def main():
rp = RobotParams()
valid_limbs = rp.get_limb_names()
if not valid_limbs:
rp.log_message(("Cannot detect any limb parameters on this robot. "
"Exiting."), "ERROR")
return
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
parser.add_argument('-n', '--name', dest='name')
# args = parser.parse_args(rospy.myargv()[1:])
parser.add_argument('-s', '--start', dest='start', type=int)
args = parser.parse_args(rospy.myargv()[1:])
rospy.init_node("Record" + str(uuid.uuid4().hex), log_level=rospy.ERROR)
print "Record" + str(uuid.uuid4().hex)
if args.start == None:
args.start = 0
motion = RecordMotion('right', args.name, args.start)
rospy.on_shutdown(motion.clean_shutdown)
motion.record()
return 0
def main():
rp = RobotParams()
valid_limbs = rp.get_limb_names()
if not valid_limbs:
rp.log_message(("Cannot detect any limb parameters on this robot. "
"Exiting."), "ERROR")
return
if len(valid_limbs) > 1:
valid_limbs.append("all_limbs")
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
parser.add_argument('-g',
'--gripper',
dest='gripper',
default=valid_limbs[0],
choices=[valid_limbs],
help='gripper limb to control (default: both)')
parser.add_argument('-n',
'--no-lights',
dest='lights',
action='store_false',
help='do not trigger lights on cuff grasp')
parser.add_argument('-v',
'--verbose',
dest='verbosity',
action='store_const',
const=rospy.DEBUG,
default=rospy.INFO,
help='print debug statements')
parser.add_argument(
"-l",
"--limb",
dest="limb",
default=valid_limbs[0],
choices=valid_limbs,
help="Limb on which to run the joint position keyboard example")
args = parser.parse_args(rospy.myargv()[1:])
rospy.init_node('sawyer_metc_gripper'.format(args.gripper),
log_level=args.verbosity)
arms = (
args.gripper, ) if args.gripper != 'all_limbs' else valid_limbs[:-1]
grip_ctrls = [GripperConnect(arm, args.lights) for arm in arms]
rs = intera_interface.RobotEnable(CHECK_VERSION)
rs.enable()
rospy.on_shutdown(clean_shutdown)
rospy.Subscriber("chatter", GripperControl, grip_ctrls[0]._handle_message)
rospy.spin()
return 0
def main():
"""SDK Gripper Button Control Example
Connects cuff buttons to gripper open/close commands:
'Circle' Button - open gripper
'Dash' Button - close gripper
Cuff 'Squeeze' - turn on Nav lights
Run this example in the background or in another terminal
to be able to easily control the grippers by hand while
using the robot. Can be run in parallel with other code.
"""
rp = RobotParams()
valid_limbs = rp.get_limb_names()
if not valid_limbs:
rp.log_message(("Cannot detect any limb parameters on this robot. "
"Exiting."), "ERROR")
return
if len(valid_limbs) > 1:
valid_limbs.append("all_limbs")
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
parser.add_argument('-g',
'--gripper',
dest='gripper',
default=valid_limbs[0],
choices=[valid_limbs],
help='gripper limb to control (default: both)')
parser.add_argument('-n',
'--no-lights',
dest='lights',
action='store_false',
help='do not trigger lights on cuff grasp')
parser.add_argument('-v',
'--verbose',
dest='verbosity',
action='store_const',
const=rospy.DEBUG,
default=rospy.INFO,
help='print debug statements')
args = parser.parse_args(rospy.myargv()[1:])
rospy.init_node('sdk_gripper_cuff_control_{0}'.format(args.gripper),
log_level=args.verbosity)
arms = (
args.gripper, ) if args.gripper != 'all_limbs' else valid_limbs[:-1]
grip_ctrls = [GripperConnect(arm, args.lights) for arm in arms]
print("Press cuff buttons for gripper control. Spinning...")
rospy.spin()
print("Gripper Button Control Finished.")
return 0
def __init__(self, arm, name, start):
uri = "mongodb://*****:*****@sawyer-mongo.documents.azure.com:10255/?ssl=true"
client = MongoClient(uri)
self.db = client.SawyerDB
self.collection = self.db.Commands
self.commandName = name
self.commandNumber = start
rp = RobotParams()
self._lastJoin = {}
self.lastButtonPress = datetime.datetime.now()
self._rs = intera_interface.RobotEnable()
self._init_state = self._rs.state().enabled
print("Enabling robot... ")
self._rs.enable()
self._navigator_io = intera_interface.Navigator()
head_display = intera_interface.HeadDisplay()
head_display.display_image(
"/home/microshak/Pictures/Sawyer_Navigator_Main.png", False, 1.0)
valid_limbs = rp.get_limb_names()
self._arm = rp.get_limb_names()[0]
self._limb = intera_interface.Limb(arm)
if start == None:
limb = intera_interface.Limb("right")
limb.move_to_neutral()
print(self._arm)
# inputs
self._cuff = Cuff(limb='right')
self._navigator = Navigator()
# connect callback fns to signals
self._lights = None
self._lights = Lights()
self._cuff.register_callback(self._light_action,
'{0}_cuff'.format('right'))
try:
self._gripper = Gripper(self._arm)
#if not (self._gripper.is_calibrated() or self._gripper.calibrate() == True):
# rospy.logerr("({0}_gripper) calibration failed.".format(self._gripper.name))
# raise
except:
self._gripper = None
msg = ("{0} Gripper is not connected to the robot."
" Running cuff-light connection only.").format(
arm.capitalize())
rospy.logwarn(msg)
def __init__(self, Name):
CONNECTION_STRING = "HostName=RobotForman.azure-devices.net;DeviceId=PythonTest;SharedAccessKey=oh9Fj0mAMWJZpNNyeJ+bSecVH3cBQwbzjDnoVmeSV5g="
self.protocol = IoTHubTransportProvider.HTTP
self.client = IoTHubClient(CONNECTION_STRING, self.protocol)
self.client.set_option("messageTimeout", MESSAGE_TIMEOUT)
self.client.set_option("MinimumPollingTime", MINIMUM_POLLING_TIME)
self.client.set_message_callback(receive_message_callback,
RECEIVE_CONTEXT)
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('mid' + str(uuid.uuid4().hex), anonymous=True)
print 'mid' + str(uuid.uuid4().hex)
self.head_display = intera_interface.HeadDisplay()
self.head_display.display_image("/home/microshak/Pictures/Ready.png",
False, 1.0)
self.head = intera_interface.Head()
rp = RobotParams()
valid_limbs = rp.get_limb_names()
robot = moveit_commander.RobotCommander()
rp.max_velocity_scaling_factor = .5
scene = moveit_commander.PlanningSceneInterface()
self.group = moveit_commander.MoveGroupCommander("right_arm")
display_trajectory_publisher = rospy.Publisher(
'/move_group/display_planned_path',
moveit_msgs.msg.DisplayTrajectory,
queue_size=20)
self.light = Lights()
self.headLight("green")
# rs = intera_interface.RobotEnable(CHECK_VERSION)
self.group.clear_pose_targets()
self.endeffector = intera_interface.Gripper("right")
self.uri = "mongodb://*****:*****@sawyer-mongo.documents.azure.com:10255/?ssl=true"
self.Mongoclient = MongoClient(self.uri)
if Name == None:
self.poleIoTHub()
else:
self.completeCommands(Name)