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)
'''
