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]
