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did some work

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Pavel Lutskov
2019-01-31 17:44:15 +01:00
parent e368cd9abe
commit 3217b7f841
10 changed files with 323 additions and 44 deletions
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18
script/imitator.py
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@@ -33,15 +33,15 @@ if __name__ == '__main__':
# torso movement
try:
_, q = ll.lookupTransform('odom',
'Aruco_0_frame',
rospy.Time(0))
rot = tf.transformations.euler_from_quaternion(q)
mp.setAngles(['LHipYawPitch', 'RHipYawPitch'],
[-rot[1], -rot[1]], 0.3)
except Exception as e:
rospy.logwarn(e)
# try:
# _, q = ll.lookupTransform('odom',
# 'Aruco_0_frame',
# rospy.Time(0))
# rot = tf.transformations.euler_from_quaternion(q)
# mp.setAngles(['LHipYawPitch', 'RHipYawPitch'],
# [-rot[1], -rot[1]], 0.3)
# except Exception as e:
# rospy.logwarn(e)
# continue