From 3d112032a18e40d291bea0114b80033da6c8569b Mon Sep 17 00:00:00 2001 From: chama1176 Date: Thu, 10 Oct 2024 13:10:45 +0900 Subject: [PATCH] =?UTF-8?q?=E5=B7=A6=E5=8F=B3=E8=85=95=E3=81=8C=E9=81=95?= =?UTF-8?q?=E3=81=A3=E3=81=9F=E3=81=AE=E3=81=A7=E5=8F=8D=E8=BB=A2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sciurus17_examples_py/gripper_control.py | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/sciurus17_examples_py/sciurus17_examples_py/gripper_control.py b/sciurus17_examples_py/sciurus17_examples_py/gripper_control.py index 3e98188..69a586d 100755 --- a/sciurus17_examples_py/sciurus17_examples_py/gripper_control.py +++ b/sciurus17_examples_py/sciurus17_examples_py/gripper_control.py @@ -80,47 +80,47 @@ def main(args=None): ) for _ in range(2): - l_gripper.set_start_state_to_current_state() + r_gripper.set_start_state_to_current_state() robot_state = RobotState(robot_model) - robot_state.set_joint_group_positions("l_gripper_group", [L_GRIPPER_OPEN]) - l_gripper.set_goal_state(robot_state=robot_state) + robot_state.set_joint_group_positions("r_gripper_group", [R_GRIPPER_OPEN]) + r_gripper.set_goal_state(robot_state=robot_state) plan_and_execute( sciurus17, - l_gripper, + r_gripper, logger, single_plan_parameters=gripper_plan_request_params, ) - l_gripper.set_start_state_to_current_state() + r_gripper.set_start_state_to_current_state() robot_state = RobotState(robot_model) - robot_state.set_joint_group_positions("l_gripper_group", [L_GRIPPER_CLOSE]) - l_gripper.set_goal_state(robot_state=robot_state) + robot_state.set_joint_group_positions("r_gripper_group", [R_GRIPPER_CLOSE]) + r_gripper.set_goal_state(robot_state=robot_state) plan_and_execute( sciurus17, - l_gripper, + r_gripper, logger, single_plan_parameters=gripper_plan_request_params, ) for _ in range(2): - r_gripper.set_start_state_to_current_state() + l_gripper.set_start_state_to_current_state() robot_state = RobotState(robot_model) - robot_state.set_joint_group_positions("r_gripper_group", [R_GRIPPER_OPEN]) - r_gripper.set_goal_state(robot_state=robot_state) + robot_state.set_joint_group_positions("l_gripper_group", [L_GRIPPER_OPEN]) + l_gripper.set_goal_state(robot_state=robot_state) plan_and_execute( sciurus17, - r_gripper, + l_gripper, logger, single_plan_parameters=gripper_plan_request_params, ) - r_gripper.set_start_state_to_current_state() + l_gripper.set_start_state_to_current_state() robot_state = RobotState(robot_model) - robot_state.set_joint_group_positions("r_gripper_group", [R_GRIPPER_CLOSE]) - r_gripper.set_goal_state(robot_state=robot_state) + robot_state.set_joint_group_positions("l_gripper_group", [L_GRIPPER_CLOSE]) + l_gripper.set_goal_state(robot_state=robot_state) plan_and_execute( sciurus17, - r_gripper, + l_gripper, logger, single_plan_parameters=gripper_plan_request_params, )