Writes the given desired positions. Args: motor_ids: The motor IDs to write to. positions: The joint angles in radians to write.
(self, motor_ids: Sequence[int],
positions: np.ndarray)
| 221 | return self._cur_reader.read() |
| 222 | |
| 223 | def write_desired_pos(self, motor_ids: Sequence[int], |
| 224 | positions: np.ndarray): |
| 225 | """Writes the given desired positions. |
| 226 | |
| 227 | Args: |
| 228 | motor_ids: The motor IDs to write to. |
| 229 | positions: The joint angles in radians to write. |
| 230 | """ |
| 231 | assert len(motor_ids) == len(positions) |
| 232 | |
| 233 | # Convert to Dynamixel position space. |
| 234 | positions = positions / self._pos_vel_cur_reader.pos_scale |
| 235 | self.sync_write(motor_ids, positions, ADDR_GOAL_POSITION, |
| 236 | LEN_GOAL_POSITION) |
| 237 | |
| 238 | def write_byte( |
| 239 | self, |
no test coverage detected