How to use:

• Launch the grasper.launch file, which will initialize the UR drivers as well as a freedrive node which can be commanded by other scripts
• Run perform_grasp.py, which moves the arm back linearly

For an example of how to analyze the resulting pickle files, run the analyze_results.py file with a generated file (e.g. rosrun apple_grasper analyze_results.py grasper_20190913151006.pickle)

Be warned! The current trajectory is done using an IK solver which I randomly found online; this could result in weird movement near singularities. KEEP YOUR HAND ON THE RED BUTTON AT ALL TIMES!

• I'm trying to run the grasp script, but the robot isn't responding! First, check the tab which the UR driver is running on and see if it says it's received the trajectory. If it has, check on the bottom of the teach pendant where it says "Speed 100%" and see if there's a "(0%)" next to it. If there is, this is a sign the tablet may be stuck in freedrive mode, in which case rebooting the robot should work.