46 lines
1.2 KiB
Python
46 lines
1.2 KiB
Python
import sys
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sys.path.append("../lib")
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import unitree_arm_interface
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import time
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import numpy as np
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np.set_printoptions(precision=3, suppress=True)
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print("Press ctrl+\ to quit process.")
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arm = unitree_arm_interface.ArmInterface(hasGripper=True)
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armState = unitree_arm_interface.ArmFSMState
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arm.loopOn()
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# 1. highcmd_basic : armCtrlInJointCtrl
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arm.labelRun("forward")
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arm.startTrack(armState.JOINTCTRL)
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jnt_speed = 1.0
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for i in range(0, 1000):
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# dp = directions * speed; include 7 joints
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arm.jointCtrlCmd([0,0,0,-1,0,0,-1], jnt_speed)
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time.sleep(arm._ctrlComp.dt)
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# 2. highcmd_basic : armCtrlByFSM
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arm.labelRun("forward")
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gripper_pos = 0.0
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jnt_speed = 2.0
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arm.MoveJ([0.5,0.1,0.1,0.5,-0.2,0.5], gripper_pos, jnt_speed)
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gripper_pos = -1.0
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cartesian_speed = 0.5
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arm.MoveL([0,0,0,0.45,-0.2,0.2], gripper_pos, cartesian_speed)
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gripper_pos = 0.0
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arm.MoveC([0,0,0,0.45,0,0.4], [0,0,0,0.45,0.2,0.2], gripper_pos, cartesian_speed)
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# 3. highcmd_basic : armCtrlInCartesian
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arm.labelRun("forward")
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arm.startTrack(armState.CARTESIAN)
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angular_vel = 0.3
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linear_vel = 0.3
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for i in range(0, 1000):
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arm.cartesianCtrlCmd([0,0,0,0,0,-1,-1], angular_vel, linear_vel)
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time.sleep(arm._ctrlComp.dt)
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arm.backToStart()
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arm.loopOff()
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