本文整理汇总了Python中naoqi.ALProxy.setMotionConfig方法的典型用法代码示例。如果您正苦于以下问题：Python ALProxy.setMotionConfig方法的具体用法？Python ALProxy.setMotionConfig怎么用？Python ALProxy.setMotionConfig使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类naoqi.ALProxy的用法示例。
在下文中一共展示了ALProxy.setMotionConfig方法的8个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: MoveAction_MoveFor
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setMotionConfig [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()示例2: main
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setMotionConfig [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)
#####################
## Enable arms control by move 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]])
#####################
## get robot position before move
#####################
initRobotPosition = m.Pose2D(motionProxy.getRobotPosition(False))
X = 0.0
Y = 0.0
Theta = math.pi/2.0
motionProxy.post.moveTo(X, Y, Theta)
motionProxy.setAngles("HeadYaw", 0.6, 0.6)
# wait is useful because with post moveTo is not blocking function
motionProxy.waitUntilMoveIsFinished()
#####################
## get robot position after move
#####################
endRobotPosition = m.Pose2D(motionProxy.getRobotPosition(False))
#####################
## compute and print the robot motion
#####################
robotMove = m.pose2DInverse(initRobotPosition)*endRobotPosition
# return an angle between ]-PI, PI]
robotMove.theta = m.modulo2PI(robotMove.theta)
print "Robot Move:", robotMove
# Go to rest position
motionProxy.rest()示例3: main
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setMotionConfig [as 别名]
def main(robotIP, PORT=9559):
# tts = ALProxy("ALTextToSpeech", robotIP, PORT)
# tts.post.say("turn right")
postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)
postureProxy.goToPosture("StandInit", 0.5)
motionProxy = ALProxy("ALMotion", robotIP, PORT)
motionProxy.wakeUp()
motionProxy.setMoveArmsEnabled(True, True)
motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", True]])
motionProxy.post.moveTo(0.2, -0.2, -math.pi / 2.0)
motionProxy.waitUntilMoveIsFinished()
print "Robot Move: right"示例4: main
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setMotionConfig [as 别名]
def main(robotIP, PORT=9559):
# tts = ALProxy("ALTextToSpeech", robotIP, PORT)
# tts.post.say("前进，，前进.")
audiodevice = ALProxy("ALAudioDevice", robotIP, PORT)
currentVoice = audiodevice.getOutputVolume()
audiodevice.setOutputVolume(currentVoice + 10)
postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)
postureProxy.goToPosture("StandInit", 0.5)
motionProxy = ALProxy("ALMotion", robotIP, PORT)
# Wake up robot
motionProxy.wakeUp()
motionProxy.setMoveArmsEnabled(True, True)
motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", True]])
motionProxy.post.moveTo(0.8, 0, 0)
motionProxy.waitUntilMoveIsFinished()
print "Robot Move forward"示例5: main
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setMotionConfig [as 别名]
def main(robotIP, PORT=9559):
# tts = ALProxy("ALTextToSpeech", robotIP, PORT)
# tts.post.say("我这就退后0.6米.")
# lower the volume by 10%
audioDevice = ALProxy("ALAudioDevice", robotIP, PORT)
currentVoice = audioDevice.getOutputVolume()
audioDevice.setOutputVolume(currentVoice - 10)
# stand first
postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)
postureProxy.goToPosture("StandInit", 0.5)
motionProxy = ALProxy("ALMotion", robotIP, PORT)
motionProxy.wakeUp()
motionProxy.setMoveArmsEnabled(True, True)
motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", True]])
# action move
motionProxy.post.moveTo(-0.618, 0, 0)
motionProxy.waitUntilMoveIsFinished()
print "Robot Move: back"示例6: Mouvements
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setMotionConfig [as 别名]
class Mouvements(object):
def __init__(self):
IP, PORT = "127.0.0.1", 9559
self.vx = 0.0
self.vy = 0.0
self.vth = 0.0
self.dt = 0.227
self.joints = []
self.io_file = IO_file()
self.is_recording = False
self.postureProxy = ALProxy("ALRobotPosture", IP, PORT)
self.motionProxy = ALProxy("ALMotion", IP, PORT)
self.motionProxy.setWalkArmsEnabled(True, True)
