Turns the stiffness on and off.
# -*- encoding: UTF-8 -*-
'''Stiffness On: active stiffness of all joints and actuators'''
import sys
from naoqi import ALProxy
def main(robotIP):
try:
motionProxy = ALProxy("ALMotion", robotIP, 9559)
except Exception, e:
print "Could not create proxy to ALMotion"
print "Error was: ", e
# We use the "Body" name to signify the collection of all joints
pNames = "Body"
pStiffnessLists = 1.0
pTimeLists = 1.0
motionProxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)
# print motion state
print motionProxy.getSummary()
if __name__ == "__main__":
robotIp = "127.0.0.1"
if len(sys.argv) <= 1:
print "Usage python motion_stiffnessOn.py robotIP (optional default: 127.0.0.1)"
else:
robotIp = sys.argv[1]
main(robotIp)
Warning
Please make sure that the robot is not standing before trying this example.
# -*- encoding: UTF-8 -*-
'''Stiffness Off: remove stiffness of all joints and actuators'''
import sys
from naoqi import ALProxy
def main(robotIP):
try:
motionProxy = ALProxy("ALMotion", robotIP, 9559)
except Exception, e:
print "Could not create proxy to ALMotion"
print "Error was: ", e
# We use the "Body" name to signify the collection of all joints
pNames = "Body"
pStiffnessLists = 0.0
pTimeLists = 1.0
motionProxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)
# print motion state
print motionProxy.getSummary()
if __name__ == "__main__":
robotIp = "127.0.0.1"
if len(sys.argv) <= 1:
print "Usage python motion_stiffnessOff.py robotIP (optional default: 127.0.0.1)"
else:
robotIp = sys.argv[1]
main(robotIp)