#!/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 = "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
# Turn in place on 90 degrees to the right.
#
# 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=3, duration=4.0)
msg.setTargetBaseShift(x=0, y=0.0, angle=-pi / 2)
msg.addEndEffectorsTargets(["leg1", "leg2", "leg3", "leg4"])
# send message to server
clop = Clopper("clop_generator")
clop.invokeClopGenerator(msg)