Python get Exemples

Exemple #1

import math, time, random
import pepper_interface

IP = "192.168.0.147"
PORT = 9559
simulation = False

with pepper_interface.get(IP, PORT, simulation) as pepper:

    left_joints = pepper.arms.get_joints(True)
    right_joints = pepper.arms.get_joints(False)

    left_posture = {joint: 0.0 for joint in left_joints}
    right_posture = {joint: 0.0 for joint in right_joints}

    pepper.arms.set(True, left_posture, velocity=0.4)
    pepper.arms.set(False, right_posture, velocity=0.4)

    # waiting while left arm active
    while pepper.arms.running(True):
        time.sleep(0.01)
    # waiting while right arm active
    while pepper.arms.running(False):
        time.sleep(0.01)

Exemple #2

import math, time, random
import pepper_interface

IP = "192.168.0.147"
PORT = 9559
simulation = False

publish = True

with pepper_interface.get(IP, PORT, simulation, publish=publish) as pepper:

    time.sleep(60)

Exemple #3

import math, time, random
import pepper_interface

IP = "192.168.0.147"
PORT = 9559
simulation = False

posture = {
    'RShoulderRoll': -0.33133983612060547,
    'RWristYaw': 0.8620660305023193,
    'RElbowRoll': 0.9035146236419678,
    'RElbowYaw': 0.5077476501464844,
    'RShoulderPitch': 0.38042736053466797
}

with pepper_interface.get(IP, PORT, simulation, stop=False) as pepper:

    target_time = time.time() + 5.0

    pepper.arms.set(False, posture, target_time=target_time)

    time.sleep(6.0)

Exemple #4

import math,time,random
import pepper_interface
import sys

IP = "192.168.0.147"
PORT = 9559
simulation = False

# this will make sure camera ir is published
camera_calibration=True
publish = True

with pepper_interface.get(IP,PORT,
                          simulation,
                          publish=publish,
                          camera_calibration=camera_calibration) as pepper:

    running = True
    
    while running:
        try :
            time.sleep(0.1)
        except KeyboardInterrupt :
            running=False