remove ground plane and add new script to switch to impedance mode (w…

…ithout moving)

arm_robots/scripts/utility/switch_to_impedance.py

@@ -0,0 +1,24 @@
+#! /usr/bin/env python
+from victor_hardware_interface_msgs.msg import ControlMode
+import rospy
+from arm_robots.victor import Victor
+import sys
+import argparse
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--left", action="store_true")
+    parser.add_argument("--right", action="store_true")
+    args = parser.parse_args(rospy.myargv(sys.argv[1:]))
+
+    rospy.init_node("switch_to_impedance")
+
+    victor = Victor(robot_namespace='victor')
+    victor.connect()
+
+    if args.left:
+        print("left")
+        victor.set_left_arm_control_mode(ControlMode.JOINT_IMPEDANCE)
+    if args.right:
+        print("right")
+        victor.set_right_arm_control_mode(ControlMode.JOINT_IMPEDANCE)