# It allows a user to open and close the gripper.
import sys
from blue_interface import BlueInterface
import numpy as np
import consts
if __name__ == '__main__':
blue = BlueInterface(
consts.default_arm, consts.default_address
) #creates object of class KokoInterface at the IP in quotes with the name 'blue'
opened = True
try:
while True:
input(
"Press enter to open/close the gripper. To exit, press <ctrl+c>."
)
if opened:
blue.command_gripper(-1.5, 20.0)
print("Closing...")
else:
blue.command_gripper(0.0, 10.0)
print("Opening...")
opened = not opened
except:
pass
blue.disable_control()
blue.shutdown()
import pickle # will use to save data between program launches
import sys
sys.path.append('blue_interface')
from blue_interface import BlueInterface # this is the API for the robot
sys.path.append('../../blue_vive_tracking/scripts')
from vive_tracking import ViveTracker
import random
import os
import time
import numpy as np
kk = BlueInterface(
"right", "hekate.cs.berkeley.edu"
) # creates object of class KokoInterface at the IP in quotes with the name 'kk'
kk.disable_control(
) # this turns off any other control currently on the robot (leaves it in gravtiy comp mode)
vv = ViveTracker()
kk.command_gripper(2.05, .1) #This isn't working
if not os.path.isfile('../results/benchmark_joint_angle_list.p'):
print("You should first run 'record_positions.py")
#TODO make this an actual error
joint_angle_list = pickle.load(
open("../results/benchmark_joint_angle_list.p", "rb")
) #uses the pickle function to read the binary file created in record_poses.py
pose_list = pickle.load(open("../results/benchmark_pose_list.p", "rb"))
location_list = [
import sys
sys.path.append('../../../../../blue_interface')
from blue_interface import BlueInterface
from control_benchmarking import ControllerVis
import time
import matplotlib.pyplot as plt
from sensor_msgs.msg import JointState
from std_msgs.msg import Float64MultiArray
from time import sleep
control_info = ControllerVis()
blu = BlueInterface("right","hekate.cs.berkeley.edu")
blu.disable_control()
sampling_delay = 1.0/125 # seconds, samples at about the same rate as the response is published (use rostopic hz /joint_states)
sample_duration = 2
# Helper functions
def record_rxn():
time_end = time.time() + sample_duration # 3 seconds from now
# Initialize
cmd = []
response = []
while time.time()< time_end:
cmd.append(control_info.get_reference_data())
response.append(control_info.get_response_data())
sleep(sampling_delay)
print "Samples collected: %d" % len(cmd)
