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 ....
def grasp():
# Open the hand: joints = ['FIRST_1','FIRST_2','FIRST_3','SECOND_1','THUMB_1'=-69.99916992187501,'THUMB_2'=86.472509765625]
open_hand_pos_diff_from_initial = [0.0, 0.0, 0.0, 0.0, -70., 85.]
rospy.loginfo('%s', 'Open the hand ...')
hand.i_moveAll(r,open_hand_pos_diff_from_initial)
rospy.sleep(10.)# TODO wait appropriately ....
# TODO use the pressure value
# GRASP
# Pressure values:
# before grasp: [-11.0, -17.0, 18.0, 0.0, 18.0, 12.0
# after grasp: [12.0, -12.0, 24.0, 21.0, 44.0, 12.0]
# POS for the Georgia small can: [0.0, 0.0, 0.0, 39.999462890625004, -29.995751953125, 86.46767578125001]
georgia_can_grasp_pos_diff_from_open_hand = [0.0, 0.0, 0.0, 37., -29.995751953125-(-69.99916992187501), 0]
rospy.loginfo('%s', 'Grasp ...')
hand.i_moveAll(r,georgia_can_grasp_pos_diff_from_open_hand)
rospy.sleep(10.)# TODO wait appropriately ....
def grasp():
# Open the hand: joints = ['FIRST_1','FIRST_2','FIRST_3','SECOND_1','THUMB_1'=-69.99916992187501,'THUMB_2'=86.472509765625]
open_hand_pos_diff_from_initial = [0.0, 0.0, 0.0, 0.0, -70., 85.]
rospy.loginfo('%s', 'Open the hand ...')
hand.i_moveAll(r, open_hand_pos_diff_from_initial)
rospy.sleep(10.) # TODO wait appropriately ....
# TODO use the pressure value
# GRASP
# Pressure values:
# before grasp: [-11.0, -17.0, 18.0, 0.0, 18.0, 12.0
# after grasp: [12.0, -12.0, 24.0, 21.0, 44.0, 12.0]
# POS for the Georgia small can: [0.0, 0.0, 0.0, 39.999462890625004, -29.995751953125, 86.46767578125001]
georgia_can_grasp_pos_diff_from_open_hand = [
0.0, 0.0, 0.0, 37., -29.995751953125 - (-69.99916992187501), 0
]
rospy.loginfo('%s', 'Grasp ...')
hand.i_moveAll(r, georgia_can_grasp_pos_diff_from_open_hand)
rospy.sleep(10.) # TODO wait appropriately ....