From f69be1495ecf5e015198a9a2b7dda0fb92e7fd4f Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Sun, 2 Jun 2013 22:20:33 +0200
Subject: [PATCH] Resets the posture of the robot between configs in
sot-concept.py
---
python/ros/sot-concept.py | 11 ++++++++++-
1 file changed, 10 insertions(+), 1 deletion(-)
diff --git a/python/ros/sot-concept.py b/python/ros/sot-concept.py
index 9c6dfb8..3a3b7dc 100644
--- a/python/ros/sot-concept.py
+++ b/python/ros/sot-concept.py
@@ -325,8 +325,15 @@ ball.move((0.5,-0.2,1.0),0)
next()
next()
next()
-
+
+import time
def config(ref=0):
+ # reset the robot configuration
+ stop() # stop the control loop
+ time.sleep(0.1) # wait (pb of sync with the viewer)
+ robot.device.set(robot.halfSitting)
+ next() # manual reset of the robot's posture
+
if ref==0:
print '''Only the task RH'''
elif ref==1:
@@ -411,6 +418,8 @@ def menu(ref=0):
print '''6: Task RH + foot constraint + COM= + SINGULARITE '''
print '''7: Task RH + foot constraint + COM= + SINGULARITE + DAMPING'''
print ''
+ print '''Please re-type menu() to display this choice again'''
+ print ''
uinp = raw_input(' Config? >> ')
config(int(uinp))
--
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