y.velocities = vel
#get acc
acc = el[counter + 3].split(": ")[1][1:-1]
acc = acc.split(", ")
for i in range(0, len(acc)):
acc[i] = float(acc[i])
y.accelerations = acc
#get time
st = el[counter + 6].split(": ")[1]
et = el[counter + 7].split(": ")[1]
y.time_from_start.secs = float(st)
y.time_from_start.nsecs = float(et)
x.joint_trajectory.points.append(y)
counter = counter + 8
acHan.execute_plan(x)
t.close()
rospy.signal_shutdown("Done")
os._exit(0)
roscpp_shutdown()
plans.append(pos)
names.append(name[5:])
acHan.Grasp(4, pos, 1.0)
elif "Move" in name:
joints = out[2][1:-2]
joints = joints.split(",")
for x in range(0, len(joints)):
joints[x] = float(joints[x])
pl = acHan.plan(joints)
plans.append(pl)
names.append(name[4:])
acHan.execute_plan(pl)
rospy.sleep(1)
acHan.set_start()
r = open("saved_plans.txt", "w")
i = 0
for p in plans:
r.write("PLAN : " + str(names[i]) + " >\n" + str(p) + "\n")
i = i + 1
t.close()
r.close()
rospy.signal_shutdown("Done")
os._exit(0)
