SoftBank Robotics documentation What's new in NAOqi 2.5?

Motion task API

NAOqi Motion - Overview | API

Methods

AL::ALValue ALMotionProxy::getTaskList()

Gets an ALValue structure describing the tasks in the Task List

Returns:An ALValue containing an ALValue for each task. The inner ALValue contains: Name, MotionID

almotion_gettasklist.cpp

#include <qi/os.hpp>
#include <iostream>
#include <alproxies/almotionproxy.h>

int main(int argc, char **argv)
{
  std::string robotIp = "127.0.0.1";

  if (argc < 2) {
    std::cerr << "Usage: almotion_gettasklist robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get the current task list
  // We will create a task first, so that we see a result
  AL::ALValue names      = "HeadYaw";
  AL::ALValue angleLists = 1.0f;
  AL::ALValue timeList   = 3.0f;
  bool isAbsolute        = true;
  motion.setStiffnesses(names, 1.0f);
  motion.post.angleInterpolation(names, angleLists, timeList, isAbsolute);
  qi::os::msleep(100);
  std::cout << "Tasklist: " << motion.getTaskList() << std::endl;
  qi::os::sleep(3.0f);
  motion.setStiffnesses(names, 0.0f);

  return 0;
}

almotion_getTaskList.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use getTaskList Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the getTaskList method.
    """
    # Get the service ALMotion.

    motion_service  = session.service("ALMotion")

    motion_service.setStiffnesses("Head", 1.0)

    # Example showing how to get the current task list
    # We will create a task first, so that we see a result
    names      = "HeadYaw"
    angleLists = 1.0
    timeList   = 3.0
    isAbsolute = True
    motion_service.angleInterpolation(names, angleLists, timeList, isAbsolute, _async=True)
    time.sleep(0.1)
    print 'Tasklist: ', motion_service.getTaskList()

    time.sleep(2.0)

    motion_service.setStiffnesses("Head", 0.0)


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)
bool ALMotionProxy::areResourcesAvailable(const std::vector<std::string>& resourceNames)

Returns true if all the desired resources are available. Only motion API’s‘ blocking call takes resources.

Parameters:
  • resourceNames – A vector of resource names such as joints or chains names, “Body”, “JointActuators”, “Joints” or “Actuators”. Use getBodyNames("Body") to get the list of the available joints for your robot.
Returns:

True if the resources are available

almotion_areresourcesavailable.cpp

#include <iostream>
#include <alproxies/almotionproxy.h>
#include <qi/os.hpp>

int main(int argc, char **argv)
{
  std::string robotIp = "127.0.0.1";

  if (argc < 2) {
    std::cerr << "Usage: almotion_areresourcesavailable robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Setting head stiffness on.
  motion.setStiffnesses("Head", 1.0f);

  // Example showing how to use areResourcesAvailable
  // We will create a task first, so that we see a result
  AL::ALValue names = "HeadYaw";
  AL::ALValue angleLists = 1.0f;
  AL::ALValue timeList   = 3.0f;
  bool isAbsolute        = true;
  motion.post.angleInterpolation(names, angleLists, timeList, isAbsolute);
  qi::os::msleep(100);
  std::cout << "Are resources "<< names << " available?" << std::endl;
  std::cout << motion.areResourcesAvailable(AL::ALValue::array(names)) << std::endl;

  qi::os::sleep(3.0f);

  // Setting head stiffness off.
  motion.setStiffnesses("Head", 0.0f);
  return 0;
}

almotion_areResourcesAvailable.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use areResourcesAvailable Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the areResourcesAvailable method.
    """
    # Get the service ALMotion.

    motion_service  = session.service("ALMotion")

    motion_service.setStiffnesses("Head", 1.0)

    # Example showing how to use areResourcesAvailable
    # We will create a task first, so that we see a result
    name = "HeadYaw"
    motion_service.angleInterpolation(name, 1.0, 1.0, True, _async=True)
    time.sleep(0.1)
    print "Are " + name + " resources available? " + str(motion_service.areResourcesAvailable([name]))

    time.sleep(1.0)

    motion_service.setStiffnesses("Head", 0.0)


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)
bool ALMotionProxy::killTask(const int& motionTaskID)

Kills a motion task.

