def main():
np.set_printoptions(suppress=True, precision=0, linewidth=200)
colorama.init(autoreset=True)
rospy_and_cpp_init("basic_motion")
victor = Victor()
victor.connect()
victor.open_left_gripper()
rospy.sleep(2)
victor.close_left_gripper()
rospy.sleep(2)
victor.open_right_gripper()
rospy.sleep(2)
victor.close_right_gripper()
rospy.sleep(2)
print("press enter if prompted")
# # Plan to joint config
myinput("Plan to joint config?")
victor.plan_to_joint_config(victor.right_arm_group, [0.35, 1, 0.2, -1, 0.2, -1, 0])
#
# # Plan to pose
myinput("Plan to pose 1?")
victor.plan_to_pose(victor.right_arm_group, victor.right_tool_name, [0.6, -0.2, 1.0, 4, 1, 0])
# Or you can use a geometry msgs Pose
myinput("Plan to pose 2?")
pose = Pose()
pose.position.x = 0.7
pose.position.y = -0.2
pose.position.z = 1.0
q = quaternion_from_euler(np.pi, 0, 0)
pose.orientation.x = q[0]
pose.orientation.y = q[1]
pose.orientation.z = q[2]
pose.orientation.w = q[3]
victor.plan_to_pose(victor.right_arm_group, victor.right_tool_name, pose)
# # Or with cartesian planning
myinput("Cartersian motion back to pose 3?")
victor.plan_to_position_cartesian(victor.right_arm_group, victor.right_tool_name, [0.9, -0.4, 0.9], step_size=0.01)
victor.plan_to_position_cartesian(victor.right_arm_group, victor.right_tool_name, [0.7, -0.4, 0.9], step_size=0.01)
# Move hand straight works either with jacobian following
myinput("Follow jacobian to pose 2?")
victor.store_current_tool_orientations([victor.right_tool_name])
victor.follow_jacobian_to_position(victor.right_arm_group, [victor.right_tool_name], [[[0.7, -0.4, 0.6]]])
victor.follow_jacobian_to_position(victor.right_arm_group, [victor.right_tool_name], [[[0.8, -0.4, 1.0]]])
victor.follow_jacobian_to_position(victor.right_arm_group, [victor.right_tool_name], [[[1.1, -0.4, 0.9]]])
victor.follow_jacobian_to_position(group_name=victor.right_arm_group,
tool_names=[victor.right_tool_name],
preferred_tool_orientations=[quaternion_from_euler(np.pi, 0, 0)],
points=[[[1.1, -0.2, 0.8]]])
roscpp_initializer.shutdown()
def main():
np.set_printoptions(suppress=True, precision=0, linewidth=200)
colorama.init(autoreset=True)
rospy_and_cpp_init("victor_ipython")
victor = Victor()
victor.connect()
victor.close_left_gripper()
victor.open_left_gripper()
victor.close_right_gripper()
victor.open_right_gripper()
ipdb.set_trace()
roscpp_initializer.shutdown()
This moves Victor's arms to a configuration where impedance validations tends to work well.
if you want to actually change the control mode, not just move to the position, set "_actually_switch:=true"
"""
import colorama
from colorama import Fore
import rospy
from arm_robots.victor import Victor
if __name__ == "__main__":
colorama.init(autoreset=True)
rospy.init_node("move_to_impedance_switch")
rospy.logwarn("Make sure you set up a conservative set of obstacles in gazebo")
rospy.logwarn("View the planning scene in RViz to see what the planner is aware of")
k = input("Did you set up a conservative set of obstacles in gazebo? [y/N]")
if k == 'Y' or k == 'y':
rospy.loginfo(Fore.CYAN + "you better not be lying...")
victor = Victor(robot_namespace='victor')
victor.connect()
actually_switch = rospy.get_param("~actually_switch", False)
if actually_switch:
rospy.loginfo("switching to impedance mode")
victor.move_to_impedance_switch(actually_switch=actually_switch)
rospy.loginfo("Done")
else:
rospy.loginfo("Answered 'no', aborting")