def init_hand():
hand.connect( rospy.get_param('/hiro_hand_ip_addr','192.168.128.130') )
hand.servoOn(r)
#hand.servoOn(l)
# This gp_initial() move all finger joints to 0. position
hand.go_initial(r)
def init_hand():
hand.connect(rospy.get_param('/hiro_hand_ip_addr', '192.168.128.130'))
hand.servoOn(r)
#hand.servoOn(l)
# This gp_initial() move all finger joints to 0. position
hand.go_initial(r)
def ungrasp():
# TODO should check the current pos
open_hand_pos_diff_from_grasp = [0.0, 0.0, 0.0, -37., -69.99916992187501-(-29.995751953125), 0]
rospy.loginfo('%s', 'Open the hand ...')
hand.i_moveAll(r,open_hand_pos_diff_from_grasp)
rospy.sleep(10.)# TODO wait appropriately ....
rospy.loginfo('%s', 'Go initial pose ...')
hand.go_initial(r)
rospy.sleep(10.)# TODO wait appropriately ....
def ungrasp():
# TODO should check the current pos
open_hand_pos_diff_from_grasp = [
0.0, 0.0, 0.0, -37., -69.99916992187501 - (-29.995751953125), 0
]
rospy.loginfo('%s', 'Open the hand ...')
hand.i_moveAll(r, open_hand_pos_diff_from_grasp)
rospy.sleep(10.) # TODO wait appropriately ....
rospy.loginfo('%s', 'Go initial pose ...')
hand.go_initial(r)
rospy.sleep(10.) # TODO wait appropriately ....