self.motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", False]])
self.motionProxy.setFallManagerEnabled(False)
def stiffness(self, go_rigide):
parametre = 1.0 if go_rigide else 0.0
self.motionProxy.stiffnessInterpolation("Body", parametre, 1.0)
def go_debout(self):
self.stiffness(True)
self.postureProxy.goToPosture("Stand", 0.8)
def go_assis(self):
self.stiffness(True)
self.postureProxy.goToPosture("Sit", 0.8)
self.stiffness(False)
def go_ventre(self):
self.stiffness(True)
self.postureProxy.goToPosture("LyingBelly", 0.8)
self.stiffness(False)
def go_dos(self):
self.stiffness(True)
self.postureProxy.goToPosture("LyingBack", 0.8)
self.stiffness(False)
def go_dos(self):
self.stiffness(True)
self.postureProxy.goToPosture("Crouch", 0.8)
self.stiffness(False)
def go_move(self):
self.motionProxy.setWalkTargetVelocity(self.vx, self.vy, self.vth, 0.8)
def set_vx(self, vx): self.vx = vx
def set_vy(self, vy): self.vy = vy
def set_vth(self, vth): self.vth = vth
def update_joints(self): self.joints = self.motionProxy.getAngles("Body", False)
def save_joints(self, write):
self.update_joints()
if write: fichier = self.io_file.init_write_joints()
self.io_file.add_joints(self.joints, self.dt)
if write: self.io_file.write_joints(fichier)
def record(self):
self.is_recording = not self.is_recording
if self.is_recording:
self.recorder = Recorder(self)
self.recorder.continuer = True
self.recorder.start()
else:
self.recorder.continuer = False
self.recorder.join()
def apply_joints_from_file(self, only_last):
temps, angles = self.io_file.read_joints(only_last)
if len(angles) == 0 : return
self.motionProxy.angleInterpolation("Body", angles, temps, True)
def move_head(self, vx, vy):
self.motionProxy.angleInterpolation(["HeadYaw", "HeadPitch"], [-0.1 * float(vx), -0.1 * float(vy)], [0.2, 0.2], False)示例7: setLeds
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setMotionConfig [as 别名]
# LEDs parameters
def setLeds(R, G, B):
ledsProxy = ALProxy("ALLeds", IP, PORT)
ledsProxy.setIntensity('AllLedsRed', float(R) / 255.0)
ledsProxy.setIntensity('AllLedsGreen', float(G) / 255.0)
ledsProxy.setIntensity('AllLedsBlue', float(B) / 255.0)
# Motion
motionProxy = ALProxy("ALMotion", IP, PORT)
postureProxy = ALProxy("ALRobotPosture", IP, PORT)
StiffnessOn(motionProxy, True)
postureProxy.goToPosture("StandInit", 1.0)
motionProxy.moveInit()
motionProxy.setWalkArmsEnabled(False, False)
motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", True]])
# Camera
camProxy = ALProxy("ALVideoDevice", IP, PORT)
camProxy.setParam(18, 0) # "kCameraSelectID", 0 : camera top, 1 : camera bottom
resolution = 0 # 0 : QQVGA, 1 : QVGA, 2 : VGA
colorSpace = 11 # RGB
videoClient = camProxy.subscribe("python_client", resolution, colorSpace, 5)
from_video = camProxy.getImageRemote(videoClient)
imageWidth, imageHeight = from_video[0], from_video[1]
middle_x, middle_y = float(imageWidth / 2), float(imageHeight / 2)
# Speaker
c3po = ALProxy("ALTextToSpeech", IP, PORT)
for i in range(0, temps):示例8: len
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setMotionConfig [as 别名]
elif nao_action == 3:
walk_proxy.initPosition()
elif nao_action == 4:
walk_proxy.stopWalking()
elif nao_action == 5:
walk_proxy.walk()
elif nao_action == 6:
walk_proxy.setStiffness(0.5)
elif nao_action == 7:
walk_proxy.setStiffness(1.0)
walk_proxy.initPosition()
elif nao_action == 8:
motion_proxy.stiffnessInterpolation("Body", 1.0, 0.1)
motion_proxy.setWalkArmsEnabled(False, False)
# enable motion whe lifted in the air
motion_proxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", False]])
motion_proxy.walkInit()
# (X length, Y length, theta, frequency)
motion_proxy.walkTo(0.8, 0.0, 0.0);
elif nao_action == 9:
# reset stiffness and angles using motion proxy,
# otherwise it doesn't work well later
motion_proxy.stiffnessInterpolation("Body", 0.0, 1.0)
numAngles = len(motion_proxy.getJointNames("Body"))
angles = [0.0] * numAngles
motion_proxy.angleInterpolationWithSpeed ("Body", angles, 0.3)
except Exception,e:
print "Execution of the action was failed."