gripper_keyboard.py

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#!/usr/bin/env python

# Copyright (c) 2013-2015, Rethink Robotics
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"""
Baxter RSDK Gripper Example: keyboard
"""
import argparse

import rospy

import baxter_interface
import baxter_external_devices

from baxter_interface import CHECK_VERSION


def map_keyboard():
    # initialize interfaces
    print("Getting robot state... ")
    rs = baxter_interface.RobotEnable(CHECK_VERSION)
    init_state = rs.state().enabled
    left = baxter_interface.Gripper('left', CHECK_VERSION)
    right = baxter_interface.Gripper('right', CHECK_VERSION)

    def clean_shutdown():
        if not init_state:
            print("Disabling robot...")
            rs.disable()
        print("Exiting example.")
    rospy.on_shutdown(clean_shutdown)

    def capability_warning(gripper, cmd):
        msg = ("%s %s - not capable of '%s' command" %
               (gripper.name, gripper.type(), cmd))
        rospy.logwarn(msg)

    def offset_position(gripper, offset):
        if gripper.type() != 'electric':
            capability_warning(gripper, 'command_position')
            return
        current = gripper.position()
        gripper.command_position(current + offset)

    def offset_holding(gripper, offset):
        if gripper.type() != 'electric':
            capability_warning(gripper, 'set_holding_force')
            return
        current = gripper.parameters()['holding_force']
        gripper.set_holding_force(current + offset)

    def offset_moving(gripper, offset):
        if gripper.type() != 'electric':
            capability_warning(gripper, 'set_moving_force')
            return
        current = gripper.parameters()['moving_force']
        gripper.set_moving_force(current + offset)

    def offset_velocity(gripper, offset):
        if gripper.type() != 'electric':
            capability_warning(gripper, 'set_velocity')
            return
        current = gripper.parameters()['velocity']
        gripper.set_velocity(current + offset)

    def offset_dead_band(gripper, offset):
        if gripper.type() != 'electric':
            capability_warning(gripper, 'set_dead_band')
            return
        current = gripper.parameters()['dead_zone']
        gripper.set_dead_band(current + offset)

    bindings = {
    #   key: (function, args, description)
        'r': (left.reboot, [], "left: reboot"),
        'R': (right.reboot, [], "right: reboot"),
        'c': (left.calibrate, [], "left: calibrate"),
        'C': (right.calibrate, [], "right: calibrate"),
        'q': (left.close, [], "left: close"),
        'Q': (right.close, [], "right: close"),
        'w': (left.open, [], "left: open"),
        'W': (right.open, [], "right: open"),
        '[': (left.set_velocity, [100.0], "left:  set 100% velocity"),
        '{': (right.set_velocity, [100.0], "right:  set 100% velocity"),
        ']': (left.set_velocity, [30.0], "left:  set 30% velocity"),
        '}': (right.set_velocity, [30.0], "right:  set 30% velocity"),
        's': (left.stop, [], "left: stop"),
        'S': (right.stop, [], "right: stop"),
        'z': (offset_dead_band, [left, -1.0], "left:  decrease dead band"),
        'Z': (offset_dead_band, [right, -1.0], "right:  decrease dead band"),
        'x': (offset_dead_band, [left, 1.0], "left:  increase dead band"),
        'X': (offset_dead_band, [right, 1.0], "right:  increase dead band"),
        'f': (offset_moving, [left, -5.0], "left:  decrease moving force"),
        'F': (offset_moving, [right, -5.0], "right:  decrease moving force"),
        'g': (offset_moving, [left, 5.0], "left:  increase moving force"),
        'G': (offset_moving, [right, 5.0], "right:  increase moving force"),
        'h': (offset_holding, [left, -5.0], "left:  decrease holding force"),
        'H': (offset_holding, [right, -5.0], "right:  decrease holding force"),
        'j': (offset_holding, [left, 5.0], "left:  increase holding force"),
        'J': (offset_holding, [right, 5.0], "right:  increase holding force"),
        'v': (offset_velocity, [left, -5.0], "left:  decrease velocity"),
        'V': (offset_velocity, [right, -5.0], "right:  decrease velocity"),
        'b': (offset_velocity, [left, 5.0], "left:  increase velocity"),
        'B': (offset_velocity, [right, 5.0], "right:  increase velocity"),
        'u': (offset_position, [left, -15.0], "left:  decrease position"),
        'U': (offset_position, [right, -15.0], "right:  decrease position"),
        'i': (offset_position, [left, 15.0], "left:  increase position"),
        'I': (offset_position, [right, 15.0], "right:  increase position"),
    }

    done = False
    print("Enabling robot... ")
    rs.enable()
    print("Controlling grippers. Press ? for help, Esc to quit.")
    while not done and not rospy.is_shutdown():
        c = baxter_external_devices.getch()
        if c:
            if c in ['\x1b', '\x03']:
                done = True
            elif c in bindings:
                cmd = bindings[c]
                cmd[0](*cmd[1])
                print("command: %s" % (cmd[2],))
            else:
                print("key bindings: ")
                print("  Esc: Quit")
                print("  ?: Help")
                for key, val in sorted(bindings.items(),
                                       key=lambda x: x[1][2]):
                    print("  %s: %s" % (key, val[2]))
    # force shutdown call if caught by key handler
    rospy.signal_shutdown("Example finished.")


def main():
    """RSDK Gripper Example: Keyboard Control

    Use your dev machine's keyboard to control and configure
    Baxter's grippers.

    Run this example to command various gripper movements while
    adjusting gripper parameters, including calibration, velocity,
    and force. Uses the baxter_interface.Gripper class and the
    helper function, baxter_external_devices.getch.
    """
    epilog = """
See help inside the example with the '?' key for key bindings.
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__,
                                     epilog=epilog)
    parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("rsdk_gripper_keyboard")

    map_keyboard()


if __name__ == '__main__':
    main()