def main():
rospy.init_node("arm_controller")
cfg_server = Server(armConfig, lambda config, level: config)
#start two arm control for the robot
right_arm = ArmControl(cfg_server, "right")
left_arm = ArmControl(cfg_server, "left")
_loop_rate = rospy.Rate(100)
while not rospy.is_shutdown():
#do other important stuff here
#look up whether there is any change in poses, etc...
#currently, we just update the torques
right_arm._update_torque()
left_arm._update_torque()
#if we have extra time, sleep
_loop_rate.sleep()
'''
from xarm.wrapper import XArmAPI
from BodyGameRuntime import BodyGameRuntime
from ArmControl import ArmControl
from SerialCommunication import SerialCommunication
if __name__ == '__main__':
arm_left = XArmAPI('192.168.1.209')
arm_right = XArmAPI('192.168.1.151') # 连接控制器
arm_left.motion_enable(enable=True)
arm_right.motion_enable(enable=True) # 使能
arm_left.set_mode(0)
arm_right.set_mode(0) # 运动模式：位置控制模式
arm_left.set_state(state=0)
arm_right.set_state(state=0) # 运动状态：进入运动状态
s = SerialCommunication()
game = BodyGameRuntime()
arm = ArmControl(arm_left, arm_right)
while True:
a = s.ser()
if a == '88':
arm.initial()
game.run(arm)
arm.initial()
