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FirefoxMetzger/custom_posture.py

Created April 5, 2019 11:56
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custom_posture.py
from naoqi import ALBroker
from naoqi import ALProxy
from pprint import pprint
# start a local broker that connects to the NAO
robot_ip = "love"
myBroker = ALBroker("myBroker", "0.0.0.0", 0, robot_ip, 9559)
# get a handle to the module
posture_proxy = ALProxy("ALRobotPosture")
file_name = "firefoxmetzger-awesome-pose.pose"
posture_proxy._saveCurrentPostureWithName(9942, "myPosture")
custom_posture_id = 9942
stand_posture_id = posture_proxy._getIdFromName("Stand")
posture_proxy._addNeighbourToPosture(stand_posture_id, custom_posture_id, 1)
posture_proxy._addNeighbourToPosture(custom_posture_id, stand_posture_id, 1)
posture_proxy._savePostureLibrary(file_name)
posture_proxy._loadPostureLibraryFromName(file_name)
posture_proxy._generateCartesianMap()
posture_proxy.goToPosture("Sit", 0.5)
posture_proxy.goToPosture("myPosture", 0.5)
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