2017_Task5.py 文件源码

def cmmnd_makeContact_USBPlug(self, sensitivity):
        rate = rospy.Rate(100)
        while (self.bump_finger_1 < sensitivity)and not rospy.is_shutdown():
            print (self.bump_finger_1)
            self.cmmnd_CartesianVelocity([-0.03,0,0,0,0,0,1])
            rate.sleep()
        print ("contact made with the ground")

    # def pick_USBlight_1(self, current_finger_position):
    #     ii = 0
    #     rate = rospy.Rate(100)
    #     while self.touch_finger_3 != True and not rospy.is_shutdown():
    #         current_finger_position[0] += 5 # slowly close finger_1 until contact is made
    #         print (current_finger_position[0])
    #         self.cmmnd_FingerPosition([current_finger_position[0], current_finger_position[1], current_finger_position[2]])
    #         rate.sleep()
    #     self.touch_finger_1 = False
    #     return current_finger_position