Can't find the python file named "smart_grasper.py"

Course Support Mastering with ROS - Smart Grasping System
1

In Unit 4, it said the file named smart_grasper.py can be found in the smart_grasping_sandbox package, but I don’t know where to find this file. And when I try to run the code that include get_object_pose and get_tip_pose functions, it can’t show the position information. Could you please help me to solve these two problems?

The result:
[ INFO] [1657635696.338133664]: Loading robot model ‘smart_grasping_sandbox’…
[ INFO] [1657635696.338194240]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1657635696.800747588, 2426.314000000]: Loading robot model ‘smart_grasping_sandbox’…
[ INFO] [1657635696.800807617, 2426.314000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1657635697.847461401, 2427.320000000]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace ‘MoveGroupExecuteService’ with ‘MoveGroupExecuteTrajectoryAction’ in move_group.launch
[ INFO] [1657635697.854249789, 2427.327000000]: Ready to take commands for planning group arm.
[ WARN] [1657635698.385511174, 2427.829000000]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace ‘MoveGroupExecuteService’ with ‘MoveGroupExecuteTrajectoryAction’ in move_group.launch
[ INFO] [1657635698.395459826, 2427.839000000]: Ready to take commands for planning group hand.
[INFO] [1657635698.751292, 2428.169000]: STARTING CONTROLLERS
[ WARN] [1657635699.334262428, 2428.620000000]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace ‘MoveGroupExecuteService’ with ‘MoveGroupExecuteTrajectoryAction’ in move_group.launch
[ INFO] [1657635699.341397708, 2428.627000000]: Ready to take commands for planning group arm.
[ WARN] [1657635699.763961237, 2429.021000000]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace ‘MoveGroupExecuteService’ with ‘MoveGroupExecuteTrajectoryAction’ in move_group.launch
[ INFO] [1657635699.771158068, 2429.029000000]: Ready to take commands for planning group hand.
[INFO] [1657635699.792328, 2429.043000]: STARTING CONTROLLERS
[INFO] [1657635699.906348, 2429.051000]: STARTING CONTROLLERS

2

You can find that file by “roscding” to the package. Look for it in the src folder.

roscd smart_grasping_sandbox
3

But it shows that “cannot stat ‘/home/simulations/public_sim_ws/src/all/shadow_robot_smart_grasping_sandbox/smart_grasping_sandbox/smart_grasping_sandbox/smart_grasper.py’: No such file or directory”. How to solve this?

4

I think the arm can be moved through this python code, but I failed to achieve this goal after programming according to notebook. Could you please share this part of code with me?

5

Use the follow command to copy the file (assuming you want to copy to your catkin_ws/src folder).

cp /home/simulations/public_sim_ws/src/all/shadow_robot_smart_grasping_sandbox/smart_grasping_sandbox/smart_grasping_sandbox/src/smart_grasping_sandbox/smart_grasper.py ~/catkin_ws/src
6

Thank you very much!

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