Whole body motion¶
This section contains examples showing various possibilities of Whole Body Motion.
Effector control¶
Control NAO’s effectors, separately or simultaneously.
Head¶
almotion_wbEffectorControlHead.py
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Whole Body Motion - Head orientation control"""
import qi
import argparse
import sys
import time
import math
def main(session):
"""
Example of a whole body head orientation control.
Warning: Needs a PoseInit before executing.
Whole body balancer must be deactivated at the end of the script.
This example is only compatible with NAO.
"""
# Get the services ALMotion & ALRobotPosture.
motion_service = session.service("ALMotion")
posture_service = session.service("ALRobotPosture")
# Wake up robot
motion_service.wakeUp()
# Send robot to Stand Init
posture_service.goToPosture("StandInit", 0.5)
effectorName = "Head"
# Active Head tracking
isEnabled = True
motion_service.wbEnableEffectorControl(effectorName, isEnabled)
# Example showing how to set orientation target for Head tracking
# The 3 coordinates are absolute head orientation in NAO_SPACE
# Rotation in RAD in x, y and z axis
# X Axis Head Orientation feasible movement = [-20.0, +20.0] degree
# Y Axis Head Orientation feasible movement = [-75.0, +70.0] degree
# Z Axis Head Orientation feasible movement = [-30.0, +30.0] degree
targetCoordinateList = [
[+20.0, 00.0, 00.0], # target 0
[-20.0, 00.0, 00.0], # target 1
[ 00.0, +70.0, 00.0], # target 2
[ 00.0, +70.0, +30.0], # target 3
[ 00.0, +70.0, -30.0], # target 4
[ 00.0, -75.0, 00.0], # target 5
[ 00.0, -75.0, +30.0], # target 6
[ 00.0, -75.0, -30.0], # target 7
[ 00.0, 00.0, 00.0], # target 8
]
# wbSetEffectorControl is a non blocking function
# time.sleep allow head go to his target
# The recommended minimum period between two successives set commands is
# 0.2 s.
for targetCoordinate in targetCoordinateList:
targetCoordinate = [target*math.pi/180.0 for target in targetCoordinate]
motion_service.wbSetEffectorControl(effectorName, targetCoordinate)
time.sleep(3.0)
# Deactivate Head tracking
isEnabled = False
motion_service.wbEnableEffectorControl(effectorName, isEnabled)
# Go to rest position
motion_service.rest()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="127.0.0.1",
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
session = qi.Session()
try:
session.connect("tcp://" + args.ip + ":" + str(args.port))
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
main(session)
Arms¶
almotion_wbEffectorControlLArm.py
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Whole Body Motion - Left or Right Arm position control"""
import qi
import argparse
import sys
import motion
import time
def main(session, chainName):
"""
Example of a whole body Left or Right Arm position control
Warning: Needs a PoseInit before executing
Whole body balancer must be inactivated at the end of the script
This example is only compatible with NAO
"""
# Get the service ALMotion.
motion_service = session.service("ALMotion")
# Wake up robot
motion_service.wakeUp()
# Send robot to Stand Init
#postureProxy.goToPosture("StandInit", 0.5)
frame = motion.FRAME_ROBOT
useSensor = False
effectorInit = motion_service.getPosition(chainName, frame, useSensor)
# Active LArm tracking
isEnabled = True
motion_service.wbEnableEffectorControl(chainName, isEnabled)
# Example showing how to set position target for LArm
# The 3 coordinates are absolute LArm position in FRAME_ROBOT
# Position in meter in x, y and z axis.
# X Axis LArm Position feasible movement = [ +0.00, +0.12] meter
# Y Axis LArm Position feasible movement = [ -0.05, +0.10] meter
# Y Axis RArm Position feasible movement = [ -0.10, +0.05] meter
# Z Axis LArm Position feasible movement = [ -0.10, +0.10] meter
coef = 1.0
if chainName == "LArm":
coef = +1.0
elif chainName == "RArm":
coef = -1.0
targetCoordinateList = [
[ +0.12, +0.00*coef, +0.00], # target 0
[ +0.12, +0.00*coef, -0.10], # target 1
[ +0.12, +0.05*coef, -0.10], # target 1
[ +0.12, +0.05*coef, +0.10], # target 2
[ +0.12, -0.10*coef, +0.10], # target 3
[ +0.12, -0.10*coef, -0.10], # target 4
[ +0.12, +0.00*coef, -0.10], # target 5
[ +0.12, +0.00*coef, +0.00], # target 6
[ +0.00, +0.00*coef, +0.00], # target 7
]
