From 7e64c1de2d7c79aa11c0fd8f1e87b6871eb763dc Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Wed, 20 Feb 2013 10:54:20 +0100
Subject: [PATCH] Add missing viewer commands for robot-viewer in sot-concept.
---
python/ros/sot-concept.py | 7 +++----
1 file changed, 3 insertions(+), 4 deletions(-)
diff --git a/python/ros/sot-concept.py b/python/ros/sot-concept.py
index 25219ba..9c6dfb8 100644
--- a/python/ros/sot-concept.py
+++ b/python/ros/sot-concept.py
@@ -268,9 +268,8 @@ def pop(task):
RAD=pi/180
comproj = [0.1,-0.95,1.6]
#robot.viewer.updateElementConfig('footproj',[0.5,0.15,1.6+0.08,0,-pi/2,0 ])
-# robot.viewer.updateElementConfig('footproj',comproj+[0,-pi/2,0 ])
-#robot.viewer.updateElementConfig('zmp2',[0,0,-10,0,0,0])
-
+robot.device.viewer.updateElementConfig('footproj',comproj+[0,-pi/2,0 ])
+robot.device.viewer.updateElementConfig('zmp2',[0,0,-10,0,0,0])
class BallPosition:
def __init__(self,xyz=(0,-1.1,0.9)):
@@ -297,7 +296,7 @@ class BallPosition:
def moveDisplay(self):
tau = 1.0 if self.duration<=0 else float(self.t) / self.duration
xyz = tau * array(self.ball) + (1-tau) * array(self.prec)
-# robot.viewer.updateElementConfig('zmp',vectorToTuple(xyz)+(0,0,0))
+ robot.device.viewer.updateElementConfig('zmp',vectorToTuple(xyz)+(0,0,0))
self.t += 1
if self.t>self.duration and self.duration>0:
--
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