def main(): rp = RobotParams() valid_limbs = rp.get_limb_names() if not valid_limbs: rp.log_message(("Cannot detect any limb parameters on this robot. " "Exiting."), "ERROR") return arg_fmt = argparse.RawDescriptionHelpFormatter parser = argparse.ArgumentParser(formatter_class=arg_fmt, description=main.__doc__) parser.add_argument('-n', '--name', dest='name') # args = parser.parse_args(rospy.myargv()[1:]) parser.add_argument('-s', '--start', dest='start', type=int) args = parser.parse_args(rospy.myargv()[1:]) rospy.init_node("Record" + str(uuid.uuid4().hex), log_level=rospy.ERROR) print "Record" + str(uuid.uuid4().hex) if args.start == None: args.start = 0 motion = RecordMotion('right', args.name, args.start) rospy.on_shutdown(motion.clean_shutdown) motion.record() return 0
def main(): rp = RobotParams() valid_limbs = rp.get_limb_names() if not valid_limbs: rp.log_message(("Cannot detect any limb parameters on this robot. " "Exiting."), "ERROR") return if len(valid_limbs) > 1: valid_limbs.append("all_limbs") arg_fmt = argparse.RawDescriptionHelpFormatter parser = argparse.ArgumentParser(formatter_class=arg_fmt, description=main.__doc__) parser.add_argument('-g', '--gripper', dest='gripper', default=valid_limbs[0], choices=[valid_limbs], help='gripper limb to control (default: both)') parser.add_argument('-n', '--no-lights', dest='lights', action='store_false', help='do not trigger lights on cuff grasp') parser.add_argument('-v', '--verbose', dest='verbosity', action='store_const', const=rospy.DEBUG, default=rospy.INFO, help='print debug statements') parser.add_argument( "-l", "--limb", dest="limb", default=valid_limbs[0], choices=valid_limbs, help="Limb on which to run the joint position keyboard example") args = parser.parse_args(rospy.myargv()[1:]) rospy.init_node('sawyer_metc_gripper'.format(args.gripper), log_level=args.verbosity) arms = ( args.gripper, ) if args.gripper != 'all_limbs' else valid_limbs[:-1] grip_ctrls = [GripperConnect(arm, args.lights) for arm in arms] rs = intera_interface.RobotEnable(CHECK_VERSION) rs.enable() rospy.on_shutdown(clean_shutdown) rospy.Subscriber("chatter", GripperControl, grip_ctrls[0]._handle_message) rospy.spin() return 0
def main(): """SDK Gripper Button Control Example Connects cuff buttons to gripper open/close commands: 'Circle' Button - open gripper 'Dash' Button - close gripper Cuff 'Squeeze' - turn on Nav lights Run this example in the background or in another terminal to be able to easily control the grippers by hand while using the robot. Can be run in parallel with other code. """ rp = RobotParams() valid_limbs = rp.get_limb_names() if not valid_limbs: rp.log_message(("Cannot detect any limb parameters on this robot. " "Exiting."), "ERROR") return if len(valid_limbs) > 1: valid_limbs.append("all_limbs") arg_fmt = argparse.RawDescriptionHelpFormatter parser = argparse.ArgumentParser(formatter_class=arg_fmt, description=main.__doc__) parser.add_argument('-g', '--gripper', dest='gripper', default=valid_limbs[0], choices=[valid_limbs], help='gripper limb to control (default: both)') parser.add_argument('-n', '--no-lights', dest='lights', action='store_false', help='do not trigger lights on cuff grasp') parser.add_argument('-v', '--verbose', dest='verbosity', action='store_const', const=rospy.DEBUG, default=rospy.INFO, help='print debug statements') args = parser.parse_args(rospy.myargv()[1:]) rospy.init_node('sdk_gripper_cuff_control_{0}'.format(args.gripper), log_level=args.verbosity) arms = ( args.gripper, ) if args.gripper != 'all_limbs' else valid_limbs[:-1] grip_ctrls = [GripperConnect(arm, args.lights) for arm in arms] print("Press cuff buttons for gripper control. Spinning...") rospy.spin() print("Gripper Button Control Finished.") return 0