start_walk_pose.py
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00001 import rospy
00002 
00003 def startWalkPose(motionProxy):
00004         numJoints = len(motionProxy.getJointNames('Body'))
00005         
00006         allAngles = [
00007          0.0076280385255813599,     # HeadPitch
00008          0.019900038838386536,      # HeadYaw
00009          1.8085440397262573,        # LAnklePitch
00010          0.21165004372596741,       # LAnkleRoll
00011         -1.4680800437927246,        # LElbowRoll
00012         -0.52918803691864014,       # LElbowYaw
00013          0.0091620385646820068,     # LHand
00014          0.0011173889506608248,     # LHipPitch
00015          0.001575961709022522,      # LHipRoll
00016          0.024585962295532227,      # LHipYawPitch
00017         -0.37885606288909912,       # LKneePitch
00018          0.93723207712173462,       # LShoulderPitch
00019         -0.56301999092102051,       # LShoulderRoll
00020         -0.019900038838386536,      # LWristYaw
00021          0.001575961709022522,      # RAnklePitch
00022          0.024585962295532227,      # RAnkleRoll
00023         -0.37893998622894287,       # RElbowRoll
00024          0.9419180154800415,        # RElbowYaw
00025         -0.55986803770065308,       # RHand
00026         -0.024502038955688477,      # RHipPitch
00027          1.8224339485168457,        # RHipRoll
00028         -0.22247196733951569,       # RHipYawPitch
00029          1.4756660461425781,        # RKneePitch
00030          0.52160197496414185,       # RShoulderPitch
00031          0.001492038369178772,      # RShoulderRoll
00032          0.025117311626672745]      # RWristYaw
00033         
00034         if (numJoints == 26):
00035                 angles = allAngles
00036         elif (numJoints == 22):  #  no hands (e.g. simulator)
00037                 angles = allAngles[0:6] + allAngles[8:24]
00038         else:
00039            rospy.logerr("Unkown number of joints: %d", numJoints)
00040            return 
00041                 
00042         try:
00043                 motionProxy.angleInterpolation('Body', angles, 1.5, True);
00044 
00045         except RuntimeError,e:
00046                 print "An error has been caught"
00047                 print e
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nao_driver
Author(s): Armin Hornung, Stefan Osswald, Daniel Maier
autogenerated on Tue Oct 15 2013 10:06:23