Pepper上的固定装置以移动手臂

Question

import qi

session = qi.Session()
session.connect("tcp://YOUR_IP:9559")
almotion = session.service("ALMotion")
almotion.setStiffnesses("RArm", 0.0)

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编辑1：在禁用自主能力后，我仍然会发现手臂没有挡住我所在的位置。我的代码当前为：

import sys
import qi

stiffness = 1.0
if len(sys.argv) > 1: stiffness = float(sys.argv[1])

session = qi.Session()
session.connect("tcp://YOUR_IP:9559")

almotion = session.service("ALMotion")
almotion.setBreathEnabled("Body", False) # Also tried True
almotion.setIdlePostureEnabled("Body", False) # Also tried True

allife = session.service("ALAutonomousLife")
allife.setAutonomousAbilityEnabled("BackgroundMovement", False)
allife.setAutonomousAbilityEnabled("BasicAwareness", False)
allife.setAutonomousAbilityEnabled("ListeningMovement", False)
allife.setAutonomousAbilityEnabled("SpeakingMovement", False)

almotion.stiffnessInterpolation("LArm", stiffness, 1.0)

用…测试

python code.py 0.0 # To free the left arm
# Move the left arm how you wish
python code.py 1.0 # To fix the arm

Answer 1

胡椒身上有“自主能力”，让它呼吸、环顾四周、放下手臂。你想让那些在你的情况下被禁用。

为此，请在代码中添加：

alife = session.service("ALAutonomousLife")
alife.setAutonomousAbilityEnabled("BackgroundMovement", False)
alife.setAutonomousAbilityEnabled("BasicAwareness", False)
alife.setAutonomousAbilityEnabled("ListeningMovement", False)
alife.setAutonomousAbilityEnabled("SpeakingMovement", False)

您也可以使用almotion.SetidlePostureEnabled&almotion.SetBreathEnabled来完成此操作