def _demo_01(self):
u"""dis bonjour avec le bras"""
self._mt.display_text_center(' je vous dis bonjour ', 23, pad_char='-')
pose_extended = {
"shoulder": 170, # 82,
"elbow": 60, # 73,
"base": 240,
"wrist": 202,
"gripper": 150
}
pose_to_the_right = {
"base": 200
}
pose_to_the_left = {
"base": 280
}
gesture = Gesture([
(pose_extended, 1),
(None, 0.5),
(pose_to_the_right, 0.5),
(pose_to_the_left, 1),
(pose_extended, 0.5),
(None, 1),
(self.pose_home, 2)
])
data = gesture.as_json() if self._arm_busname else gesture
self._arm.execute_gesture(data)
def _move_arm_home(self):
self._log.info('moving arm to its home position...')
if AX12_ARM:
gesture = Gesture([(self.pose_home, 2)])
data = gesture.as_json() if self._arm_busname else gesture
self._arm.execute_gesture(data)
else:
# for j, a in self.pose_home.iteritems():
# self._log.info("- %-10s -> %5.1f", j, a)
# self._arm.joints[j].set_goal_angle(a)
self._arm.reset()
