def run_main():
fa = FrankaArm()
fa.reset_pose()
fa.reset_joints()
magnetic_calibration = MagneticCalibration()
fa.apply_effector_forces_torques(45, 0, 0, 0)
magnetic_calibration.calibrate()
import numpy as np
from frankapy import FrankaArm
from autolab_core import RigidTransform
if __name__ == '__main__':
print('Starting robot')
fa = FrankaArm()
fa.reset_pose()
fa.reset_joints()
print('Opening Grippers')
fa.open_gripper()
# random_position = RigidTransform(rotation=np.array([
# [1, 0, 0],
# [0, -1, 0],
# [0, 0, -1]
# ]), translation=np.array([0.3069, 0, 0.2867]),
# from_frame='franka_tool', to_frame='world')
# fa.goto_pose_with_cartesian_control(random_position, 10)
fa.apply_effector_forces_torques(10, 0, 0, 0)
import argparse
from frankapy import FrankaArm
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--time', '-t', type=float, default=100)
parser.add_argument('--open_gripper', '-o', action='store_true')
args = parser.parse_args()
print('Starting robot')
fa = FrankaArm()
if args.open_gripper:
fa.open_gripper()
print('Applying 0 force torque control for {}s'.format(args.time))
fa.apply_effector_forces_torques(args.time, 0, 0, 0)
