Exemple #1
0
    def run(self):
        for i in range(2, core.NUM_JOINTS):
            val = util.getPoseJoint(i, self.pose, self.reverse)
            if val != None:
                joint_commands.setJointCommand(i, val * core.DEG_T_RAD)

        joint_commands.send_body_angles_ = True
        joint_commands.body_angle_time = self.time * 1000.0
        walk_request.noWalk()
        kick_request.setNoKick()

        if self.getTime() > self.time:
            self.finish()
Exemple #2
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  def run(self):
    for i in range(2, core.NUM_JOINTS):
      val = util.getPoseJoint(i, self.pose)
      if val != None:
        core.joint_commands.setJointCommand(i, val * core.DEG_T_RAD)

    core.joint_commands.send_body_angles_ = True
    core.joint_commands.body_angle_time = self.time * 1000.0
    core.walk_request.noWalk()
    core.kick_request.setNoKick()

    if self.getTime() > self.time:
      self.finish()
Exemple #3
0
  def run(self):
    if self.first:
      for i in range(2, core.NUM_JOINTS):
        val = util.getPoseJoint(i, self.pose, self.reverse)
        if val != None:
          joint_commands.setJointCommand(i, val * core.DEG_T_RAD)

      joint_commands.send_body_angles_ = True
      joint_commands.body_angle_time_ = self.time * self.interpolate #1000.0
      walk_request.noWalk()
      kick_request.setNoKick()
      self.first = False

    if self.getTime() > self.time:
      self.finish()
    def toPose(self, pose, time):
      global pose_sent, pose_start_time, num_times_sent
      commands.setStiffness()
      times_to_send = 1
      if num_times_sent < times_to_send:
        for i in range(2, core.NUM_JOINTS):
          val = util.getPoseJoint(i, pose, False)
          if val != None:
            joint_commands.setJointCommand(i, val * core.DEG_T_RAD)

        joint_commands.send_body_angles_ = True
        joint_commands.body_angle_time_ = time * 1000.0
        walk_request.noWalk()
        kick_request.setNoKick()
        num_times_sent = num_times_sent+1
        pose_start_time = self.getTime()
        #print "Sending pose at time " + str(pose_start_time) + "! #" + str(num_times_sent)

      if num_times_sent >= times_to_send and ((self.getTime() - pose_start_time) > time):
        #print "DONE!"
        return True
      else:
        return False
Exemple #5
0
        def toPose(self, pose, time):
            global pose_sent, pose_start_time, num_times_sent
            commands.setStiffness()
            times_to_send = 1
            if num_times_sent < times_to_send:
                for i in range(2, core.NUM_JOINTS):
                    val = util.getPoseJoint(i, pose, False)
                    if val != None:
                        joint_commands.setJointCommand(i, val * core.DEG_T_RAD)

                joint_commands.send_body_angles_ = True
                joint_commands.body_angle_time_ = time * 1000.0
                walk_request.noWalk()
                kick_request.setNoKick()
                num_times_sent = num_times_sent + 1
                pose_start_time = self.getTime()
                #print "Sending pose at time " + str(pose_start_time) + "! #" + str(num_times_sent)

            if num_times_sent >= times_to_send and (
                (self.getTime() - pose_start_time) > time):
                #print "DONE!"
                return True
            else:
                return False