def move_torso(angle=1, percent_max_speed=0.4): torso = { 'RHP': 1.0, 'LHP': 1.0, 'RSP': 0.480417754569, 'LSP': 0.0496083550914, 'RSR': 1.12532637076, 'LSR': -1.10966057441, 'RER': -2.13838120104, 'LER': 2.18263145891, 'REY': -0.258485639687, 'LEY': 0.853785900783, 'RWY': 0.167101827676, 'LWY': -0.180156657963 } for joint in torso: Robot.move_limbs(joint, angle * torso[joint] * 0.0174533, percent_max_speed)
def move_legs(angle, percent_max_speed=0.5): legs = ['RKP', 'LKP'] for joint in legs: Robot.move_limbs(joint, angle * 0.0174533, percent_max_speed)
def move_torso(angle, percent_max_speed=0.5): for joint in torso_dict: Robot.move_limbs(joint, angle * torso_dict[joint] * 0.0174533, percent_max_speed)
from limb_data_2020 import values from torso_and_legs import torso_dict, torso_speed, legs_dict, legs_speed Robot = Robot(values, positions, ALProxy) calls = np.linspace(100, 1000, 10) joint_calls = np.linspace(10, 100, 10) ########## #Joint movement timing test ########## times_JM = [] start_time_JM = time.time() for i in range(10): for j in range(10): Robot.move_limbs('LKP', 0.0, 0.5) times_JM.append(time.time() - start_time_JM) print "joint movements done" ########## #Get Posture timing test ########## times_GP = [] start_time_GP = time.time() for i in range(10): for j in range(100): Robot.get_posture() times_GP.append(time.time() - start_time_GP) print "get posture done" ########## #Set Posture timing test ##########