Commit 7e64c1de authored by Francois Keith's avatar Francois Keith
Browse files

Add missing viewer commands for robot-viewer in sot-concept.

parent d5e5d7e8
......@@ -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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