ALMotion 관절의 움직임 메모

소개

확인 방법

$ /usr/bin/python
Python 2.7.6 (default, Sep  9 2014, 15:04:36)
[GCC 4.2.1 Compatible Apple LLVM 6.0 (clang-600.0.39)] on darwin
Type "help", "copyright", "credits" or "license" for more information.

>>> from naoqi import ALProxy

>>> m = ALProxy("ALMotion", "localhost", 50445)
[I] 3343 qi.eventloop: Creating event loop while no qi::Application() is running
[I] 3343 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 3343 qimessaging.transportserver: TransportServer will listen on: tcp://172.20.10.4:50452
[I] 3343 qimessaging.transportserver: TransportServer will listen on: tcp://172.20.10.3:50452
[I] 3343 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:50452

확인

머리

>>> m.setAngles(["HeadYaw", "HeadPitch"], [0.0, 0.0], 0.1)

HeadYaw

HeadPitch

어깨

>>> m.setAngles(["LShoulderPitch", "LShoulderRoll"], [0.0, 0.0], 0.1)

LShoulderPitch

LShoulderRoll

팔꿈치

>>> m.setAngles(["LElbowYaw", "LElbowRoll"], [0.0, 0.0], 0.1)

LElbowYaw

LElbowRoll

손목

>>> m.setAngles("LWristYaw", 0.0, 0.1)

LWristYaw

허리

>>> m.setAngles(["HipPitch", "HipRoll"], [0.0, 0.0], 0.1)

HipPitch

HipRoll

감상