#!/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 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(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)