def check_roll_left():
global LH_rolling
if robot.LH_mode_roll == False:
LH_rolling = False
robot.left_limb.set_joint_positions(iksolver.ik_solve('left', robot.goalPose))
else:
roll('left')
LH_rolling = True
return
rospy.sleep(0.5)
rs = baxter_interface.RobotEnable()
rs.enable()
# Initialise robot to the given starting pose:
# "baxter" - for pick and place tasks
# "human" - for mimicking human motion
robot.initialise("human")
# Initialise subscribers
subscribers.create_subs()
# Flags for "roll mode"
RH_rolling = False
LH_rolling = False
while not rospy.is_shutdown():
while not robot.poseGoalReached():
if robot.RH_mode_roll == False:
RH_rolling = False
robot.right_limb.set_joint_positions(
iksolver.ik_solve('right', robot.goalPose))
check_roll_left()
else:
roll('right')
RH_rolling = True
check_roll_left()
# quit
quit()
# Initialize the ROS node and enable robot
rospy.init_node("Oculus_Baxter")
rospy.sleep(0.5)
rs = baxter_interface.RobotEnable()
rs.enable()
# Initialise robot to the given starting pose:
# "baxter" - for pick and place tasks
# "human" - for mimicking human motion
robot.initialise("human")
# Initialise subscribers
subscribers.create_subs()
# Flags for "roll mode"
RH_rolling = False
LH_rolling = False
while not rospy.is_shutdown():
while not robot.poseGoalReached():
if robot.RH_mode_roll == False:
RH_rolling = False
robot.right_limb.set_joint_positions(iksolver.ik_solve('right', robot.goalPose))
check_roll_left()
else:
roll('right')
RH_rolling = True
check_roll_left()
# quit
quit()