names=module_names, hrdf_file=hrdf_file) arm.load_gains(gains_file) # Add the gripper gripper_family = arm_family gripper_name = 'gripperSpool' gripper_group = lookup.get_group_from_names([gripper_family], [gripper_name]) while gripper_group is None: print('Looking for gripper...') sleep(1) gripper_group = lookup.get_group_from_names([gripper_family], [gripper_name]) gripper = arm_api.Gripper(gripper_group, -5, 1) gripper.load_gains("gains/gripper_spool_gains.xml") arm.set_end_effector(gripper) # Create mobileIO object """ phone_name = "mobileIO" print('Waiting for Mobile IO device to come online...') m = create_mobile_io(lookup, arm_family, phone_name) if m is None: raise RuntimeError("Could not find Mobile IO device") m.set_led_color("blue") # as we start in grav comp m.clear_text() # Clear any garbage on screen m.update() """
# mobileIO setup phone_name = "mobileIO" lookup = hebi.Lookup() sleep(2) # Setup MobileIO print('Waiting for Mobile IO device to come online...') m = create_mobile_io(lookup, arm_family, phone_name) if m is None: raise RuntimeError("Could not find Mobile IO device") m.update() # Add the gripper gripper_family = arm_family gripper_name = 'gripperSpool' gripper = arm_api.Gripper(lookup.get_group_from_names([gripper_family], [gripper_name]), -5, 1) gripper.load_gains("gains/gripper_spool_gains.xml") arm.set_end_effector(gripper) # Demo Variables abort_flag = False run_mode = "softstart" goal = arm_api.Goal(arm.size) home_position = [0, np.pi/3, 2*np.pi/3, 5*np.pi/6, -np.pi/2, 0] # Command the softstart to the home position softstart = arm_api.Goal(arm.size) softstart.add_waypoint(t=4, position=home_position) arm.update() arm.set_goal(softstart)