def __init__(self,
starting_poss=None,
push_thresh=10,
mode='one_arm',
arm_mode='first'):
"""
Initialises parameters and moves the arm to a neutral
position.
"""
self.push_thresh = push_thresh
self._right_neutral_pos = starting_poss[0]
self._left_neutral_pos = starting_poss[1]
self._mode = mode
self._arm_mode = arm_mode
rospy.loginfo("Creating interface and calibrating gripper")
self._right_limb = Limb('right')
self._left_limb = Limb('left')
self._right_gripper = Gripper('right', CHECK_VERSION)
self._right_gripper.calibrate()
self._left_gripper = Gripper('left', CHECK_VERSION)
self._left_gripper.calibrate()
self._is_right_fist_closed = False
self._is_left_fist_closed = False
rospy.loginfo("Moving to neutral position")
self.move_to_neutral()
rospy.loginfo("Initialising PoseGenerator")
self._pg = PoseGenerator(self._mode, self._arm_mode)
self._sub_right_gesture = rospy.Subscriber(
"/low_myo/gesture", UInt8, self._right_gesture_callback)
self._sub_left_gesture = rospy.Subscriber("/top_myo/gesture", UInt8,
self._left_gesture_callback)
self._last_data = None
self._pg.calibrate()
def __init__(self,
limb,
starting_pos=None,
push_thresh=100,
mode='positions',
rgbd=False):
self.limb_name = limb
self._limb = baxter_interface.Limb(self.limb_name)
self._neutral_pos = starting_pos
self._mode = mode
rospy.loginfo("Moving to neutral position")
self.move_to_neutral()
rospy.loginfo("Initialising PoseGenerator")
self._pg = PoseGenerator(limb, self._mode, self._limb.endpoint_pose())
