def executePose(self, pose): # set positions and wait that the actuator reaching that position dontSupportedJoints = self.sysConf.getVrepNotImplementedBioloidJoints() RobotImplementedJoints = [] for joint in self.joints: if joint not in dontSupportedJoints: RobotImplementedJoints.append(joint) for joint in RobotImplementedJoints: angle = pose.getValue(joint) angleAX = AXAngle() angleAX.setDegreeValue(angle) # TODO implement method for setting position of all actuators at the same time self.actuator.move_actuator( self.robotConfiguration.loadJointId(joint), int(angleAX.getValue()), self.defaultSpeed ) self.poseExecuted = self.poseExecuted + 1 time.sleep(3)
def executePose(self, pose): #set positions and wait that the actuator reaching that position #TODO tener en cuenta los motores que están invertidos, creo que los únicos que están quedando son los de los hombros for joint in self.RobotImplementedJoints: if joint == "L_Hip_Pitch": angle = pose.getValue(joint) print "el angulo es: ", angle angleAX = AXAngle() angleAX.setDegreeValue(300 - angle) #TODO implement method for setting position of all actuators at the same time self.actuator.move_actuator(self.robotConfiguration.loadJointId(joint), int(angleAX.getValue()), self.defaultSpeed) self.poseExecuted = self.poseExecuted + 1 print "pose executed!" time.sleep(0.2) '''