Hi,
I cannot get move group to open gripper of pr2 eventhough I can successfully move the head torso and other parts of pr2 using the MoveGroupCommander. See the code below with two basic functions: move_head and open_gripper. This does not work when I try to open the gripper's hand.
Note that the gripper's hand closes when it is opened and I set all the joint values to zero. But I can't get it to open when the gripper's hands are closed.
#!/usr/bin/python
# coding: utf-8
import sys
import moveit_commander
import rospy
import roscpp
def home_head():
mgc = moveit_commander.MoveGroupCommander("head")
jv = mgc.get_current_joint_values()
jv[0] = 0.0
jv[1] = 0.5
mgc.set_joint_value_target(jv)
p = mgc.plan()
mgc.execute(p)
def open_right_hand():
mgc = moveit_commander.MoveGroupCommander("right_gripper")
jv = mgc.get_current_joint_values()
jv = [1.0, 1.0, 0.477, 0.477, 0.477, 0.477, 0.04]
mgc.set_joint_value_target(jv)
p = mgc.plan()
mgc.execute(p)
if __name__ == "__main__":
node_name = "ready_pr2"
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node(node_name)
rospy.loginfo(node_name + ": is initialized")
rc = moveit_commander.RobotCommander()
rospy.loginfo("robot commander is initialized")
home_head()
rospy.loginfo("head homed")
open_right_hand()
rospy.loginfo("right_gripper opened")
moveit_commander.roscpp_shutdown()
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