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)
def basicStack(collision_activated=True, sleep_time=2):
push(taskJL)
solver.addContact(taskBASE)
if (collision_activated):
push(taskSC)
time.sleep(sleep_time)
def basicStack(collision_activated=True, sleep_time=2):
push(taskJL)
solver.addContact(taskBASE)
if collision_activated:
push(taskSC)
time.sleep(sleep_time)
