def take_picture(self):
rtde.disengage()
rtde.go_camera()
rtde.take_picture()
rtde.resume()
rtde.go_start_disengaged()
rtde.engage()
pass
def reset(self):
rtde.go_start_via_path()
pass
def go_to_coordinates(self, coordinates):
new_pos = rtde.current_position()
new_pos[0] = coordinates[0]
new_pos[2] = coordinates[1]
rtde.move_to_position_no_append(new_pos)
pass
def turn_clockwise(self):
current_pos = rtde.current_position()
current_pos[4] -= RealWorld.pi * RealWorld.turn_constant / 180
rtde.move_to_position(current_pos)
pass
def move_down(self):
current_pos = rtde.current_position()
current_pos[2] += RealWorld.scaling_constant
rtde.move_to_position(current_pos)
pass
def move_left(self):
current_pos = rtde.current_position()
current_pos[0] -= RealWorld.scaling_constant
rtde.move_to_position(current_pos)
pass