#-*-encoding:UTF-8-*-
import sys
import motion
import almath
from naoqi import ALProxy
 
def StiffnessOn(proxy):
    #we use the body name to signify the collection of all jionts
    pName="Body"
    pStiffnessLists=1.0
    pTimeLists=1.0
    proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)
 
def main(robotIP):
    ''' example showing a path of two position
    '''
    try:
      motionProxy=ALProxy("ALMotion",robotIP,9559)
    except Exception ,e:
        print"could not create a proxy to almotion"
        print str(e)
 
    try:
      postureProxy=ALProxy("ALRobotPosture",robotIP,9559)
    except Exception ,e:
        print"could not create a proxy to alRobotPosture"
        print str(e)
    #set the nao stiffness on
    StiffnessOn(motionProxy)
 
    #set the nao to standinit
    postureProxy.goToPosture("StandInit",0.5)
 
    effector="LArm"
    space=motion.FRAME_ROBOT
    # AXIS_MASK_VEL=7
    axisMask=almath.AXIS_MASK_VEL
    isAbsolute=False
    #since we are in relative, the current position is zero
    currentPos=[0.0,0.0,0.0,0.0,0.0,0.0]
    #define the changes in relative to the current position 
    dx=0.03      #translation axis x
    dy=0.03      #translation axis y
    dz=0.00      #translation axis z
    dwx=0.00     #rotation axis x
    dwy=0.00     #rotation axis x
    dwz=0.00     #rotation axis x
 
    targetPos=[dx,dy,dz,dwx,dwy,dwz]
 
    #go to the target and back again
    path=[targetPos,currentPos]
    times=[2.0,4.0]#seconds
    motionProxy.positionInterpolation(effector,space,path,axisMask,times,isAbsolute)
 
if __name__=="__main()__":
    robotIP="127.0.0.1"
    if len(sys.argv)<=1:
      print "use default :127.0.0.1"
    else:
      robotIP=sys.argv[1]       
main(robotIP)

#-*-encoding:UTF-8-*-
''' Cartesian control :arm trajectory example'''
 
import sys
import motion
import almath
from naoqi import ALProxy
def StiffnessOn(proxy):
    pName="Body"
    pStiffnessLists=1.0
    pTimeLists=1.0
    proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)
 
 
def main(robotIP):
    '''showing a hand ellipoid
    '''
    try:
      motionProxy=ALProxy("ALProxy",robotIP,9559)
    except Exception,e:
      print"could not create a proxy "
      print"error was ",e
 
    try:
      postureProxy=ALProxy("ALRobotProxy",robotIP,9559)
    except Exception ,e:
      print"could not create a proxy"
      print "error was",e
 
    #send nao in stiffness on
    setStiffnessOn(motionProxy)
    #send nao to pose init
    postureProxy.goToPosture("StandInit",0.5)
 
    effector="LArm"
    space=motion.FRAME_ROBOT
    path=[
        [0.0,-0.05,+0.00,0.0,0.0,0.0],    #pose1
        [0.0,+0.00,+0.04,0.0,0.0,0.0],    #pose2
        [0.0,+0.04,+0.00,0.0,0.0,0.0],    #pose3
        [0.0,+0.00,-0.02,0.0,0.0,0.0],    #pose4
        [0.0,-0.05,+0.00,0.0,0.0,0.0],    #pose5
        [0.0,+0.00,+0.00,0.0,0.0,0.0]
        ]                #pose6
    axisMask=7
    times=[0.5,1.0,2.0,3.0,4.0,4.5]       #seconds 
    
    isAbsolute=False
    motionProxy.positionInterpolation(effector,space,path,axisMask,times,isAbsolute)
    
if __name__=="__main__":
    robotIP="127.0.0.1"
    if len(sys.argv)<=1:
        print "usage local ip "
    else:
        robotIP=sys.argv[1]
    main(robotIP)