# wbSetEffectorControl is a non blocking function
# time.sleep allow head go to his target
# The recommended minimum period between two successives set commands is
# 0.2 s.
for targetCoordinate in targetCoordinateList:
targetCoordinate = [targetCoordinate[i] + effectorInit[i] for i in range(3)]
motion_service.wbSetEffectorControl(chainName, targetCoordinate)
time.sleep(4.0)
# Deactivate Head tracking
isEnabled = False
motion_service.wbEnableEffectorControl(chainName, isEnabled)
# Go to rest position
motion_service.rest()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="127.0.0.1",
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
parser.add_argument("--chain", type=str, default="LArm",
choices=["LArm", "RArm"], help="Chain name")
args = parser.parse_args()
session = qi.Session()
try:
session.connect("tcp://" + args.ip + ":" + str(args.port))
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
main(session, args.chain)
Multiple Effectors¶
Control arms and torso simultaneously.
almotion_wbMultipleEffectors.py
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Whole Body Motion - Multiple Effectors control """
import qi
import argparse
import sys
import almath
import motion
def main(session):
"""
Example of a whole body multiple effectors control "LArm", "RArm" and "Torso"
Warning: Needs a PoseInit before executing
Whole body balancer must be inactivated at the end of the script.
"""
# Get the services ALMotion & ALRobotPosture.
motion_service = session.service("ALMotion")
posture_service = session.service("ALRobotPosture")
# Wake up robot
motion_service.wakeUp()
# Send robot to Stand Init
posture_service.goToPosture("StandInit", 0.5)
# end go to Stand Init, begin initialize whole body
# Enable Whole Body Balancer
isEnabled = True
motion_service.wbEnable(isEnabled)
# Legs are constrained fixed
stateName = "Fixed"
supportLeg = "Legs"
motion_service.wbFootState(stateName, supportLeg)
# Constraint Balance Motion
isEnable = True
supportLeg = "Legs"
motion_service.wbEnableBalanceConstraint(isEnable, supportLeg)
# end initialize whole body, define arms motions
useSensorValues = False
# Arms motion
effectorList = ["LArm", "RArm"]
frame = motion.FRAME_ROBOT
# pathLArm
pathLArm = []
currentTf = motion_service.getTransform("LArm", frame, useSensorValues)
# 1
target1Tf = almath.Transform(currentTf)
target1Tf.r2_c4 += 0.08 # y
target1Tf.r3_c4 += 0.14 # z
# 2
target2Tf = almath.Transform(currentTf)
target2Tf.r2_c4 -= 0.05 # y
target2Tf.r3_c4 -= 0.07 # z
pathLArm.append(list(target1Tf.toVector()))
pathLArm.append(list(target2Tf.toVector()))
pathLArm.append(list(target1Tf.toVector()))
pathLArm.append(list(target2Tf.toVector()))
pathLArm.append(list(target1Tf.toVector()))
# pathRArm
pathRArm = []
currentTf = motion_service.getTransform("RArm", frame, useSensorValues)
# 1
target1Tf = almath.Transform(currentTf)
target1Tf.r2_c4 += 0.05 # y
target1Tf.r3_c4 -= 0.07 # z
# 2
target2Tf = almath.Transform(currentTf)
target2Tf.r2_c4 -= 0.08 # y
target2Tf.r3_c4 += 0.14 # z
pathRArm.append(list(target1Tf.toVector()))
pathRArm.append(list(target2Tf.toVector()))
pathRArm.append(list(target1Tf.toVector()))
pathRArm.append(list(target2Tf.toVector()))
pathRArm.append(list(target1Tf.toVector()))
pathRArm.append(list(target2Tf.toVector()))
pathList = [pathLArm, pathRArm]
axisMaskList = [almath.AXIS_MASK_VEL, # for "LArm"
almath.AXIS_MASK_VEL] # for "RArm"
coef = 1.5
timesList = [ [coef*(i+1) for i in range(5)], # for "LArm" in seconds
[coef*(i+1) for i in range(6)] ] # for "RArm" in seconds
# called cartesian interpolation
motion_service.transformInterpolations(effectorList, frame, pathList, axisMaskList, timesList)
# end define arms motions, define torso motion
# Torso Motion
effectorList = ["Torso", "LArm", "RArm"]
dy = 0.06
dz = 0.06
# pathTorso
currentTf = motion_service.getTransform("Torso", frame, useSensorValues)
# 1
target1Tf = almath.Transform(currentTf)
target1Tf.r2_c4 += dy
target1Tf.r3_c4 -= dz
# 2
target2Tf = almath.Transform(currentTf)
target2Tf.r2_c4 -= dy
target2Tf.r3_c4 -= dz
pathTorso = []
for i in range(3):
pathTorso.append(list(target1Tf.toVector()))
