def RotateAxis(self, theta, axis):
'''Rotates the component an angle theta degrees around axis in global coordinates.'''
MiroAPI.rotateBody(self.body, rotAngle=theta, rotAxis=axis)
for name, linkp in self.linkpoints.items():
linkp_new = MiroAPI.rotateVector(linkp,
rotAngle=theta,
rotAxis=axis)
self.linkpoints.update({
name:
MiroAPI.rotateVector(linkp, rotAngle=theta, rotAxis=axis)
})
for name, linkd in self.linkdirs.items():
linkd_new = MiroAPI.rotateVector(linkd,
rotAngle=theta,
rotAxis=axis)
self.linkdirs.update({
name:
MiroAPI.rotateVector(linkd, rotAngle=theta, rotAxis=axis)
})
def Set_Ready(self):
MiroAPI.rotateBody(self.bulb, rotAngle=-180, rotAxis=self.bulb_pos)
def Set_Idle(self):
MiroAPI.rotateBody(self.bulb, rotAngle=180, rotAxis=self.bulb_pos)