def gotoZeroPos(): """ Set all the joints to 0 Wait some time to reach the position """ solver.clear() zeroPos = zeroPosition() push(zeroPos) time.sleep(5) pop(zeroPos)
def gotoZeroPos(): ''' Set all the joints to 0 Wait some time to reach the position ''' solver.clear() zeroPos = zeroPosition() push(zeroPos) time.sleep(5) pop(zeroPos)
def gotoSafePos(): """ Go to the safe position In this position the hands are away from the base Wait some time to reach the position """ solver.clear() safePos = safePosition() push(safePos) time.sleep(5) pop(safePos)
def gotoSafePos(duration=5, gain=0.01): ''' Go to the safe position In this position the hands are away from the base Wait some time to reach the position ''' #solver.clear() safePos = safePosition(gain) push(safePos) time.sleep(duration) pop(safePos)
def gotoSafePos(duration=5, gain=0.01): """ Go to the safe position In this position the hands are away from the base Wait some time to reach the position """ # solver.clear() safePos = safePosition(gain) push(safePos) time.sleep(duration) pop(safePos)