def set_q_gripper_command(qlimb,limb,command): qhand = gripper.commandToConfig(command) if limb=='left': for i in range(gripper.numDofs): qlimb[left_hand_link_start+i] = qhand[i] else: for i in range(gripper.numDofs): qlimb[right_hand_link_start+i] = qhand[i]
def set_q_gripper_command(qlimb, limb, command): qhand = gripper.commandToConfig(command) if limb == 'left': for i in range(gripper.numDofs): qlimb[left_hand_link_start + i] = qhand[i] else: for i in range(gripper.numDofs): qlimb[right_hand_link_start + i] = qhand[i]
def set_model_gripper_command(robot,limb,command): """Given the Baxter RobotModel 'robot' at its current configuration, this will set the configuration so the gripper on limb 'limb' is placed at the gripper command values 'command'. """ qrobot = robot.getConfig() qhand = gripper.commandToConfig(command) if limb=='left': print "Opening left gripper to",command for i in range(gripper.numDofs): qrobot[left_hand_link_start+i] = qhand[i] else: print "Opening right gripper to",command for i in range(gripper.numDofs): qrobot[right_hand_link_start+i] = qhand[i] robot.setConfig(qrobot)
def set_model_gripper_command(robot, limb, command): """Given the Baxter RobotModel 'robot' at its current configuration, this will set the configuration so the gripper on limb 'limb' is placed at the gripper command values 'command'. """ qrobot = robot.getConfig() qhand = gripper.commandToConfig(command) if limb == 'left': print "Opening left gripper to", command for i in range(gripper.numDofs): qrobot[left_hand_link_start + i] = qhand[i] else: print "Opening right gripper to", command for i in range(gripper.numDofs): qrobot[right_hand_link_start + i] = qhand[i] robot.setConfig(qrobot)
def set_q_gripper_command(qrobot, limb, command): qhand = gripper.commandToConfig(command) if limb == "left": for i in range(gripper.numDofs): qrobot[left_hand_link_start + i] = qhand[i]