From 4d78c5c85c1c80eac521eacaf9ae03de3358215c Mon Sep 17 00:00:00 2001 From: Jonas Date: Sun, 27 May 2018 15:38:00 +0200 Subject: [PATCH] added setangles.py --- scripts/setangles.py | 41 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 scripts/setangles.py diff --git a/scripts/setangles.py b/scripts/setangles.py new file mode 100644 index 0000000..8201dae --- /dev/null +++ b/scripts/setangles.py @@ -0,0 +1,41 @@ +# -*- encoding: UTF-8 -*- +# syntax +# python setangles.py x y + +import sys +from naoqi import ALProxy +import time + +def main(robotIP,x,y): + PORT = 9559 + + try: + motionProxy = ALProxy("ALMotion", robotIP, PORT) + except Exception,e: + print "Could not create proxy to ALMotion" + print "Error was: ",e + sys.exit(1) + + # activiert gelenke + motionProxy.setStiffnesses("Head", 1.0) + + # Example showing how to set angles, using a fraction of max speed + names = ["HeadYaw", "HeadPitch"] + angles = [x,y] + fractionMaxSpeed = 0.01 + print motionProxy.setAngles(names, angles, fractionMaxSpeed) + + #time.sleep(3.0) + #print motionProxy.setStiffnesses("Head", 0.0) + + +if __name__ == "__main__": + robotIp = "192.168.0.11" + + #if len(sys.argv) <= 1: + # print "Usage python almotion_setangles.py robotIP (optional default: 127.0.0.1)" + #else: + # robotIp = sys.argv[1] + x=float(sys.argv[1]) + y=float(sys.argv[2]) + main(robotIp,x,y)