def main(args):
pi = 3.1416
rospy.init_node('gummi', anonymous=True)
r = rospy.Rate(60)
cocont = 0.25
#desired = (0.77, 0.69, 0.64, 0.72, 0.10, -0.05, 0.01)
#desired = (0.0, 0.9, 0.25, 0.0, -0.2, 0.0, 0.01)
#desired = (0.0, 0.9, 0.3, 0.0, 0.15, 0.0, 0.01)
desired = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
gummi = Gummi()
print('WARNING: Moving joints sequentially to equilibrium positions.')
gummi.doGradualStartup()
print('WARNING: Moving to resting pose, hold arm!')
rospy.sleep(3)
gummi.goRestingPose(True)
for i in range(0, 400):
gummi.goRestingPose(False)
r.sleep()
print("GummiArm is live!")
gummi.setCocontraction(cocont, cocont, cocont, cocont, 0.4)
print("Moving arm into place.")
gummi.goTo(desired, True)
for i in range(0, 400):
gummi.goTo(desired, False)
r.sleep()
print("Setting co-contraction - hold arm.")
for i in range(0, 200):
gummi.servoTo(desired)
r.sleep()
print("Test started, cocontraction: " + str(cocont) + ".")
while True:
gummi.passiveHold()
r.sleep()
def main(args):
pi = 3.1416
rest = (0.0, -0.34770231192074535, 0.03579288505066496,
0.0030679615757712823, -0.7465373167710121, -1.55,
-0.0051132692929521375)
mid = (0.0, 0.10737865515199489, 0.14317154020265985, -0.21475731030398976,
-0.4755340442445488, -1.55, 0.0)
desired = (0.3170226961630325, 0.5777994301035916, 0.22498384888989406,
-0.2684466378799872, -0.3681553890925539, -1.25, 0.0)
width = 1.2 #0.6
frequency = 4.5
rospy.init_node('gummi', anonymous=True)
r = rospy.Rate(60)
hand_shake = HandShake()
gummi = Gummi()
gummi.setCocontraction(0.6, 0.6, 0.6, 0.6, 0.6)
print('WARNING: Moving joints sequentially to equilibrium positions.')
gummi.doGradualStartup()
print('WARNING: Moving to resting pose, hold arm!')
rospy.sleep(1)
for i in range(0, 400):
gummi.goTo(rest, False)
r.sleep()
print("GummiArm is live!")
do_shake_hand = False
hand_is_closed = False
time_counter = 1
while True:
hand_shake.doUpdate()
if do_shake_hand:
if time_counter < 60:
print "Moving, first step"
gummi.setCocontraction(0.6, 0.6, 0.85, 0.6, 0.2)
gummi.goTo(mid, False)
r.sleep()
else:
if time_counter < 250:
print "Moving, second step"
gummi.setCocontraction(0.5, 0.4, 0.6, 0.55, 0.2)
gummi.goTo(desired, False) # TODO: CALIB
r.sleep()
else:
print "Waiting..."
if time_counter < 1150:
if not hand_is_closed:
if hand_shake.havePersistentTouch():
print "Closing hand"
gummi.handClose.servoTo(1.5)
elbow_waiting = gummi.elbow.angle.getEncoder()
hand_is_closed = True
time_counter = 750
else:
elbow = elbow_waiting + width / 2 * math.sin(
frequency * time_counter / 60.0)
gummi.elbow.servoTo(elbow, 0.3)
else:
if time_counter < 1350:
print "Opening hand"
gummi.handClose.servoTo(-2.2)
hand_is_closed = False
else:
if time_counter < 1600:
print "Go to rest"
gummi.setCocontraction(0.6, 0.6, 0.6, 0.6, 0.6)
gummi.goTo(rest, False)
else:
print "Done with hand shake"
hand_shake.done()
do_shake_hand = False
time_counter = 0
time_counter = time_counter + 1
else:
print "Passive hold"
gummi.passiveHold()
if hand_shake.haveNewPerson():
if hand_shake.havePersistentPerson():
do_shake_hand = True
print "Do hand shake"
r.sleep()
