from frankapy.utils import transform_to_list, min_jerk from tqdm import trange import rospy if __name__ == "__main__": fa = FrankaArm() fa.reset_joints() fa.close_gripper() while True: input( 'Presse [Enter] to enter guide mode and move robot to be on top of a flat surface.' ) fa.run_guide_mode() while True: inp = input('[r]etry or [c]ontinue? ') if inp not in ('r', 'c'): print('Please give valid input!') else: break if inp == 'c': break rospy.loginfo('Generating Trajectory') # EE will follow a 2D circle while pressing down with a target force dt = 0.01 T = 10 ts = np.arange(0, T, dt) N = len(ts)
import argparse from frankapy import FrankaArm if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('--time', '-t', type=float, default=100) parser.add_argument('--open_gripper', '-o', action='store_true') args = parser.parse_args() print('Starting robot') fa = FrankaArm() if args.open_gripper: fa.open_gripper() print('Applying 0 force torque control for {}s'.format(args.time)) fa.run_guide_mode(args.time)