Demo Scripts

This section describes the demo scripts that come with the Trossen Arm driver.

What You Need

To get started, please make sure you have gone through the Configuration. For the driver’s concepts and how a script is structured, see the Programming Guide (Concepts and Writing a Script).

Demos

These demos ground the concepts from the Programming Guide in ready-to-run examples. Demos of three levels of complexity are provided with the driver.

Basics 

The basic demos show the must-know functionalities to get the arm up and running.

cartesian_position 

This script demonstrates how to perform position control in Cartesian space.

This script demonstrates how to configure and cleanup the driver. This is useful for switching between different arms without creating a new driver object. This script also demonstrates how to access the driver’s states and configurations.

gravity_compensation 

This script demonstrates how to do gravity compensation. This is useful for manually moving the arm to teach a trajectory or record specific positions.

gripper_torque 

This script demonstrates how to open and close the gripper.

set_mode 

This script demonstrates how to set the mode of the robot.

simple_move 

This script demonstrates how to move a robot to different positions.

mixed_interpolation_space 

This script tests transitions of the interpolation space.

arm_discovery 

This script discovers all Arm Controllers connected on a given subnet.

Intermediate 

The intermediate demos give examples on commonly-used configurations and application-specific control loops.

cartesian_external_effort 

This script demonstrates how to use external effort control in Cartesian space to do impedance control.

cartesian_velocity 

This script demonstrates how to use velocity control in Cartesian space to do admittance control.

configuration_in_yaml 

This script demonstrates how to exchange persistent configurations via a YAML file.

error_recovery_and_logging 

This script demonstrates how to recover from an error in the driver and how to use and modify the logging capabilities of the driver.

gravity_compensation_partial 

This script demonstrates how to compensate for a portion of the gravity.

move 

This script demonstrates how to write a control loop to move the robot to different positions and record the states.

move_two 

This script demonstrates how to move two robots to different positions using interpolation.

set_factory_reset_flag 

This script demonstrates how to reset all configuration options to their default values.

set_ip_method 

This script demonstrates how to set the IP method to DHCP or MANUAL.

set_joint_limits 

This script demonstrates how to set the joint limits of the arm.

set_manual_ip 

This script demonstrates how to set the manual IP address.

teleoperation 

This script demonstrates how to teleoperate the robots with force feedback.

Advanced 

The advanced demos show configurations that should be used with full understanding the implications.

set_joint_characteristics 

This script demonstrates how to set the joint characteristics in the EEPROM, using the effort corrections as an example.

joint_characteristics_finetune 

This script demonstrates how to finetune the joint characteristic of one joint.

set_motor_parameters 

This script demonstrates how to set the motor parameters of the arm.

What’s Next

These demos give you a foundation for developing your own applications. For more details on the driver API, please refer to the Trossen Arm Driver API.