Commit 1d87d208 authored by Aleš Horák's avatar Aleš Horák
Browse files

correct handling of left and right arms (some values negated)

parent 8b72efa2

bin/set_arm_position.py

+7 −2
Original line number Diff line number Diff line
@@ -18,7 +18,9 @@ import tty, sys, termios, select 
#    'ElbowRoll': -0.81,

#    'WristYaw': -0.31,

#    'Hand': 0.54}

offerArmPoseStr = '0.86,0.43,-1.38,-0.81,-0.31,0.54'

LArmofferArmPoseStr = '0.86,0.43,-1.38,-0.81,-0.31,0.54'

RArmofferArmPoseStr = '0.86,-0.43,1.38,0.81,0.31,-0.54'

offerArmPoseStr = LArmofferArmPoseStr

printCheckTime = 2.0

last_show_time = 0

last_angles_diff = []
@@ -179,12 +181,15 @@ if __name__ == "__main__": 
                        help="Naoqi port number")

    parser.add_argument("--arm", type=str, default="LArm",

                        help="Which arm to move")

    parser.add_argument("--angles", type=str, default='0.86,0.43,-1.38,-0.81,-0.31,0.54',

    parser.add_argument("--angles", type=str, default=LArmofferArmPoseStr,

                        help="Set arm angles")

    parser.add_argument("--interactive", action='store_true',

                        help="Start interactive session")



    args = parser.parse_args()

    if args.arm == "RArm" and args.angles == LArmofferArmPoseStr:

        args.angles = RArmofferArmPoseStr



    session = qi.Session()

    try:

        session.connect("tcp://" + args.ip + ":" + str(args.port))