81 lines
2.6 KiB
Python
81 lines
2.6 KiB
Python
# -*- encoding: UTF-8 -*-
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''' PoseInit: Small example to make Nao go to an initial position. '''
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# syntax: python motion_setter.py 0 -> Robot stands up
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# python motion_setter.py 1 -> Robot goes back to rest position
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import argparse
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from naoqi import ALProxy
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import sys
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def main(robotIP, PORT,rest):
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#def main(reset):
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motionProxy = ALProxy("ALMotion", robotIP, PORT)
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postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)
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AutonomousLifeProxy = ALProxy("ALAutonomousLife", robotIP,PORT)
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# Disable autonomous life
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AutonomousLifeProxy.setState("disabled")
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# Wake up robot
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motionProxy.wakeUp()
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# set the stiffnes
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motionProxy.setStiffnesses("Head", 1.0)
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motionProxy.setStiffnesses("RHand", 1.0)
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motionProxy.setStiffnesses("LHand", 1.0)
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motionProxy.setStiffnesses("LShoulderPitch", 1.0)
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motionProxy.setStiffnesses("LShoulderRoll", 1.0)
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motionProxy.setStiffnesses("LElbowRoll", 1.0)
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motionProxy.setStiffnesses("LWristYaw", 1.0)
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motionProxy.setStiffnesses("LElbowYaw", 1.0)
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motionProxy.setStiffnesses("LHipYawPitch", 1.0)
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motionProxy.setStiffnesses("LHipPitch", 1.0)
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motionProxy.setStiffnesses("LKneePitch", 1.0)
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motionProxy.setStiffnesses("LAnklePitch", 1.0)
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motionProxy.setStiffnesses("LHipRoll", 1.0)
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motionProxy.setStiffnesses("LAnkleRoll", 1.0)
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motionProxy.setStiffnesses("RShoulderPitch", 1.0)
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motionProxy.setStiffnesses("RShoulderRoll", 1.0)
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motionProxy.setStiffnesses("RElbowRoll", 1.0)
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motionProxy.setStiffnesses("RWristYaw", 1.0)
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motionProxy.setStiffnesses("RElbowYaw", 1.0)
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motionProxy.setStiffnesses("RHipYawPitch", 1.0)
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motionProxy.setStiffnesses("RHipPitch", 1.0)
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motionProxy.setStiffnesses("RKneePitch", 1.0)
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motionProxy.setStiffnesses("RAnklePitch", 1.0)
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motionProxy.setStiffnesses("RHipRoll", 1.0)
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motionProxy.setStiffnesses("RAnkleRoll", 1.0)
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# Send robot to Stand Init
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#postureProxy.goToPosture("StandInit", 0.5)
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# Go to rest position
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#print("")
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#if reset==1:
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# motionProxy.rest()
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rest=int(rest)
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if rest==1:
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motionProxy.rest()
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else:
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postureProxy.goToPosture("StandInit", 0.5)
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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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print(sys.argv[1])
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rest=sys.argv[1]
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#args = parser.parse_args()
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# main(args.ip, args.port,reset)
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main("192.168.0.11",9559,rest)
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