Python ALProxy.goToPosture方法代码示例

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
 def exe(self, args=None, addr=None):
     
     # create proxy
     postureProxy = ALProxy("ALRobotPosture", Settings.naoHostName, Settings.naoPort)
     
     # stand up
     postureProxy.goToPosture("Stand", 0.8)

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(robotIP, PORT=9559):
    ''' Example showing a hand ellipsoid
    Warning: Needs a PoseInit before executing
    '''

    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot
    motionProxy.wakeUp()

    # Send robot to Stand Init
    postureProxy.goToPosture("StandInit", 0.5)

    #tts = ALProxy("ALTextToSpeech", "192.168.2.17", 9559)
    tts = ALProxy("ALTextToSpeech", "168.156.34.195", 9559)
    tts.say("Hello, I'm going to move my left arm.")
    tts.say("Then I will go back to the rest position!")
    
    effector   = "LArm"
    frame      = motion.FRAME_TORSO
    axisMask   = almath.AXIS_MASK_VEL    # just control position
    useSensorValues = False

    path = []
    currentTf = motionProxy.getTransform(effector, frame, useSensorValues)
    # point 1
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 -= 0.05 # y
    path.append(list(targetTf.toVector()))

    # point 2
    targetTf  = almath.Transform(currentTf)
    targetTf.r3_c4 += 0.04 # z
    path.append(list(targetTf.toVector()))

    # point 3
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 += 0.04 # y
    path.append(list(targetTf.toVector()))

    # point 4
    targetTf  = almath.Transform(currentTf)
    targetTf.r3_c4 -= 0.02 # z
    path.append(list(targetTf.toVector()))

    # point 5
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 -= 0.05 # y
    path.append(list(targetTf.toVector()))

    # point 6
    path.append(currentTf)

    times = [0.5, 1.0, 2.0, 3.0, 4.0, 4.5] # seconds

    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # Go to rest position
    motionProxy.rest()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
class ReactionModule(ALModule):
	""" A basic module to test events """
	
	def __init__(self, name):
		ALModule.__init__(self, name)
		self.name = name
		self.tts = ALProxy("ALTextToSpeech")
		self.posture = ALProxy("ALRobotPosture")
		self.memory = ALProxy("ALMemory")
		self.memory.subscribeToEvent("HandDetectedEvent", name, "handleDetection")
		
        
	def handleDetection(self, key, value, message):
		""" A method that handles detection of the ball. """
		self.memory.unsubscribeToEvent("HandDetectedEvent", self.name)
		if value == 0 and self.posture.getPostureFamily() != "Sitting":
			self.posture.goToPosture("Sit", 1.0)
		elif value == 1 and self.posture.getPostureFamily() != "Standing":
			self.posture.goToPosture("Stand", 1.0)
		self.memory.subscribeToEvent("HandDetectedEvent", self.name, "handleDetection")
		
	def disconnect(self):
		try:
			self.memory.unsubscribeToEvent("HandDetectedEvent", self.getName())
		except BaseException, err:
			print "Error while disconnecting from gesture reaction module: " + str(err)

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
class Nao:
	def __init__(self,ip,port):
		self.tts = ALProxy("ALTextToSpeech", ip, port)
		self.motion = ALProxy("ALMotion", ip, port)
		self.posture = ALProxy("ALRobotPosture", ip, port)
		self.memory = ALProxy("ALMemory")
		self.speech = ALProxy("ALSpeechRecognition",ip,port)

		#Word Recognition
		self.speech.setLanguage("English") 
		wordList=["hello","goodbye","yes","no", "exit", "sit down"]
		pythonModule.WordDetection(wordList)


	def sit_down(self):
		self.posture.goToPosture("Sit", 0.3)
		time.sleep(0.5)
		self.motion.setStiffnesses("Body", 0.3)
		fractionMaxSpeed=0.1
		self.motion.setAngles(["LArm"],[ 0.96, 0.03,-0.71,-1.20, 0.00, 0.30],fractionMaxSpeed)
		self.motion.setAngles(["RArm"],[ 0.96,-0.05, 0.71, 1.20, 0.00, 0.30],fractionMaxSpeed)
		self.motion.setAngles(["RLeg"],[-0.84,-0.30,-1.50, 1.02, 0.92, 0.00],fractionMaxSpeed)
		self.motion.setAngles(["LLeg"],[-0.84, 0.30,-1.50, 1.02, 0.92, 0.00],fractionMaxSpeed)
		time.sleep(0.5)
		self.motion.setStiffnesses("Body", 0.0)
		time.sleep(0.25)
		
		
	def __del__(self):

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(robotIP, PORT=9559):

    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot
    motionProxy.wakeUp()

