#!/usr/bin/env?python
“““
Random?select?a?cup.?Approach?to?it.?grab?the?cup.?lift?it?a?liite?bit?and?then?put?it?back
press?ctrl-c?to?break?the?loop
input?topic:
/cup_baxter_coordinates
????cup?center?pose?in?Baxter?coordinate
????data?structure:?ros?custom?point?array?message

“““
import?sys
import?tf
import?math
import?rospy
import?time
import?struct
import?numpy?as?np
import?baxter_interface
import?baxter_pykdl
import?baxter_external_devices
import?argparse

from?dynamixel_msgs.msg?import?JointState
from?std_msgs.msg?import?Float32
from?std_msgs.msg?import?Float64
from?std_msgs.msg?import?Header
from?baxter_kdl.kdl_parser?import?kdl_tree_from_urdf_model
from?urdf_parser_py.urdf?import?URDF
from?moveit_commander?import?conversions
from?baxter_core_msgs.srv?import?SolvePositionIK?SolvePositionIKRequest
from?geometry_msgs.msg?import?（PointPoseStampedPoseQuaternion）
from?geometry_msgs.msg?import?Point
from?position_calibration.msg?import?pointarray

from?pynput.keyboard?import?Key?Controller
from?random?import?randint

cupCoordinates?=?np.array（[[0.00.00.0][0.00.00.0][0.00.00.0]]）
index?=?0

#?Robot?arm?move?method.?Grab?from?Baxter?offical?website
def?IKMove（tranx?trany?tranz?rotax?rotay?rotaz?rotaw）:
????????right_arm?=?baxter_interface.Limb（‘left‘）
????????ns?=?“ExternalTools/“?+?‘left‘?+?“/PositionKinematicsNode/IKService“
????????iksvc?=?rospy.ServiceProxy（ns?SolvePositionIK）
????????ikreq?=?SolvePositionIKRequest（）
????????hdr?=?Header（stamp=rospy.Time.now（）?frame_id=‘base‘）
????????poses?=?{
????????????‘left‘:?PoseStamped（
????????????????header=hdr
????????????????pose=Pose（
????????????????????position=Point（
????????????????????????x=tranx
????????????????????????y=trany
????????????????????????z=tranz
????????????????????）
????????????????????orientation=Quaternion（
????????????????????????x=rotax
????????????????????????y=rotay
????????????????????????z=rotaz
????????????????????????w=rotaw
????????????????????）
????????????????）
????????????）
????????}
?
????????ikreq.pose_stamp.append（poses[‘left‘]）
????????try:
????????????rospy.wait_for_service（ns?5.0）
????????????resp?=?iksvc（ikreq）
????????except?（rospy.ServiceException?rospy.ROSException）?e:
????????????rospy.logerr（“Service?call?failed:?%s“?%?（e））
????????????return?1
?
????????#?Check?if?result?valid?and?type?of?seed?ultimately?used?to?get?solution
????????#?convert?rospy‘s?string?representation?of?uint8[]‘s?to?int‘s
????????resp_seeds?=?struct.unpack（‘<%dB‘?%?len（resp.result_type）
????????????????????????????????resp.result_type）
????????if?（resp_seeds[0]?!=?resp.RESULT_INVALID）:
????????????seed_str?=?{
????????????????????????ikreq.SEED_USER:?‘User?Provided?Seed‘
????????????????????????ikreq.SEED_CURRENT:?‘Current?Joint?Angles‘
????????????????????????ikreq.SEED_NS_MAP:?‘Nullspace?Setpoints‘
????????????????????}.get（resp_seeds[0]?‘None‘）
????????????print（“SUCCESS?-?Valid?Joint?Solution?Found?from?Seed?Type:?%s“?%
??????????????

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-10-15?20:04??Baxter_pick_cup_game-master\
?????文件?????????461??2018-10-15?20:04??Baxter_pick_cup_game-master\README.md
?????目錄???????????0??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\
?????文件????????6843??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\CMakeLists.txt
?????目錄???????????0??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\launch\
?????文件?????????466??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\launch\controller_manager.launch
?????文件????????7513??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\launch\kinect2_bridge.launch
?????文件?????????368??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\launch\start_tilt_controller.launch
?????目錄???????????0??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\msg\
?????文件??????????41??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\msg\pointarray.msg
?????文件????????3243??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\package.xml
?????文件?????????774??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\readme.txt
?????目錄???????????0??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\src\
?????文件????????6358??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\src\baxter_left_arm_move_new.py
?????文件????????2296??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\src\cup_detector.py
?????文件???????20237??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\src\cup_detector.xml
?????文件????????4694??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\src\location_convertor_three_cups.py
?????文件?????????280??2018-10-15?20:04??Baxter_pick_cup_game-master\baxter_pickup_cup\tilt.yaml
?????文件????25868695??2018-10-15?20:04??Baxter_pick_cup_game-master\pick_cup.gif