def __init__(self):
self.__unit = 'rad'
self.__joint_values = [0.0, 0.0, 0.0, 0.0, 0.0]
self.__joint_offset = [0.0, 0.0, 0.0, 0.0, 0.0]
self.__joint_uris = ["arm_joint_1", "arm_joint_2", "arm_joint_3", "arm_joint_4", "arm_joint_5"]
self.__modifiedSolutionPublisher = rospy.Publisher('/arm_1/arm_controller/position_command', brics_actuator.msg.JointPositions)
self.__ikSolutionSubscriber = rospy.Subscriber('ik_modifier_input', brics_actuator.msg.JointPositions, self.ik_modifier_input_callback)
IKControl.__init__(self, False)
self.armpub = rospy.Publisher('/ik_modifier_input', brics_actuator.msg.JointPositions)
def main():
"""Main method - Starts the ros node and runs the main loop"""
rospy.init_node("partyboy")
ikc = IKControl()
while 1:
ikc.drive_to_top(False)
sleep(2)
ikc.change_pos({"yaw": 0.378, "pitch": 1.387, "y": -0.0459, "x": 0.029, "z": 0.378, "roll": 0.29})
sleep(2)
def main():
"""Main method - Starts the ros node and opens the gripper"""
rospy.init_node("open_gripper")
ikc = IKControl(False)
rospy.sleep(2.0)
ikc.open_gripper()
