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
##########
