hand_serial = hand_parameters.mapping.keys()[0] hand_commander = SrHandCommander(hand_parameters=hand_parameters, hand_serial=hand_serial) hand_mapping = hand_parameters.mapping[hand_serial] # Hand joints are detected joints = hand_finder.get_hand_joints()[hand_mapping] position_values = [0.35, 0.18, 0.38] # Moving to a target determined by the values in position_values. rospy.loginfo("Hand moving to script specified target") position_1 = dict(zip(joints, position_values)) hand_commander.move_to_joint_value_target(position_1) named_target_1 = "pack" rospy.loginfo("Hand moving to named target: " + named_target_1) hand_commander.move_to_named_target(named_target_1) named_target_2 = "open" rospy.loginfo("Hand moving to named target: " + named_target_2) hand_commander.move_to_named_target(named_target_2) # Hand joints state, velocity and effort are read and displayed to screen. hand_joints_state = hand_commander.get_joints_position() hand_joints_velocity = hand_commander.get_joints_velocity() hand_joints_effort = hand_commander.get_joints_effort() rospy.loginfo("Hand joints position \n " + str(hand_joints_state) + "\n")
if len(s) > 3: print "s below split", s.split('_')[1] s = s.split('_')[1] s = int(s) p = float(s) if s > -1: p = p / 13 * 1.5 print "0.5 p", p pose = { 'rh_FFJ1': p, 'rh_MFJ1': p, 'rh_RFJ1': p, 'rh_LFJ1': p } print "pose", pose hand_commander.move_to_joint_value_target(pose) #print "done" time.sleep(0.01) a = 3 #position_1 = {'rh_LFJ1': n, 'rh_LFJ2': n, 'rh_LFJ3': n} #hand_commander.move_to_joint_value_target(position_1) #position_1 = {'rh_LFJ1': j, 'rh_LFJ2': j, 'rh_LFJ3': j} #hand_commander.move_to_joint_value_target(position_1) #while True: #position_1 = {'rh_LFJ1': 1.0, 'rh_LFJ2': 1.0, 'rh_LFJ3': 1.0} #hand_commander.move_to_joint_value_target(position_1)