Parameters:
  • motionTaskID – TaskID of the motion task you want to kill.
Returns:

Return true if the specified motionTaskId has been killed.

almotion_killtask.cpp

#include <qi/os.hpp>
#include <iostream>
#include <alproxies/almotionproxy.h>

int main(int argc, char **argv)
{
  std::string robotIp = "127.0.0.1";

  if (argc < 2) {
    std::cerr << "Usage: almotion_killtask robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  AL::ALValue names      = "HeadYaw";
  AL::ALValue angleLists = 1.0f;
  AL::ALValue timeLists  = 10.0f;
  bool isAbsolute        = true;
  motion.setStiffnesses(names, 1.0f);
  motion.post.angleInterpolation(names, angleLists, timeLists, isAbsolute);
  qi::os::msleep(3000);

  std::cout << "Killing task..." << std::endl;
  AL::ALValue TaskList = motion.getTaskList();
  int uiMotion = TaskList[0][1];
  motion.killTask(uiMotion);
  std::cout << "Task killed." << std::endl;

  motion.setStiffnesses(names, 0.0f);

  return 0;
}

almotion_killTask.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use killTask Method"""

import qi
import argparse
import sys
import time
import almath


def main(session):
    """
    This example uses the killTask method.
    """
    # Get the service ALMotion.

    motion_service  = session.service("ALMotion")

    motion_service.setStiffnesses("Head", 1.0)

    # This function is useful to kill motion Task
    # To see the current motionTask please use getTaskList() function

    motion_service.angleInterpolation('HeadYaw', 90*almath.TO_RAD, 10, True, _async=True)
    time.sleep(3)
    taskList = motion_service.getTaskList()
    uiMotion = taskList[0][1]
    motion_service.killTask(uiMotion)

    motion_service.setStiffnesses("Head", 0.0)


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)
void ALMotionProxy::killTasksUsingResources(const std::vector<std::string>& resourceNames)

Kills all tasks that use any of the resources given. Only motion API’s‘ blocking call takes resources and can be killed.

Parameters:
  • resourceNames – A vector of resource names such as joints or chains names, “Body”, “JointActuators”, “Joints” or “Actuators”. Use getBodyNames("Body") to get the list of the available joints for your robot.

almotion_killtasksusingresources.cpp

#include <qi/os.hpp>
#include <iostream>
#include <alproxies/almotionproxy.h>

int main(int argc, char **argv)
{
  std::string robotIp = "127.0.0.1";

  if (argc < 2) {
    std::cerr << "Usage: almotion_killtasksusingresources robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to killTasksUsingResources
  // We will create a task first, so that we see a result
  AL::ALValue names      = "HeadYaw";
  AL::ALValue angleLists = 1.0f;
  AL::ALValue timeList   = 3.0f;
  bool isAbsolute        = true;
  motion.setStiffnesses(names, 1.0f);
  motion.post.angleInterpolation(names, angleLists, timeList, isAbsolute);
  qi::os::msleep(1000);
  std::cout << "Killing task..." << std::endl;
  motion.killTasksUsingResources(AL::ALValue::array(names));
  std::cout << "Task killed." << std::endl;

  motion.setStiffnesses(names, 0.0f);

  return 0;
}

almotion_killTasksUsingResources.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use killTasksUsingResources Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the killTasksUsingResources method.
    """
    # Get the service ALMotion.

    motion_service  = session.service("ALMotion")

    motion_service.setStiffnesses("Head", 1.0)

    # Example showing how to killTasksUsingResources
    # We will create a task first, so that we see a result
    name = "HeadYaw"
    motion_service.angleInterpolation(name, 1.0, 1.0, True, _async=True)
    time.sleep(0.5)
    motion_service.killTasksUsingResources([name])

    motion_service.setStiffnesses("Head", 0.0)


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)
void ALMotionProxy::killWalk()

Deprecated since version 1.14: use ALMotionProxy::killMove instead.

Emergency Stop on Walk task: this method will end the walk task brutally, without attempting to return to a balanced state. If the robot has one foot in the air, he could easily fall.

void ALMotionProxy::killMove()

Emergency Stop on Move task: this method will end the move task brutally, without attempting to return to a balanced state. If the robot has one foot in the air, he could easily fall.

almotion_killmove.cpp

#include <iostream>
#include <alproxies/almotionproxy.h>

int main(int argc, char **argv)
{
  std::string robotIp = "127.0.0.1";

  if (argc < 2) {
    std::cerr << "Usage: almotion_killmove robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to use Emergency Stop on Move task.
  motion.killMove();
  std::cout << "Killed move." << std::endl;

  return 0;
}

almotion_killMove.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use killMove Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the killMove method.
    """
    # 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)

    motion_service.moveTo(0.5, 0.0, 0.0, _async=True)
    time.sleep(3.0)

    # End the walk suddenly (around 20ms)
    motion_service.killMove()

    # 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)
void ALMotionProxy::killAll()

Kills all tasks.

almotion_killall.cpp

#include <iostream>
#include <alproxies/almotionproxy.h>

int main(int argc, char **argv)
{
  std::string robotIp = "127.0.0.1";

  if (argc < 2) {
    std::cerr << "Usage: almotion_killall robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to kill all the tasks.
  motion.killAll();
  std::cout << "All tasks killed." << std::endl;

  return 0;
}

almotion_killAll.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use killAll Method"""

import qi
import argparse
import sys



def main(session):
    """
    This example uses the killAll method.
    """
    # Get the service ALMotion.

    motion_service  = session.service("ALMotion")

    # Example showing how to kill all the tasks.
    motion_service.killAll()
    print "All tasks killed."


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)