예제 #1
0
class RightHandMouvBehave(pypot.primitive.LoopPrimitive):

    def __init__(self, robot, freq):
        pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
        
        self.my_sinus = Sinus(self.robot, 50, [self.robot.r_elbow_y], amp=20, freq=1, offset=-40)
        self.my_cosinus = Cosinus(self.robot, 50, [self.robot.r_arm_z], amp=20, freq=1, offset=-20)
        
    def setup(self):
        robot = self.robot

        for m in robot.r_arm:
            m.compliant = False
        
        robot.r_shoulder_x.goto_position(-20, 1, wait=False)
        robot.r_shoulder_y.goto_position(-30, 1, wait=False)
        robot.r_arm_z.goto_position(100, 2, wait=False)
        robot.r_elbow_y.goto_position(-100, 2, wait=True)

        self.my_sinus.start()
        self.my_cosinus.start()

    def teardown(self):
        robot = self.robot

        self.my_sinus.stop()
        self.my_cosinus.stop()

        for m in robot.r_arm:
            m.compliant = True

        time.sleep(1)

    def update(self):
        pass
예제 #2
0
 def __init__(self, robot, freq):
     pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
     
     self.my_sinus = Sinus(self.robot, 50, [self.robot.r_elbow_y], amp=20, freq=1, offset=-40)
     self.my_cosinus = Cosinus(self.robot, 50, [self.robot.r_arm_z], amp=20, freq=1, offset=-20)