pathTorso.append(currentTf)
pathTorso.append(list(target2Tf.toVector()))
pathTorso.append(currentTf)
pathLArm = [motion_service.getTransform("LArm", frame, useSensorValues)]
pathRArm = [motion_service.getTransform("RArm", frame, useSensorValues)]
pathList = [pathTorso, pathLArm, pathRArm]
axisMaskList = [almath.AXIS_MASK_ALL, # for "Torso"
almath.AXIS_MASK_VEL, # for "LArm"
almath.AXIS_MASK_VEL] # for "RArm"
coef = 0.5
timesList = [
[coef*(i+1) for i in range(12)], # for "Torso" in seconds
[coef*12], # for "LArm" in seconds
[coef*12] # for "RArm" in seconds
]
motion_service.transformInterpolations(
effectorList, frame, pathList, axisMaskList, timesList)
# end define torso motion, disable whole body
# Deactivate whole body
isEnabled = False
motion_service.wbEnable(isEnabled)
# Send robot to Pose Init
posture_service.goToPosture("StandInit", 0.3)
# Go to rest position
motion_service.rest()
# end script
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="127.0.0.1",
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
session = qi.Session()
try:
session.connect("tcp://" + args.ip + ":" + str(args.port))
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
main(session)
Balance¶
Balance constraints in whole body motion.
Balance constraint¶
Enable a balance constraint.
almotion_wbEnableBalanceConstraint.py
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Whole Body Motion - Enable Balance Constraint"""
import qi
import argparse
import sys
import math
def main(session):
"""
Example of a whole body Enable Balance Constraint.
Warning: Needs a PoseInit before executing.
Whole body balancer must be deactivated at the end of the script.
This example is only compatible with NAO.
"""
# Get the services ALMotion & ALRobotPosture.
motion_service = session.service("ALMotion")
posture_service = session.service("ALRobotPosture")
# Wake up robot
motion_service.wakeUp()
# Send robot to Stand Init
posture_service.goToPosture("StandInit", 0.5)
# Activate Whole Body Balancer
isEnabled = True
motion_service.wbEnable(isEnabled)
# Legs are constrained in a plane
stateName = "Fixed"
supportLeg = "Legs"
motion_service.wbFootState(stateName, supportLeg)
# Constraint Balance Motion
isEnable = True
supportLeg = "Legs"
motion_service.wbEnableBalanceConstraint(isEnable, supportLeg)
# KneePitch angleInterpolation
# Without Whole Body balancer, foot will fall down
names = ["LKneePitch", "RKneePitch"]
angleLists = [ [0.0, 40.0*math.pi/180.0], [0.0, 40.0*math.pi/180.0]]
timeLists = [ [5.0, 10.0], [5.0, 10.0]]
isAbsolute = True
try:
motion_service.angleInterpolation(names, angleLists, timeLists, isAbsolute)
except Exception, errorMsg:
print str(errorMsg)
print "This example is not allowed on this robot."
exit()
# Deactivate Whole Body Balancer
isEnabled = False
motion_service.wbEnable(isEnabled)
# Go to rest position
motion_service.rest()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="127.0.0.1",
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
session = qi.Session()
try:
session.connect("tcp://" + args.ip + ":" + str(args.port))
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
main(session)
Kick¶
Make NAO kick the air with its foot.
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Whole Body Motion - kick"""
import qi
import argparse
import sys
import motion
import time
import almath
def computePath(motion_service, effector, frame):
dx = 0.05 # translation axis X (meters)
dz = 0.05 # translation axis Z (meters)
dwy = 5.0*almath.TO_RAD # rotation axis Y (radian)
useSensorValues = False
path = []
currentTf = []
try:
currentTf = motion_service.getTransform(effector, frame, useSensorValues)
except Exception, errorMsg:
print str(errorMsg)
print "This example is not allowed on this robot."
exit()
# 1
targetTf = almath.Transform(currentTf)
targetTf *= almath.Transform(-dx, 0.0, dz)
targetTf *= almath.Transform().fromRotY(dwy)
path.append(list(targetTf.toVector()))
# 2
targetTf = almath.Transform(currentTf)
targetTf *= almath.Transform(dx, 0.0, dz)
path.append(list(targetTf.toVector()))
# 3
path.append(currentTf)
return path
def main(session):
"""
Example of a whole body kick.
