def standFromSit(): # Stands from sit down position.
config.stiffnessOn() # Turns the stiffness on.
motionProxy.angleInterpolationWithSpeed("Body", sit3(), 0.3)
motionProxy.angleInterpolationWithSpeed("Body", sit4(), 0.3)
motionProxy.angleInterpolationWithSpeed("Body", stand6(), 0.65)
motionProxy.angleInterpolationWithSpeed("Body", sit1(), 0.4)
motionProxy.angleInterpolationWithSpeed("Body", sit2(), 0.2)
motionProxy.angleInterpolationWithSpeed("Body", poseInt(), 1.0)
fallcheck.checkFall()
def sitDown(): # Sits down from standup position.
config.stiffnessOn() # Turns the stiffness on.
motionProxy.angleInterpolationWithSpeed("Body", poseInt(), 1.0)
motionProxy.angleInterpolationWithSpeed("Body", sit2(), 1.0)
motionProxy.angleInterpolationWithSpeed("Body", sit1(), 0.4)
motionProxy.angleInterpolationWithSpeed("Body", stand6(), 0.7)
motionProxy.angleInterpolationWithSpeed("Body", sit4(), 0.4)
motionProxy.angleInterpolationWithSpeed("Body", sit5(), 0.4)
motionProxy.angleInterpolationWithSpeed("Body", sit3(), 1.0)
fallcheck.checkFall()
def standUpOnFront(): # Stands up from its belly.
config.stiffnessOn() # Turns the stiffness on.
motionProxy.angleInterpolationWithSpeed("Body", standUpFront(), 0.5)
motionProxy.angleInterpolationWithSpeed("Body", standUpFront1(), 0.5)
motionProxy.angleInterpolationWithSpeed("Body", standUpFront2(), 1.0)
motionProxy.angleInterpolationWithSpeed("Body", standUpFront3(), 0.1)
motionProxy.angleInterpolationWithSpeed("Body", standUpFront4(), 0.1)
motionProxy.angleInterpolationWithSpeed("Body", standUpFront5(), 0.1)
fallcheck.checkFall()
standFromSit()
print "standing front"
def standUp(): # Stand up from its back.
config.stiffnessOn() # Turns the stiffness on.
motionProxy.angleInterpolationWithSpeed("Body", stand(), 1.0)
motionProxy.angleInterpolationWithSpeed("Body", stand1(), 1.0)
motionProxy.angleInterpolationWithSpeed("Body", stand2(), 1.0)
motionProxy.angleInterpolationWithSpeed("Body", stand3(), 0.8)
motionProxy.angleInterpolationWithSpeed("Body", stand4(), 0.8)
motionProxy.angleInterpolationWithSpeed("Body", stand5(), 0.8)
motionProxy.angleInterpolationWithSpeed("Body", stand6(), 0.8)
motionProxy.angleInterpolationWithSpeed("Body", stand7(), 0.8)
motionProxy.angleInterpolationWithSpeed("Body", stand8(), 0.8)
motionProxy.angleInterpolationWithSpeed("Body", stand9(), 0.8)
motionProxy.angleInterpolationWithSpeed("Body", poseInt(), 0.8)
fallcheck.checkFall()
print "standing back"
