Python makeCommandPose Examples

Example #1

File: user.py Project: s-creek/script

def test():
    pose = [ -30, 0, 0, 0, 0, 0,
              -30, 0, 0, 0, 0, 0,
              0, 0, 0,
              0, 0, 0,
              10, -5, 0, -30, 0, 0, 0,
              0, 0, 0, 0, 0, 0,
              10,  5, 0, -30, 0, 0, 0,
              0, 0, 0, 0, 0, 0 ]
    seq_svc.setJointAngles(bodyinfo.makeCommandPose(pose), 5.0)

Example #2

File: user.py Project: hsnuhayato/tsml

def goHalfSitting():
    tm = bodyinfo.timeToHalfsitPose
    seq_svc.setJointAngles(bodyinfo.makeCommandPose(bodyinfo.halfsitPose), tm)
    #seq_svc.setBasePos(bodyinfo.halfsitBasePos, tm)
    #seq_svc.setZmp([0.023, 0, -bodyinfo.halfsitBasePos[2] ], tm)
    seq_svc.waitInterpolation()

Example #3

File: user.py Project: hsnuhayato/tsml

def goInital():
    tm = bodyinfo.timeToInitialPose
    seq_svc.setJointAngles(bodyinfo.makeCommandPose(bodyinfo.initialPose), tm)
    #seq_svc.setBasePos([0.0, 0.0, bodyinfo.initialWaistHeight], tm)
    #seq_svc.setZmp([0.0, 0.0, -bodyinfo.initialWaistHeight], tm)
    seq_svc.waitInterpolation()

Example #4

File: sot_ben.py Project: benwayne182/hrp2_bike_dynamic

def setJointAnglesDeg(pose, tm, wait=True):
    seq_svc.setJointAngles(bodyinfo.makeCommandPose(pose), tm)
    if wait:
        seq_svc.waitInterpolation()

Example #5

File: user.py Project: s-creek/script

def goHalfSitting():
    tm = bodyinfo.timeToHalfsitPose
    seq_svc.setJointAngles(bodyinfo.makeCommandPose(bodyinfo.halfsitPose), tm)
    seq_svc.setBasePos([0.0274, 0.0, 0.7879], tm)
    seq_svc.setZmp([0.0274, 0.0, -0.7879], tm)
    seq_svc.waitInterpolation()

Example #6

File: sot_ben.py Project: benwayne182/hrp2_bike_dynamic

def setJointAnglesDeg(pose, tm, wait=True):
    seq_svc.setJointAngles(bodyinfo.makeCommandPose(pose), tm)
    if wait:
        seq_svc.waitInterpolation()