def robot_dofs_data():
dof_values = request.form.get('dofdata', type=str, default=None)
# dof_values = request.form.get('values', type=str, default='')
# print(dof_values)
if dof_values is not None:
dof_values = yaml.load(dof_values, Loader=Loader)
if type(dof_values) is dict:
Robot.set_dof_values(dof_values)
elif type(dof_values) is list:
Robot.set_dof_list(dof_values)
tempDofs = Robot.get_dof_values()
return json.dumps({'success': True, 'dofs': tempDofs})
def set_emotion_index(self, index, anim_time=-1):
"""
Set an emotion with index in defined expression list, within a certain time.
"""
e = 0 + 0j
# Emotion from list
if index is None:
raise RuntimeError(
"Bad combination of parameters; index needs to be provided.")
index = constrain(index, 0, len(self.expressions) - 1)
exp = self.expressions[index]
if 'poly' in exp:
# 20 values in poly, (poly * 2*pi/20)
phi = constrain(exp['poly'] * math.pi / 10, 0.0, 2 * math.pi)
Robot.apply_poly(1.0, phi, anim_time)
if 'dofs' in exp:
# send dofs directly to the robot
Robot.set_dof_list(exp['dofs'], anim_time)