| from interbotix_xs_modules.arm import InterbotixManipulatorXS |
| from robot_utils import move_arms, torque_on |
|
|
| def main(): |
| puppet_bot_left = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name=f'puppet_left', init_node=True) |
| puppet_bot_right = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name=f'puppet_right', init_node=False) |
| master_bot_left = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", robot_name=f'master_left', init_node=False) |
| master_bot_right = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", robot_name=f'master_right', init_node=False) |
|
|
| all_bots = [puppet_bot_left, puppet_bot_right] |
| for bot in all_bots: |
| torque_on(bot) |
|
|
| puppet_sleep_position = (0, -1.7, 1.55, 0.12, 0.65, 0) |
| master_sleep_position = (0, -1.1, 1.24, 0, -0.24, 0) |
| move_arms(all_bots, [puppet_sleep_position] * 2, move_time=2) |
|
|
| if __name__ == '__main__': |
| main() |
|
|
