def _demo_01(self): u"""dis bonjour avec le bras""" self._mt.display_text_center(' je vous dis bonjour ', 23, pad_char='-') pose_extended = { "shoulder": 170, # 82, "elbow": 60, # 73, "base": 240, "wrist": 202, "gripper": 150 } pose_to_the_right = { "base": 200 } pose_to_the_left = { "base": 280 } gesture = Gesture([ (pose_extended, 1), (None, 0.5), (pose_to_the_right, 0.5), (pose_to_the_left, 1), (pose_extended, 0.5), (None, 1), (self.pose_home, 2) ]) data = gesture.as_json() if self._arm_busname else gesture self._arm.execute_gesture(data)
def _move_arm_home(self): self._log.info('moving arm to its home position...') if AX12_ARM: gesture = Gesture([(self.pose_home, 2)]) data = gesture.as_json() if self._arm_busname else gesture self._arm.execute_gesture(data) else: # for j, a in self.pose_home.iteritems(): # self._log.info("- %-10s -> %5.1f", j, a) # self._arm.joints[j].set_goal_angle(a) self._arm.reset()