54 lines
1.6 KiB
Python
54 lines
1.6 KiB
Python
import time
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import argparse
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from naoqi import ALProxy
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from math import radians
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def main(robotIP, PORT=9559):
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motionProxy = ALProxy("ALMotion", robotIP, PORT)
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motionProxy.setStiffnesses("Head", 1.0)
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motionProxy.setStiffnesses("LShoulderRoll",0.9)
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motionProxy.setStiffnesses("LHipPitch",0.9)
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# Example showing how to set angles, using a fraction of max speed
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#names = ["HeadYaw", "HeadPitch"]
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#angles = [0.2, -0.2]
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fractionMaxSpeed = 0.5
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names=["RShoulderRoll","RElbowRoll"]
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angles=[radians(-76),0]
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motionProxy.setAngles(names,angles,fractionMaxSpeed)
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time.sleep(3)
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fractionMaxSpeed = 0.01
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motionProxy.setStiffnesses("RAnkleRoll",0.9)
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names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll"]
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angles=[radians(-10),radians(-10),radians(-15),radians(-5)]
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motionProxy.setAngles(names, angles, fractionMaxSpeed)
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#motionProxy.waitUntilMoveIsFinished()
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time.sleep(6)
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motionProxy.setStiffnesses("RAnklePitch",0.9)
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names=["RKneePitch","RHipPitch","LAnklePitch"]
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angles=[radians(45),radians(-50),radians(-45)]
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motionProxy.setAngles(names, angles, fractionMaxSpeed)
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#time.sleep(3.0)
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#motionProxy.setStiffnesses("Head", 0.0)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("--ip", type=str, default="192.168.0.11",
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help="Robot ip address")
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parser.add_argument("--port", type=int, default=9559,
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help="Robot port number")
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args = parser.parse_args()
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main(args.ip, args.port)
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