    # Send robot to Stand Zero
    postureProxy.goToPosture("StandZero", 0.5)

    # We use the "Body" name to signify the collection of all joints and actuators
    #pNames = "Body"

    # Get the Number of Joints
    #numBodies = len(motionProxy.getBodyNames(pNames))

    # We prepare a collection of floats
    #pTargetAngles = [0.0] * numBodies

    # We set the fraction of max speed
    #pMaxSpeedFraction = 0.3

    # Ask motion to do this with a blocking call
    #motionProxy.angleInterpolationWithSpeed(pNames, pTargetAngles, pMaxSpeedFraction)

    # Go to rest position
    motionProxy.rest()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(ip, port):
    motionProxy = ALProxy("ALMotion", ip, port)
    postureProxy = ALProxy("ALRobotPosture", ip, port)

    #Hodanje bez tocke optimuma
    postureProxy.goToPosture("StandInit", 0.5)
    functions.set_camera_angle(motionProxy, -15)
    time.sleep(5)

    """
    picture = 'pictures/stairs_nao.png'
    theta_horizont = [89.5, 90.5]
    theta_kose = [10, 25, 160, 165]
    faktor_odbacivanja_linija = 8
    faktor_osjetljivosti_stepenica = 70  # sto je majni faktor, to su osjetljivije

    parametri_stepenica, tocke_3D = functions.image_processing(ip, port, picture, theta_horizont, theta_kose, faktor_odbacivanja_linija, faktor_osjetljivosti_stepenica)
    functions.walking(motionProxy, parametri_stepenica[0][0][0]-0.3, 0, 0)
    """


    climbing.main(motionProxy, postureProxy)

    time.sleep(3)
    motionProxy.rest()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot
    motionProxy.wakeUp()

    # Send robot to Pose Init
    postureProxy.goToPosture("StandInit", 0.5)

    # Example showing how to get a simplified robot position in world.
    useSensorValues = False
    result = motionProxy.getRobotPosition(useSensorValues)
    print "Robot Position", result

    # Example showing how to use this information to know the robot's diplacement.
    useSensorValues = False
    initRobotPosition = almath.Pose2D(motionProxy.getRobotPosition(useSensorValues))

    # Make the robot move
    motionProxy.moveTo(0.1, 0.0, 0.2)

    endRobotPosition = almath.Pose2D(motionProxy.getRobotPosition(useSensorValues))

    # Compute robot's' displacement
    robotMove = almath.pose2DInverse(initRobotPosition)*endRobotPosition
    print "Robot Move:", robotMove

    # Go to rest position
    motionProxy.rest()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(robotIP, PORT=9559):

    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot
    motionProxy.wakeUp()

    # Send robot to Stand Init
    postureProxy.goToPosture("StandInit", 0.5)

    # TARGET VELOCITY
    X         = 1.0
    Y         = 0.0
    Theta     = 0.0
    Frequency = 1.0

    # Defined a limp walk
    try:
        motionProxy.moveToward(X, Y, Theta,[["Frequency", Frequency],
                                            # LEFT FOOT
                                            ["LeftStepHeight", 0.02],
                                            ["LeftTorsoWy", 5.0*almath.TO_RAD],
                                            # RIGHT FOOT
                                            ["RightStepHeight", 0.005],
                                            ["RightMaxStepX", 0.001],
                                            ["RightMaxStepFrequency", 0.0],
                                            ["RightTorsoWx", -7.0*almath.TO_RAD],
                                            ["RightTorsoWy", 5.0*almath.TO_RAD]] )
    except Exception, errorMsg:
        print str(errorMsg)
        print "This example is not allowed on this robot."
        exit()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(robotIP, PORT=9559):

    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot
    motionProxy.wakeUp()

    # Send robot to Stand Init
    postureProxy.goToPosture("StandInit", 0.2)

    x     = 0.3
    y     = 0.0
    theta = 0.0

    # This example show customization for the both foot
    # with all the possible gait parameters
    try:
        motionProxy.moveTo(x, y, theta,
            [ ["MaxStepX", 0.02],         # step of 2 cm in front
              ["MaxStepY", 0.16],         # default value
              ["MaxStepTheta", 0.4],      # default value
              ["MaxStepFrequency", 0.0],  # low frequency
              ["StepHeight", 0.01],       # step height of 1 cm
              ["TorsoWx", 0.0],           # default value
              ["TorsoWy", 0.1] ])         # torso bend 0.1 rad in front
    except Exception, errorMsg:
        print str(errorMsg)
        print "This example is not allowed on this robot."
        exit()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
class NaoBehavior:
    naoip = ""
    bhname = ""
    def __init__(self,naoipaddress,behaviorName):
        self.naoip = naoipaddress
        self.bhname = behaviorName
        self.nNB = ALProxy("ALBehaviorManager", self.naoip, 9559)
        self.nposture = ALProxy("ALRobotPosture", self.naoip, 9559)
    def lanuchAndStopBehavior(self):
        if (self.nNB.isBehaviorInstalled(self.bhname)):
            if (not self.nNB.isBehaviorRunning(self.bhname)):
                self.nNB.post.runBehavior(self.bhname)
                time.sleep(5)
            else:
                print "Behavior is already running"
        else:
            print "Behavior is not found"
            return
        names = self.nNB.getRunningBehaviors()
        print "Running behaviors:"
        self.nposture.goToPosture("Stand", 0.5)
        print names
        if (self.nNB.isBehaviorRunning(self.bhname)):
            self.nNB.stopBehavior(self.bhname)
            time.sleep(1.0)
        else:
            print "Behavior is already stopped."

