demo_lo.py
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1 #!/usr/bin/env python
2 
3 #
4 # Copyright 2019 Shadow Robot Company Ltd.
5 #
6 # This program is free software: you can redistribute it and/or modify it
7 # under the terms of the GNU General Public License as published by the Free
8 # Software Foundation, either version 2 of the License, or (at your option)
9 # any later version.
10 #
11 # This program is distributed in the hope that it will be useful, but WITHOUT
12 # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
13 # FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
14 # more details.
15 #
16 # You should have received a copy of the GNU General Public License along
17 # with this program. If not, see <http://www.gnu.org/licenses/>.
18 #
19 
20 # Script to move the left hand into open position.
21 
22 import rospy
23 from sr_robot_commander.sr_hand_commander import SrHandCommander
24 
25 rospy.init_node("open_left_hand", anonymous=True)
26 
27 hand_commander = SrHandCommander(name="left_hand")
28 
29 open_hand = {'lh_FFJ1': 0.0, 'lh_FFJ2': 0.0, 'lh_FFJ3': 0.0, 'lh_FFJ4': 0.0,
30  'lh_MFJ1': 0.0, 'lh_MFJ2': 0.0, 'lh_MFJ3': 0.0, 'lh_MFJ4': 0.0,
31  'lh_RFJ1': 0.0, 'lh_RFJ2': 0.0, 'lh_RFJ3': 0.0, 'lh_RFJ4': 0.0,
32  'lh_LFJ1': 0.0, 'lh_LFJ2': 0.0, 'lh_LFJ3': 0.0, 'lh_LFJ4': 0.0, 'lh_LFJ5': 0.0,
33  'lh_THJ1': 0.0, 'lh_THJ2': 0.0, 'lh_THJ3': 0.0, 'lh_THJ4': 0.0, 'lh_THJ5': 0.0,
34  'lh_WRJ1': 0.0, 'lh_WRJ2': 0.0}
35 
36 # Move hand to open position
37 joint_states = open_hand
38 rospy.loginfo("Moving hand to open position")
39 hand_commander.move_to_joint_value_target_unsafe(joint_states, 2.0, False)
40 rospy.sleep(2)


sr_ethercat_hand_config
Author(s): Ugo Cupcic, Toni Oliver
autogenerated on Wed Oct 14 2020 03:24:13