def ik(args):
global broker, nao_motion, nao_video
data.IP = args['--ip']
data.PORT = int(args['--port'])
broker = ALBroker("myBroker", "0.0.0.0", 0, data.IP, data.PORT)
nao_motion = MotionController()
nao_video = VideoController()
nao_motion.stand()
nao_tts = ALProxy("ALTextToSpeech", data.IP, data.PORT)
try:
loop = LogicalLoop(nao_motion=nao_motion, nao_video=nao_video, nao_tts=nao_tts,
ppA=float(args['--ppA']), cA=float(args['--cA']), rA=float(args['--rA']),
min_detections=1, wait_disc_func=lambda: None)
if not args['--no-grab']:
wait_for_disc()
else:
nao_motion.motion_proxy.closeHand("LHand")
nao_motion.setLeftArmRaised(secure=True)
loop.inverseKinematicsConvergence(int(args['--hole']))
nao_motion.crouch()
except KeyboardInterrupt:
print "Keyboard interrupt"
broker.shutdown()
return 0
