task_5.py 文件源码

def cmmnd_FingerPosition(self, finger_value):
        commands.getoutput('rosrun kinova_demo fingers_action_client.py j2n6a300 percent -- {0} {1} {2}'.format(finger_value[0],finger_value[1],finger_value[2]))
        # fingers_action_client.getCurrentFingerPosition('j2n6a300_')
        #
        # finger_turn, finger_meter, finger_percent = fingers_action_client.unitParser('percent', finger_value, '-r')
        # finger_number = 3
        # finger_maxDist = 18.9/2/1000  # max distance for one finger in meter
        # finger_maxTurn = 6800  # max thread turn for one finger
        #
        # try:
        #     if finger_number == 0:
        #         print('Finger number is 0, check with "-h" to see how to use this node.')
        #         positions = []  # Get rid of static analysis warning that doesn't see the exit()
        #         exit()
        #     else:
        #         positions_temp1 = [max(0.0, n) for n in finger_turn]
        #         positions_temp2 = [min(n, finger_maxTurn) for n in positions_temp1]
        #         positions = [float(n) for n in positions_temp2]
        #
        #     print('Sending finger position ...')
        #     result = fingers_action_client.gripper_client(positions)
        #     print('Finger position sent!')
        #
        # except rospy.ROSInterruptException:
        #     print('program interrupted before completion')