This section shows how to make NAO go to poses Pose Init and Pose Zero outside Choregraphe.
Make NAO go to a good initial position.
# -*- encoding: UTF-8 -*-
''' PoseInit: Small example to make Nao go to an initial position. '''
import argparse
from naoqi import ALProxy
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)
# Go to rest position
motionProxy.rest()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="127.0.0.1",
help="Robot ip address")
parser.add_argument("--port", type=int, default=9559,
help="Robot port number")
args = parser.parse_args()
main(args.ip, args.port)
Put all NAO motors to zero.
# -*- encoding: UTF-8 -*-
''' PoseZero: Set all the motors of the body to zero. '''
import argparse
from naoqi import ALProxy
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()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="127.0.0.1",
help="Robot ip address")
parser.add_argument("--port", type=int, default=9559,
help="Robot port number")
args = parser.parse_args()
main(args.ip, args.port)