Joint control Tutorial: The Pose Init

NAOqi Motion - Overview | API | Tutorial


This tutorial explains how to use joint control API in the context of the Aldebaran Robotics definition of the “NAO initial position” known as Stand Init.


Please refer to the section: Python SDK Install Guide for any troubleshooting linked to python.

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

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

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):

    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot

    # Send robot to Stand Init
    postureProxy.goToPosture("StandInit", 0.5)

    # Go to rest position

if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="",
                        help="Robot ip address")
    parser.add_argument("--port", type=int, default=9559,
                        help="Robot port number")

    args = parser.parse_args()
    main(args.ip, args.port)