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()
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()
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
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