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apirrone 2025-05-30 11:03:42 +02:00
parent 8cfc3a0c47
commit c1847e63e5
1 changed files with 12 additions and 14 deletions
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26
scripts/idle_head.py
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@ -29,23 +29,21 @@ hwi.set_kps(kps)
hwi.set_kds(kds)
hwi.turn_on()
# limits = {
# "neck_pitch": [-20, 60],
# "head_pitch": [-60, 45],
# "head_yaw": [-60, 60],
# "head_roll": [-20, 20],
# }
# hwi.set_position("head_roll", head_roll_pos_rad)
# hwi.set_position("head_pitch", head_pitch_pos_rad)
t0 = 0.0
while True:
while time.time() - t0 < 10:
t = time.time() - t0
head_yaw_pos_rad = np.deg2rad(20) * np.sin(2*np.pi*0.2*t)
hwi.set_position("head_yaw", head_yaw_pos_rad)
# hwi.set_position("head_roll", head_roll_pos_rad)
# hwi.set_position("head_pitch", head_pitch_pos_rad)
hwi.set_position("head_yaw", np.deg2rad(30) * np.sin(2*np.pi*0.2*t))
time.sleep(0.01)
t0 = 0.0
while time.time() - t0 < 10:
t = time.time() - t0
hwi.set_position("pitch", np.deg2rad(10) * np.sin(2*np.pi*0.2*t))
time.sleep(0.01)