        names = self.nNB.getRunningBehaviors()
        print "Running behaviors:"
        print names

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(robotIP, PORT=9559):
    ''' Example showing a path of two positions
    Warning: Needs a PoseInit before executing
    '''

    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot
    motionProxy.wakeUp()    

    # Send robot to Stand Init
    postureProxy.goToPosture("StandInit", 0.5)
    
    tts = ALProxy("ALTextToSpeech", "192.168.2.17", 9559)
    
    tts.say("I'm going to extend my left arm.")
    moveArm(motionProxy, "LArm")
    
    tts.say("Now I'm going to extend my right arm.")    
    moveArm(motionProxy, "RArm")
    
    tts.say("Then I will go back to the rest position!")

    # Go to rest position
    motionProxy.rest()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def init(IP,PORT):
	global motionProxy
	global tts
	global post
	global sonarProxy
	global memoryProxy
	global cameraProxy
	global videoClient


	post = ALProxy("ALRobotPosture", IP, PORT)
	tts = ALProxy("ALTextToSpeech", IP, PORT)
	motionProxy = ALProxy("ALMotion", IP, PORT)
	cameraProxy = ALProxy("ALVideoDevice", IP, PORT)
	# init video
	resolution = 0    # 0 : QQVGA, 1 : QVGA, 2 : VGA
	colorSpace = 11   # RGB
	camNum = 0 # 0:top cam, 1: bottom cam
	fps = 1; # frame Per Second
	cameraProxy.setParam(18, camNum)
	try:
		videoClient = cameraProxy.subscribe("python_client", 
														resolution, colorSpace, fps)
	except:
		cameraProxy.unsubscribe("python_client")
		videoClient = cameraProxy.subscribe("python_client", 
														resolution, colorSpace, fps)
	print "Start videoClient: ",videoClient
	sonarProxy = ALProxy("ALSonar", IP, PORT)
	sonarProxy.subscribe("myApplication")
	memoryProxy = ALProxy("ALMemory", IP, PORT)

	post.goToPosture("Crouch", 1.0)
	time.sleep(2)

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(robotIP, PORT=9559):

    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot
    motionProxy.wakeUp()

    # Send robot to Stand Init
    postureProxy.goToPosture("StandInit", 0.5)

    # Initialize the walk process.
    # Check the robot pose and take a right posture.
    # This is blocking called.
    motionProxy.moveInit()

    # TARGET VELOCITY
    X         = 1.0
    Y         = 0.0
    Theta     = 0.0
    Frequency = 1.0

    # Default walk (MaxStepX = 0.04 m)
    try:
        motionProxy.moveToward(X, Y, Theta, [["Frequency", Frequency]])
    except Exception, errorMsg:
        print str(errorMsg)
        print "This example is not allowed on this robot."
        exit()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def MoveAction_MoveFor(robotIP, PORT=9559):
    # 前进
    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)


    # Send robot to Stand
    postureProxy.goToPosture("StandInit", 0.5)

    #####################
    ## Enable arms control by Motion algorithm
    #####################
    motionProxy.setMoveArmsEnabled(True, True)
    # motionProxy.setMoveArmsEnabled(False, False)

    #####################
    ## FOOT CONTACT PROTECTION
    #####################
    #motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", False]])
    motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", True]])

    #TARGET VELOCITY
    X = 0.8
    Y = 0.0
    Theta = 0.0
    Frequency =1.0 # max speed
    try:
        motionProxy.moveToward(X, Y, Theta, [["Frequency", Frequency]])
    except Exception, errorMsg:
        print str(errorMsg)
        print "This example is not allowed on this robot."
        exit()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import goToPosture [as 别名]
def main(robotIP, robotPort):
    """ Example showing a path of two positions
    Warning: Needs a PoseInit before executing
    """

    # Init proxies.
    try:
        global motionProxy
        motionProxy = ALProxy("ALMotion", robotIP, robotPort)
    except Exception as e:
        print("Could not create proxy to ALMotion \n Error was : ", e)

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, robotPort)
    except Exception as e:
        print("Could not create proxy to ALRobotPosture")
        print("Error was: ", e)


    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

    # Send NAO to Pose Init
    postureProxy.goToPosture("StandInit", 0.5)

    customInit(robotIP)
    try:
        sayProxy = ALProxy("ALTextToSpeech", robotIP, robotPort)
        ledProxy = ALProxy("ALLeds", robotIP, robotPort)
    except Exception as e:
        print("Could not create proxy to ALRobotPosture")
        print("Error was: ", e)

    hangmanInit.playGame(sayProxy, ledProxy, motionProxy)