#!/usr/bin/env python # Copyright (c) 2013-2018, Rethink Robotics Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. import argparse import sys import rospy from intera_interface import ( SimpleClickSmartGripper, get_current_gripper_interface, Lights, Cuff, RobotParams, ) class GripperConnect(object): """ Connects wrist button presses to gripper open/close commands. Uses the Navigator callback feature to make callbacks to connected action functions when the button values change. """ def __init__(self, arm, lights=True): """ @type arm: str @param arm: arm of gripper to control @type lights: bool @param lights: if lights should activate on cuff grasp """ self._arm = arm # inputs self._cuff = Cuff(limb=arm) # connect callback fns to signals self._lights = None if lights: self._lights = Lights() self._cuff.register_callback(self._light_action, '{0}_cuff'.format(arm)) try: self._gripper = get_current_gripper_interface() self._is_clicksmart = isinstance(self._gripper, SimpleClickSmartGripper) if self._is_clicksmart: if self._gripper.needs_init(): self._gripper.initialize() else: if not (self._gripper.is_calibrated() or self._gripper.calibrate() == True): raise self._cuff.register_callback(self._close_action, '{0}_button_upper'.format(arm)) self._cuff.register_callback(self._open_action, '{0}_button_lower'.format(arm)) rospy.loginfo("{0} Cuff Control initialized...".format( self._gripper.name)) except: self._gripper = None self._is_clicksmart = False msg = ("{0} Gripper is not connected to the robot." " Running cuff-light connection only.").format(arm.capitalize()) rospy.logwarn(msg) def _open_action(self, value): if value and self._gripper.is_ready(): rospy.logdebug("gripper open triggered") if self._is_clicksmart: self._gripper.set_ee_signal_value('grip', False) else: self._gripper.open() if self._lights: self._set_lights('red', False) self._set_lights('green', True) def _close_action(self, value): if value and self._gripper.is_ready(): rospy.logdebug("gripper close triggered") if self._is_clicksmart: self._gripper.set_ee_signal_value('grip', True) else: self._gripper.close() if self._lights: self._set_lights('green', False) self._set_lights('red', True) def _light_action(self, value): if value: rospy.logdebug("cuff grasp triggered") else: rospy.logdebug("cuff release triggered") if self._lights: self._set_lights('red', False) self._set_lights('green', False) self._set_lights('blue', value) def _set_lights(self, color, value): self._lights.set_light_state('head_{0}_light'.format(color), on=bool(value)) self._lights.set_light_state('{0}_hand_{1}_light'.format(self._arm, color), on=bool(value)) def main(): """SDK Gripper Button Control Example Connects cuff buttons to gripper open/close commands: 'Circle' Button - open gripper 'Dash' Button - close gripper Cuff 'Squeeze' - turn on Nav lights Run this example in the background or in another terminal to be able to easily control the grippers by hand while using the robot. Can be run in parallel with other code. """ rp = RobotParams() valid_limbs = rp.get_limb_names() if not valid_limbs: rp.log_message(("Cannot detect any limb parameters on this robot. " "Exiting."), "ERROR") return if len(valid_limbs) > 1: valid_limbs.append("all_limbs") arg_fmt = argparse.RawDescriptionHelpFormatter parser = argparse.ArgumentParser(formatter_class=arg_fmt, description=main.__doc__) parser.add_argument('-g', '--gripper', dest='gripper', default=valid_limbs[0], choices=[valid_limbs], help='gripper limb to control (default: both)') parser.add_argument('-n', '--no-lights', dest='lights', action='store_false', help='do not trigger lights on cuff grasp') parser.add_argument('-v', '--verbose', dest='verbosity', action='store_const', const=rospy.DEBUG, default=rospy.INFO, help='print debug statements') args = parser.parse_args(rospy.myargv()[1:]) rospy.init_node('sdk_gripper_cuff_control_{0}'.format(args.gripper), log_level=args.verbosity) arms = (args.gripper,) if args.gripper != 'all_limbs' else valid_limbs[:-1] grip_ctrls = [GripperConnect(arm, args.lights) for arm in arms] print("Press cuff buttons for gripper control. Spinning...") rospy.spin() print("Gripper Button Control Finished.") return 0 if __name__ == '__main__': sys.exit(main())