Poses

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This section shows how to make NAO go to poses Pose Init and Pose Zero outside Choregraphe.

Pose Init

Make NAO go to a good initial position.

motion_poseInit.py

# -*- encoding: UTF-8 -*- 

''' PoseInit: Small example to make Nao go to an initial position. '''

import sys
import motion
from naoqi import ALProxy

def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


def main(robotIP):
    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

    # Send NAO to Pose Init
    postureProxy.goToPosture("StandInit", 0.5)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_poseInit.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Pose Zero

Put all NAO motors to zero.

motion_poseZero.py

# -*- encoding: UTF-8 -*- 

''' PoseZero: Set all the motors of the body to zero. '''

import sys
from naoqi import ALProxy

def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


def main(robotIP):
    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

    # Send NAO to Pose Init
    postureProxy.goToPosture("StandZero", 0.5)

    # We use the "Body" name to signify the collection of all joints and actuators
    #pNames = "Body"

    # Get the Number of Joints
    #numBodies = len(motionProxy.getBodyNames(pNames))

    # We prepare a collection of floats
    #pTargetAngles = [0.0] * numBodies

    # We set the fraction of max speed
    #pMaxSpeedFraction = 0.3

    # Ask motion to do this with a blocking call
    #motionProxy.angleInterpolationWithSpeed(pNames, pTargetAngles, pMaxSpeedFraction)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_poseZero.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)
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