Warning: Needs a PoseInit before executing
Whole body balancer must be inactivated at the end of the script.
This example is only compatible with NAO.
"""
# Get the services ALMotion & ALRobotPosture.
motion_service = session.service("ALMotion")
posture_service = session.service("ALRobotPosture")
# Wake up robot
motion_service.wakeUp()
# Send robot to Stand Init
posture_service.goToPosture("StandInit", 0.5)
# Activate Whole Body Balancer
isEnabled = True
motion_service.wbEnable(isEnabled)
# Legs are constrained fixed
stateName = "Fixed"
supportLeg = "Legs"
motion_service.wbFootState(stateName, supportLeg)
# Constraint Balance Motion
isEnable = True
supportLeg = "Legs"
motion_service.wbEnableBalanceConstraint(isEnable, supportLeg)
# Com go to LLeg
supportLeg = "LLeg"
duration = 2.0
motion_service.wbGoToBalance(supportLeg, duration)
# RLeg is free
stateName = "Free"
supportLeg = "RLeg"
motion_service.wbFootState(stateName, supportLeg)
# RLeg is optimized
effector = "RLeg"
axisMask = 63
frame = motion.FRAME_WORLD
# Motion of the RLeg
times = [2.0, 2.7, 4.5]
path = computePath(motion_service, effector, frame)
motion_service.transformInterpolations(effector, frame, path, axisMask, times)
# Example showing how to Enable Effector Control as an Optimization
isActive = False
motion_service.wbEnableEffectorOptimization(effector, isActive)
# Com go to LLeg
supportLeg = "RLeg"
duration = 2.0
motion_service.wbGoToBalance(supportLeg, duration)
# RLeg is free
stateName = "Free"
supportLeg = "LLeg"
motion_service.wbFootState(stateName, supportLeg)
effector = "LLeg"
path = computePath(motion_service, effector, frame)
motion_service.transformInterpolations(effector, frame, path, axisMask, times)
time.sleep(1.0)
# Deactivate Head tracking
isEnabled = False
motion_service.wbEnable(isEnabled)
# send robot to Pose Init
posture_service.goToPosture("StandInit", 0.3)
# Go to rest position
motion_service.rest()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="127.0.0.1",
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
session = qi.Session()
try:
session.connect("tcp://" + args.ip + ":" + str(args.port))
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
main(session)
Foot state¶
Constrain whole body balancer with foot state.
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Whole Body Motion - Foot State"""
import qi
import argparse
import sys
import math
def main(session):
"""
Example of a whole body FootState.
Warning: Needs a PoseInit before executing.
Whole body balancer must be inactivated at the end of the script.
This example is only compatible with NAO.
"""
# Get the services ALMotion & ALRobotPosture.
motion_service = session.service("ALMotion")
posture_service = session.service("ALRobotPosture")
# Wake up robot
motion_service.wakeUp()
# Send robot to Stand Init
posture_service.goToPosture("StandInit", 0.5)
# Activate Whole Body Balancer.
isEnabled = True
motion_service.wbEnable(isEnabled)
# Legs are constrained in a plane
stateName = "Plane"
supportLeg = "Legs"
motion_service.wbFootState(stateName, supportLeg)
# HipYawPitch angleInterpolation
# Without Whole Body balancer, foot will not be keeped plane.
names = "LHipYawPitch"
angleLists = [-45.0, 10.0, 0.0]
timeLists = [3.0, 6.0, 9.0]
isAbsolute = True
angleLists = [angle*math.pi/180.0 for angle in angleLists]
try:
motion_service.angleInterpolation(names, angleLists, timeLists, isAbsolute)
except Exception, errorMsg:
print str(errorMsg)
print "This example is not allowed on this robot."
exit()
# Deactivate Whole Body Balancer.
isEnabled = False
motion_service.wbEnable(isEnabled)
# Go to rest position
motion_service.rest()
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="127.0.0.1",
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
session = qi.Session()
try:
session.connect("tcp://" + args.ip + ":" + str(args.port))
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
main(session)
