Baxter机器人在ros下，机械臂采集末端姿态并且轨迹还原

一、采集数据：
rosrun 采集程序，例如：joint_recoder.py
rosrun baxter_examples joint_recorder.py -f example_file #example_file 是你要保存的文件

#!/usr/bin/env python

# Copyright (c) 2013-2015, Rethink Robotics
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
#    this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in the
#    documentation and/or other materials provided with the distribution.
# 3. Neither the name of the Rethink Robotics nor the names of its
#    contributors may be used to endorse or promote products derived from
#    this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

import argparse

import rospy

import baxter_interface

from baxter_interface import CHECK_VERSION
class JointRecorder(object):
    def __init__(self, filename, rate):
        """
        Records joint data to a file at a specified rate.
        """
        self._filename = filename
        self._raw_rate = rate
        self._rate = rospy.Rate(rate)
        self._start_time = rospy.get_time()
        self._done = False

        self._limb_left = baxter_interface.Limb("left")
        self._limb_right = baxter_interface.Limb("right")

    def _time_stamp(self):
        return rospy.get_time() - self._start_time

    def stop(self):
        """
        Stop recording.
        """
        self._done = True

    def done(self):
        """
        Return whether or not recording is done.
        """
        if rospy.is_shutdown():
            self.stop()
        return self._done

    def record(self):
        """
        Records the current joint positions to a csv file if outputFilename was
        provided at construction this function will record the latest set of
        joint angles in a csv format.

        This function does not test to see if a file exists and will overwrite
        existing files.
        """
        if self._filename:
            joints_left = self._limb_left.joint_names()
            joints_right = self._limb_right.joint_names()
            with open(self._filename, 'w') as f:
                f.write('time,')
                f.write(','.join([j for j in joints_left]) + ',')
                f.write(','.join([j for j in joints_right]) + ',')
                while not self.done():
                    current_pose = self._limb_left.endpoint_pose()
                    endpoint_pose_left = [current_pose['position'].x,
                                          current_pose['position'].y,
                                          current_pose['position'].z]
                    current_pose = self._limb_right.endpoint_pose()                      
                    endpoint_pose_right = [current_pose['position'].x,
                                           current_pose['position'].y,
                                           current_pose['position'].z,]

                    f.write("%f," % (self._time_stamp(),))
                    f.write(','.join([str(x) for x in endpoint_pose_left]) + ',')
                    f.write(','.join([str(x) for x in endpoint_pose_right]) + '\n')

                    self._rate.sleep()

def main():
    """RSDK Joint Recorder Example

    Record timestamped joint and gripper positions to a file for
    later play back.

    Run this example while moving the robot's