -0.07516506634651865, -0.042651152866797215, 0.07450536806010266]) rospy.sleep(0.5) #Light OFF 2 kuka.ptp([0.06698597855359312, 0.805618141154234, -0.8794478236391257, 1.82616773561036e-05, 3.0073785794272135e-05, 4.551649317936866e-05]) rospy.sleep(0.5) kuka.home()
#!/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() rospy.sleep(0.5) kuka.set_vel(30) kuka.home() rospy.sleep(0.5) kuka.ptp([0.2, 0.0, 0.0, 0.0, 0.0, 0.0]) rospy.sleep(0.5) kuka.home() rospy.sleep(0.5) kuka.ptp([-0.2, 0.0, 0.0, 0.0, 0.0, 0.0]) #OPEN DOOR kuka.home()