Commit f69be149 authored by Francois Keith's avatar Francois Keith
Browse files

Resets the posture of the robot between configs in sot-concept.py

parent b1361cc1
......@@ -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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