def changeBodyOrientation(self, orientation):
if(orientation == "init"):
self.bodyOrientation = "init"
self.naoCameraHeight = 50
config.walkPoseInit(self.motionProxy)
elif(orientation == "knee"):
self.bodyOrientation = "knee"
self.naoCameraHeight = 41
config.calibrationPoseInit(self.motionProxy)
elif(orientation == "zero"):
self.bodyOrientation = "zero"
self.naoCameraHeight = 52
config.poseZero(self.motionProxy)
def main(pChainName = "LArm"):
''' Example showing the effect of collision detection
Nao bumps his chest with his left arm with collision detection enabled
or disabled.
'''
##################
# Initialization #
##################
motionProxy = config.loadProxy("ALMotion")
# Set NAO in stiffness On.
config.StiffnessOn(motionProxy)
# Send robot to Pose Init.
config.poseZero(motionProxy)
# Get the robot configuration.
robotConfig = motionProxy.getRobotConfig()
robotName = ""
for i in range(len(robotConfig[0])):
if (robotConfig[0][i] == "Model Type"):
robotName = robotConfig[1][i]
###############################
# Arm motion bumping on torso #
###############################
# Disable collision detection on chainName.
pEnable = True
success = motionProxy.setCollisionProtectionEnabled(pChainName, pEnable)
if (not success):
print("Failed to disable collision protection")
time.sleep(1.0)
config.poseZero(motionProxy)
moveHead.moveHead(motionProxy, "HeadYaw", 45)
moveHead.moveHead(motionProxy, "HeadPitch", 45)
moveHand.moveHand(motionProxy, "RHand", 45)
moveLegs.moveLegs(motionProxy, "RHipYawPitch", 45)
moveLegs.moveLegs(motionProxy, "LHipYawPitch", 45)
moveFoot.moveFoot(motionProxy, "RAnklePitch", 45)
time.sleep(3.0)
# Make NAO's arm move so that it bumps its torso.
#moveArm(motionProxy, robotName, pChainName, [0, 40, 0, 0])
#moveArm(motionProxy, robotName, "LArm", [0, 40, 0, 0])
#time.sleep(2.0)
i = 0
# while i < 3:
# moveArm(motionProxy, robotName, pChainName, [10, 0, -90, -50], 0.3)
# moveArm(motionProxy, robotName, "LArm", [10, 10, -90, -50], 0.3)
# time.sleep(1.0)
# moveArm(motionProxy, robotName, pChainName, [10, -10, -40, -50], 0.3)
# moveArm(motionProxy, robotName, "LArm", [10, -10, -40, -50], 0.3)
# time.sleep(1.0)
# i += 1
# Go back to pose init.
config.poseZero(motionProxy)
