import rospy
from franka_interface import ArmInterface
if __name__ == '__main__':
rospy.init_node("test_robot")
r = ArmInterface()
cm = r.get_controller_manager()
import rospy
import numpy as np
from franka_interface import ArmInterface
"""
:info:
Demo showing ways to use API. Also shows how to move the robot using low-level controllers.
WARNING: The robot will move slightly (small arc swinging motion side-to-side) till code is killed.
"""
if __name__ == '__main__':
rospy.init_node("test_robot")
r = ArmInterface(
) # create arm interface instance (see https://justagist.github.io/franka_ros_interface/DOC.html#arminterface for all available methods for ArmInterface() object)
cm = r.get_controller_manager(
) # get controller manager instance associated with the robot (not required in most cases)
mvt = r.get_movegroup_interface(
) # get the moveit interface for planning and executing trajectories using moveit planners (see https://justagist.github.io/franka_ros_interface/DOC.html#franka_moveit.PandaMoveGroupInterface for documentation)
elapsed_time_ = rospy.Duration(0.0)
period = rospy.Duration(0.005)
r.move_to_neutral() # move robot to neutral pose
initial_pose = r.joint_angles() # get current joint angles of the robot
jac = r.zero_jacobian() # get end-effector jacobian
count = 0
rate = rospy.Rate(1000)
