左右腕が違ったので反転

rt-net · Oct 10, 2024 · 3d11203 · 3d11203
1 parent b80158e
commit 3d11203
Showing 1 changed file with 16 additions and 16 deletions.
diff --git 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,
         )