#! /usr/bin/env python # -*- encoding: UTF-8 -*- """Example: Use setAngles Method""" import qi import argparse import sys import time def main(session): """ This example uses the setAngles method. """ # Get the service ALMotion. motion_service = session.service("ALMotion") motion_service.setStiffnesses("Head", 1.0) # Example showing how to set angles, using a fraction of max speed names = ["HeadYaw", "HeadPitch"] angles = [0.2, -0.2] fractionMaxSpeed = 0.2 motion_service.setAngles(names, angles, fractionMaxSpeed) time.sleep(3.0) motion_service.setStiffnesses("Head", 0.0) if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("--ip", type=str, default="127.0.0.1", help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.") parser.add_argument("--port", type=int, default=9559, help="Naoqi port number") args = parser.parse_args() session = qi.Session() try: session.connect("tcp://" + args.ip + ":" + str(args.port)) except RuntimeError: print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n" "Please check your script arguments. Run with -h option for help.") sys.exit(1) main(session)