commander.move_to_named_target(warehouse_states["burn_4_hand"])
test_trajectory = exporter.convert_trajectory([{
'name': "burn_1_hand",
"interpolate_time": 0.5,
'pause_time': 1
}, {
'name': "burn_2_hand",
"interpolate_time": 0.5,
'pause_time': 1
}, {
'name': "burn_3_hand",
"interpolate_time": 0.5,
'pause_time': 0.5
}, {
'name': "burn_4_hand",
"interpolate_time": 0.5,
'pause_time': 0.5
}, {
'name': "burn_5_hand",
"interpolate_time": 0.5,
'pause_time': .5
}, {
'name': "burn_4_hand",
"interpolate_time": 0.5,
'pause_time': .5
}])
while not rospy.is_shutdown():
commander.run_named_trajectory(test_trajectory)
hand_commander = SrHandCommander(hand_parameters=hand_parameters,
hand_serial=hand_serial)
# Define trajectory. Interpolate time (time to move to each point from previous posture)
# must be specified. Pause time is optional. Names are either the default poses defined
# in SRDF or are states stored in the warehouse.
trajectory = [{
'name': 'open',
'interpolate_time': 3.0
}, {
'name': 'pack',
'interpolate_time': 3.0,
'pause_time': 2
}, {
'name': 'open',
'interpolate_time': 3.0
}, {
'name': 'pack',
'interpolate_time': 3.0
}, {
'name': 'open',
'interpolate_time': 3.0
}]
# Run trajectory via moveit
hand_commander.run_named_trajectory(trajectory)
# Run trajectory by sending directly to controllers - faster but no collision checking.
hand_commander.run_named_trajectory_unsafe(trajectory, True)
# You could use the states directly:
hand_commander.move_to_joint_value_target_unsafe(warehouse_states['state_2'])
rospy.sleep(2)
hand_commander.move_to_joint_value_target_unsafe(warehouse_states['state_1'])
rospy.sleep(2)
hand_commander.move_to_joint_value_target_unsafe(warehouse_states['state_2'])
rospy.sleep(2)
# You could translate all the named states in a trajectory:
trajectory = [
{
'name': 'state_1',
'interpolate_time': 3.0
},
{
'name': 'state_2',
'interpolate_time': 3.0,
'pause_time': 1
}
]
state_exporter = SrRobotStateExporter(warehouse_states)
converted_trajectory = state_exporter.convert_trajectory(trajectory)
hand_commander.run_named_trajectory(converted_trajectory)
# Or we could repopulate the warehouse with the exported states:
state_exporter = SrRobotStateExporter(warehouse_states)
state_exporter.repopulate_warehouse()
