update figure eight example

Author: danielsanjosepro

examples/01_figure_eight.py

@@ -6,17 +6,17 @@
 
 from crisp_py.robot import make_robot
 
-left_arm = make_robot("fr3")
-left_arm.wait_until_ready()
+robot = make_robot("fr3")
+robot.wait_until_ready()
 
 # %%
-print(left_arm.end_effector_pose)
-print(left_arm.joint_values)
+print(robot.end_effector_pose)
+print(robot.joint_values)
 
 # %%
 print("Going to home position...")
-left_arm.home()
-homing_pose = left_arm.end_effector_pose.copy()
+robot.home()
+homing_pose = robot.end_effector_pose.copy()
 
 
 # %%
@@ -29,8 +29,8 @@
 max_time = 8.0
 
 # %%
-left_arm.controller_switcher_client.switch_controller("cartesian_impedance_controller")
-left_arm.cartesian_controller_parameters_client.load_param_config(
+robot.controller_switcher_client.switch_controller("cartesian_impedance_controller")
+robot.cartesian_controller_parameters_client.load_param_config(
     # file_path="config/control/gravity_compensation.yaml"
     # file_path="config/control/default_operational_space_controller.yaml"
     # file_path="config/control/clipped_cartesian_impedance.yaml"
@@ -39,7 +39,7 @@
 
 # %%
 # The move_to function will publish a pose to /target_pose while interpolation linearly
-left_arm.move_to(position=center, speed=0.15)
+robot.move_to(position=center, speed=0.15)
 
 # %%
 # The set_target will directly publish the pose to /target_pose
@@ -49,21 +49,21 @@
 
 print("Starting to draw a circle...")
 t = 0.0
-target_pose = left_arm.end_effector_pose.copy()
-rate = left_arm.node.create_rate(ctrl_freq)
+target_pose = robot.end_effector_pose.copy()
+rate = robot.node.create_rate(ctrl_freq)
 
 while t < max_time:
     x = center[0]
     y = radius * np.sin(2 * np.pi * sin_freq_y * t) + center[1]
     z = radius * np.sin(2 * np.pi * sin_freq_z * t) + center[2]
     target_pose.position = np.array([x, y, z])
 
-    left_arm.set_target(pose=target_pose)
+    robot.set_target(pose=target_pose)
 
     rate.sleep()
 
-    ee_poses.append(left_arm.end_effector_pose.copy())
-    target_poses.append(left_arm._target_pose.copy())
+    ee_poses.append(robot.end_effector_pose.copy())
+    target_poses.append(robot._target_pose.copy())
     ts.append(t)
 
     t += 1.0 / ctrl_freq
@@ -73,8 +73,8 @@
 
     rate.sleep()
 
-    ee_poses.append(left_arm.end_effector_pose.copy())
-    target_poses.append(left_arm._target_pose.copy())
+    ee_poses.append(robot.end_effector_pose.copy())
+    target_poses.append(robot._target_pose.copy())
     ts.append(t)
 
     t += 1.0 / ctrl_freq
@@ -114,7 +114,7 @@
 # %%
 
 print("Going back home.")
-left_arm.home()
+robot.home()
 
 # %%
-left_arm.shutdown()
+robot.shutdown()