#!/usr/bin/env python
#
# Test for sweetie_bot::ClopClopGenerator EE
# Test final pose setting capabilities
#
# Deploy joint_space_control infrastructure before running test.
#
from math import pi
from sweetie_bot_clop_generator.clopper import Clopper, MoveBaseGoal
if __name__ == '__main__':
# create message
msg = MoveBaseGoal(gait_type="walk_overlap", n_steps=4, duration=3.4)
msg.setTargetBaseShift(x=0.4, y=0.0, angle=0.0)
# send message to server
clop = Clopper("clop_generator")
clop.invokeClopGenerator(msg)
#!/usr/bin/env python
#
# Test for sweetie_bot::ClopClopGenerator EE
# Test final pose setting capabilities
#
# Deploy joint_space_control infrastructure before running test.
#
from math import pi
from sweetie_bot_clop_generator.clopper import Clopper, MoveBaseGoal
if __name__ == '__main__':
# create message
msg = MoveBaseGoal(gait_type = "walk", n_steps = 4, duration = 4.0)
msg.setTargetBaseShift(x = 0.0, y = 0.2, angle = 0.0)
msg.addEndEffectorsTargets(["leg1","leg2","leg3","leg4"])
# send message to server
clop = Clopper("clop_generator")
clop.invokeClopGenerator(msg)
#!/usr/bin/env python
#
# Test for sweetie_bot::ClopClopGenerator EE
# Test final pose setting capabilities
#
# Deploy joint_space_control infrastructure before running test.
#
from math import pi
from sweetie_bot_clop_generator.clopper import Clopper, MoveBaseGoal
from sweetie_bot_clop_generator.msg import EndEffectorGoal
if __name__ == '__main__':
# create message
msg = MoveBaseGoal()
msg.execute_only = True
# send message to server
clop = Clopper("clop_generator")
clop.invokeClopGenerator(msg)
#!/usr/bin/env python
#
# Test for sweetie_bot::ClopClopGenerator EE
# Test final pose setting capabilities
#
# Deploy joint_space_control infrastructure before running test.
#
from math import pi
from sweetie_bot_clop_generator.clopper import Clopper, MoveBaseGoal
if __name__ == '__main__':
# create message
msg = MoveBaseGoal(gait_type="walk_overlap", n_steps=4, duration=3.4)
msg.setTargetBaseShift(x=-0.4, y=0.0, angle=0.0)
msg.addEndEffectorsTargets(["leg1", "leg2", "leg3", "leg4"])
# send message to server
clop = Clopper("clop_generator")
clop.invokeClopGenerator(msg)
#!/usr/bin/env python
#
# Test for sweetie_bot::ClopClopGenerator EE
# Test final pose setting capabilities
#
# Deploy joint_space_control infrastructure before running test.
#
from math import pi
from sweetie_bot_clop_generator.clopper import Clopper, MoveBaseGoal
if __name__ == '__main__':
# create message
msg = MoveBaseGoal(gait_type="trot", n_steps=5, duration=3.4)
msg.setTargetBaseShift(x=0.6, y=0.0, angle=0.0)
msg.addEndEffectorsTargets(["leg1", "leg2", "leg3", "leg4"])
# send message to server
clop = Clopper("clop_generator")
clop.invokeClopGenerator(msg)
#!/usr/bin/env python
#
# Test for sweetie_bot::ClopClopGenerator EE
# Test final pose setting capabilities
#
# Deploy joint_space_control infrastructure before running test.
#
from math import pi
from sweetie_bot_clop_generator.clopper import Clopper, MoveBaseGoal
from sweetie_bot_clop_generator.msg import EndEffectorGoal
if __name__ == '__main__':
# create message
msg = MoveBaseGoal(gait_type="free", n_steps=0, duration=1.0)
msg.setTargetBaseShift(x=0.0, y=0.0, angle=0.0)
msg.base_goal_bounds = MoveBaseGoal.POSE_FREE_XY
msg.addEndEffectorsTargets(["leg1"], EndEffectorGoal.PATH_INITIAL)
msg.setEndEffectorTargetPose("leg1", [0.080425, 0.0486, 0.01], 0, False)
msg.visualize_only = False
print(msg)
# send message to server
clop = Clopper("clop_generator")
clop.invokeClopGenerator(msg)
#!/usr/bin/env python
#
# Test for sweetie_bot::ClopClopGenerator EE
# Test final pose setting capabilities
#
# Deploy joint_space_control infrastructure before running test.
#
from math import pi
from sweetie_bot_clop_generator.clopper import Clopper, MoveBaseGoal
from sweetie_bot_clop_generator.msg import EndEffectorGoal
if __name__ == '__main__':
# create message
msg = MoveBaseGoal(gait_type = "free", n_steps = 0, duration = 3.0)
msg.setTargetBaseShift(x = 0.0, y = 0.0, angle = 0.0)
msg.addEndEffectorsTargets(["leg1","leg2","leg3","leg4"], EndEffectorGoal.PATH_FINAL)
msg.setEndEffectorTargetPose("leg1", [0.080425, 0.0386, 0.0])
msg.setEndEffectorTargetPose("leg2", [0.080425, -0.0386, 0.0])
msg.setEndEffectorTargetPose("leg3", [-0.080425, 0.0386, 0.0])
msg.setEndEffectorTargetPose("leg4", [-0.080425, -0.0386, 0.0])
print(msg)
# send message to server
clop = Clopper("clop_generator")
clop.invokeClopGenerator(msg)