#!/usr/bin/env python3
import numpy as np
from time import sleep
import arm
import hebi
from hebi.util import create_mobile_io
# Set up arm
family_name = "Example Arm"
module_names = [
"J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"
]
hrdf = "hrdf/A-2085-06.hrdf"
p = arm.ArmParams(family_name, module_names, hrdf)
a = arm.Arm(p)
# Mobile device setup
phone_family = 'HEBI'
phone_name = "mobileIO"
lookup = hebi.Lookup()
sleep(2)
print('Waiting for Mobile IO device to come online...')
m = create_mobile_io(lookup, phone_family, phone_name)
if m is None:
raise RuntimeError("Could not find Mobile IO device")
m.update()
import arm
import hebi
from hebi.util import create_mobile_io
from time import sleep
# Set up arm
family_name = "Arm"
module_names = [
"J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"
]
hrdf = "hrdf/A-2085-06G.hrdf"
gripper_name = "gripperSpool"
p = arm.ArmParams(family_name,
module_names,
hrdf,
hasGripper=True,
gripperName=gripper_name)
a = arm.Arm(p)
a.loadGains("gains/A-2085-06.xml")
a.gripper.loadGains("gains/gripper_spool_gains.xml")
a.gripper.open()
# Mobile device setup
phone_family = 'Arm'
phone_name = "mobileIO"
lookup = hebi.Lookup()
sleep(2)
print('Waiting for Mobile IO device to come online...')