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import sys
sys.path.append('../../rai/rai/ry')
import libry as ry
import numpy as np
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C = ry.Config()
D = C.view()
C.clear()
C.addFile('../../rai-robotModels/baxter/baxter_new.g')
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C.addObject(name='object', shape=ry.ST.capsule, size=[.2,.05], pos=[.8,0,1.], color=[1,1,0])
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In [4]:
q_home = C.getJointState();
q_zero = 0. * q_home
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#CALL THIS TO COMMUNICATE TO ROS AND BAXTER
B = C.operate("myRosNodeNameMarc")
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#CALL THIS TO WORK IN SIMULATION ONLY
B = C.operate("")
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# this syncs C to be in state of the B
B.sync(C)
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B.move([q_zero], [ 10.], False)
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B.moveHard(q_home)
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# operate the gripper:
q_home[-1] = 0; #-1 = suction, -2=gripper; 0=open, 1=close
B.moveHard(q_home)
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# get info on whether the gripper is open
B.getGripperOpened('left')
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# is there really an object in the gripper?
B.getGripperGrabbed('left')
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#clean up all objects
B=0
D=0
K=0
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# deactivate sending motion commands to baxter
B.sendToReal(False)
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