def main():
exercices = [1, 2, 4, 5, 6]
print '##############################################################'
print ' CYBERNETIQUE APPLIQUEE '
print ' PROJET DE SEMESTRE PRINTEMPS 2011 '
print ' PARCOURS VITA POUR NAO '
print ' ----------------------------------------- '
print ' Parcours predefini pour tester l\'enchainement des exercices '
print '##############################################################'
print ''
print ''
# connexion au robot Nao
c = connexion()
ALMotionProxy = c.getProxy('ALMotion')
# objet permettant d'asservir / desasservir les moteurs du robot
asservir = Stiffness.Stiffness(ALMotionProxy)
asservir.asservir()
# objet permettant d'initialiser la position du robo
init = Init_Pose.Init_Pose(ALMotionProxy)
# objet controlant les deplacements du Nao d'un exercice a l'autre
deplacements = Deplacements.Deplacements(c)
#######################################################
# Suite d'enchainements du parcours predefini
for crtEx in exercices:
doEnchainement(init, deplacements, ALMotionProxy, crtEx)
ALFrameProxy = c.getProxy("ALFrameManager")
##
## #behaviorID = ALFrameProxy.newBehaviorFromFile("/home/nao/behaviors/standup.xar", "")
##
behaviorID = ALFrameProxy.newBehaviorFromFile(
"/home/nao/behaviors/behavior.xar", "")
ALFrameProxy.completeBehavior(behaviorID)
#######################################################
# FIN
asservir.desasservir()
def finalise(self):
# mets le robot en position Init_Pose
initPose = Init_Pose.Init_Pose(self.__proxy)
initPose.do()
def finalise(self):
self.termineExercice()
# mets le robot en position Init_Pose
initPose = Init_Pose.Init_Pose(self.__proxy)
initPose.do()
def init4ExerciceGauche(self):
# mets le robot en position Init_Pose
initPose = Init_Pose.Init_Pose(self.__proxy)
initPose.do()
names = list()
times = list()
keys = list()
names.append("HeadYaw")
times.append([ 0.10000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("HeadPitch")
times.append([ 0.10000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LShoulderPitch")
times.append([ 0.10000, 1.50000])
keys.append([ [ 1.39626, [ 2, -0.03333, 0.00000], [ 2, 0.46667, 0.00000]], [ 1.39626, [ 2, -0.46667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LShoulderRoll")
times.append([ 0.10000, 1.50000, 3.00000])
keys.append([ [ 0.34907, [ 2, -0.03333, 0.00000], [ 2, 0.46667, 0.00000]], [ 0.87266, [ 2, -0.46667, -0.04887], [ 2, 0.50000, 0.05236]], [ 0.92502, [ 2, -0.50000, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LElbowYaw")
times.append([ 0.10000, 1.50000])
keys.append([ [ -1.39626, [ 2, -0.03333, 0.00000], [ 2, 0.46667, 0.00000]], [ 0.17453, [ 2, -0.46667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LElbowRoll")
times.append([ 0.10000, 1.50000])
keys.append([ [ -1.04720, [ 2, -0.03333, 0.00000], [ 2, 0.46667, 0.00000]], [ -1.56207, [ 2, -0.46667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LWristYaw")
times.append([ 0.10000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LHand")
times.append([ 0.10000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RShoulderPitch")
times.append([ 0.10000, 1.50000])
keys.append([ [ 1.39626, [ 2, -0.03333, 0.00000], [ 2, 0.46667, 0.00000]], [ 1.39626, [ 2, -0.46667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RShoulderRoll")
times.append([ 0.10000, 1.50000, 3.00000])
keys.append([ [ -0.34907, [ 2, -0.03333, 0.00000], [ 2, 0.46667, 0.00000]], [ -0.87266, [ 2, -0.46667, 0.04887], [ 2, 0.50000, -0.05236]], [ -0.92502, [ 2, -0.50000, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RElbowYaw")
times.append([ 0.10000, 1.50000])
keys.append([ [ 1.39626, [ 2, -0.03333, 0.00000], [ 2, 0.46667, 0.00000]], [ -0.17453, [ 2, -0.46667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RElbowRoll")
times.append([ 0.10000, 1.50000])
keys.append([ [ 1.04720, [ 2, -0.03333, 0.00000], [ 2, 0.46667, 0.00000]], [ 1.56207, [ 2, -0.46667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RWristYaw")
times.append([ 0.10000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RHand")
times.append([ 0.10000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LHipYawPitch")
times.append([ 0.10000, 3.00000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ -0.69813, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LHipRoll")
times.append([ 0.10000, 3.00000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ 0.10472, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LHipPitch")
times.append([ 0.10000, 3.00000])
keys.append([ [ -0.43633, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ -0.40143, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LKneePitch")
times.append([ 0.10000, 3.00000])
keys.append([ [ 0.69813, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ 1.13446, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LAnklePitch")
times.append([ 0.10000, 3.00000])
keys.append([ [ -0.34907, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ -0.29671, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("LAnkleRoll")
times.append([ 0.10000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RHipRoll")
times.append([ 0.10000, 3.00000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ -0.73832, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RHipPitch")
times.append([ 0.10000, 3.00000])
keys.append([ [ -0.43633, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ 0.26180, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RKneePitch")
times.append([ 0.10000, 3.00000])
keys.append([ [ 0.69813, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ -0.08727, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RAnklePitch")
times.append([ 0.10000, 3.00000])
keys.append([ [ -0.34907, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ 0.36652, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
names.append("RAnkleRoll")
times.append([ 0.10000, 3.00000])
keys.append([ [ 0.00000, [ 2, -0.03333, 0.00000], [ 2, 0.96667, 0.00000]], [ 0.57596, [ 2, -0.96667, 0.00000], [ 2, 0.00000, 0.00000]]])
try:
self.__proxy.angleInterpolationBezier(names, times, keys);
except BaseException, err:
print str(err)