Stiffness

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Turns the stiffness on and off.

Stiffness on

almotion_stiffnessOn.py

# -*- encoding: UTF-8 -*-

'''Stiffness On: active stiffness of all joints and actuators'''
''' This example is only compatible with NAO '''

import time
import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):

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

    # We use the "Body" name to signify the collection of all joints
    names = "Body"
    stiffnessLists = 1.0
    timeLists = 1.0
    motionProxy.stiffnessInterpolation(names, stiffnessLists, timeLists)

    # print motion state
    print motionProxy.getSummary()

    time.sleep(2.0)

    # 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)

Stiffness off

Warning

Please make sure that the robot is not standing before trying this example.

almotion_stiffnessOff.py

# -*- encoding: UTF-8 -*-

'''Stiffness Off: remove stiffness of all joints and actuators'''
''' This example is only compatible with NAO '''

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):

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

    # We use the "Body" name to signify the collection of all joints
    names = "Body"
    stiffnessLists = 0.0
    timeLists = 1.0
    motionProxy.stiffnessInterpolation(names, stiffnessLists, timeLists)

    # print motion state
    print motionProxy.getSummary()

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)
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