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apirrone 2025-05-30 11:05:53 +02:00
parent 5f4caed2a8
commit 08be4dc2f3
1 changed files with 16 additions and 15 deletions
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31
scripts/idle_head.py
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@ -32,26 +32,27 @@ hwi.turn_on()
# hwi.set_position("head_roll", head_roll_pos_rad)
# hwi.set_position("head_pitch", head_pitch_pos_rad)
t0 = time.time()
while time.time() - t0 < 10:
t = time.time() - t0
while True:
t0 = time.time()
while time.time() - t0 < 10:
t = time.time() - t0
hwi.set_position("head_yaw", np.deg2rad(30) * np.sin(2*np.pi*0.2*t))
hwi.set_position("head_yaw", np.deg2rad(30) * np.sin(2*np.pi*0.2*t))
time.sleep(0.01)
time.sleep(0.01)
t0 = time.time()
while time.time() - t0 < 10:
t = time.time() - t0
t0 = time.time()
while time.time() - t0 < 10:
t = time.time() - t0
hwi.set_position("head_pitch", np.deg2rad(30) * np.sin(2*np.pi*0.2*t))
hwi.set_position("head_pitch", np.deg2rad(30) * np.sin(2*np.pi*0.2*t))
time.sleep(0.01)
time.sleep(0.01)
t0 = time.time()
while time.time() - t0 < 10:
t = time.time() - t0
t0 = time.time()
while time.time() - t0 < 10:
t = time.time() - t0
hwi.set_position("head_roll", np.deg2rad(30) * np.sin(2*np.pi*0.2*t))
hwi.set_position("head_roll", np.deg2rad(30) * np.sin(2*np.pi*0.2*t))
time.sleep(0.01)
time.sleep(0.01)