General tools API

NAOqi Motion - Overview | API


Methods

bool ALMotionProxy::areNotificationsEnabled()

Get notifications status. Return true if notifications are active.

Returns: Return true is notifications are active.
std::vector<std::string> ALMotionProxy::getBodyNames(const std::string& name)

Gets the names of all the joints in the collection.

Parameters:
  • name – Name of a chain, “Body”, “Chains”, “JointActuators”, “Joints” or “Actuators”.
Returns:

Vector of strings, one for each joint in the collection

almotion_getbodynames.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_getbodynames robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get the names of all the joints in the body.
  std::vector<std::string> bodyNames = motion.getBodyNames("Body");
  std::cout << "All joints in Body: " << std::endl;
  std::cout << bodyNames << std::endl;

  // Example showing how to get the names of all the joints in the left leg.
  std::vector<std::string> leftLegJointNames = motion.getBodyNames("LLeg");
  std::cout << "All joints in LLeg: " << std::endl;
  std::cout << leftLegJointNames << std::endl;

  return 0;
}

almotion_getBodyNames.py


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

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    # Example showing how to get the names of all the joints in the body.
    bodyNames = motionProxy.getBodyNames("Body")
    print "Body:"
    print str(bodyNames)
    print ""

    # Example showing how to get the names of all the joints in the left leg.
    leftLegJointNames = motionProxy.getBodyNames("LLeg")
    print "LLeg:"
    print str(leftLegJointNames)


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        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)

std::vector<std::string> ALMotionProxy::getJointNames(const std::string& name)

Deprecated since version 1.14: use ALMotionProxy::getBodyNames() instead.

param name: Name of a chain, “Body”, “Chains”, “JointActuators”, “Joints” or “Actuators”.
return: Vector of strings, one for each joint in the collection
std::vector<std::string> ALMotionProxy::getSensorNames()

Gets the list of sensors supported on your robot.

Returns: Vector of sensor names

almotion_getsensornames.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_getsensornames robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Gets the list of sensors supported on your robot.
  std::vector<std::string> sensorList = motion.getSensorNames();
  std::cout << "Sensors: " << std::endl;
  for (unsigned int i=0; i<sensorList.size(); i++)
  {
     std::cout << sensorList.at(i) << std::endl;
  }

  return 0;
}

almotion_getSensorNames.py


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

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    # Example showing how to get the list of the sensors
    sensorList = motionProxy.getSensorNames()
    for sensor in sensorList:
        print sensor


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        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)

AL::ALValue ALMotionProxy::getLimits(const std::string& name)

Get the minAngle (rad), maxAngle (rad), maxVelocity (rad.s-1) and maxTorque (N.m). for a given joint or actuator in the body.

Parameters:
  • name – Name of a joint, chain, “Body”, “JointActuators”, “Joints” or “Actuators”.
Returns:

Array of ALValue arrays containing the minAngle, maxAngle, maxVelocity and maxTorque for all the joints specified.

almotion_getlimits.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_getlimits robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get the limits for the whole body
  std::string name = "Body";
  std::vector<std::string> jointNames = motion.getBodyNames(name);
  AL::ALValue limits = motion.getLimits(name);
  for (unsigned int i=0; i<limits.getSize(); i++)
  {
    std::cout << " Joint name " << jointNames[i]
              << " minAngle " << limits[i][0] << " rad"
              << " maxAngle " << limits[i][1] << " rad"
              << " maxChange " << limits[i][2] << " rad.s-1"
              << " maxTorque " << limits[i][3] << " N.m"
              << std::endl;
  }

  return 0;
}

almotion_getLimits.py


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

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    # Example showing how to get the limits for the whole body
    name = "Body"
    limits = motionProxy.getLimits(name)
    jointNames = motionProxy.getBodyNames(name)
    for i in range(0,len(limits)):
        print jointNames[i] + ":"
        print "minAngle", limits[i][0],\
            "maxAngle", limits[i][1],\
            "maxVelocity", limits[i][2],\
            "maxTorque", limits[i][3]


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        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)

AL::ALValue ALMotionProxy::getMotionCycleTime()

Get the motion cycle time in milliseconds.

Returns: ALValue containing the cycle time in milliseconds as an integer.
AL::ALValue ALMotionProxy::getRobotConfig()

Get the robot configuration.

Returns: ALValue arrays containing the robot parameter names and the robot parameter values.

almotion_getrobotconfig.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_getrobotconfig robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get the robot config
  AL::ALValue robotConfig = motion.getRobotConfig();
  for (unsigned int i=0; i<robotConfig[0].getSize(); i++)
  {
    std::cout << robotConfig[0][i] << ": " << robotConfig[1][i] << std::endl;
  }

  return 0;
}

almotion_getRobotConfig.py


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

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    # Example showing how to get the robot config
    robotConfig = motionProxy.getRobotConfig()
    for i in range(len(robotConfig[0])):
        print robotConfig[0][i], ": ", robotConfig[1][i]

    # "Model Type"   : "naoH25", "naoH21", "naoT14" or "naoT2".
    # "Head Version" : "VERSION_32" or "VERSION_33" or "VERSION_40".
    # "Body Version" : "VERSION_32" or "VERSION_33" or "VERSION_40".
    # "Laser"        : True or False.
    # "Legs"         : True or False.
    # "Arms"         : True or False.
    # "Extended Arms": True or False.
    # "Hands"        : True or False.
    # "Arm Version"  : "VERSION_32" or "VERSION_33" or "VERSION_40".
    # Number of Legs : 0 or 2
    # Number of Arms : 0 or 2
    # Number of Hands: 0 or 2


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        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)

std::string ALMotionProxy::getSummary()

Returns a string representation of the Model’s state

Returns: A formated string

almotion_getsummary.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_getsummary robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get a summary of Nao's state
  std::cout << motion.getSummary() << std::endl;

  return 0;
}

almotion_getSummary.py


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

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    # Example showing how to get a summary of Nao's state
    print motionProxy.getSummary()


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        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)

float ALMotionProxy::getMass(const std::string& pName)

Gets the mass of a joint, chain, “Body” or “Joints”.

Parameters:
  • pName – name of the body which we want the mass. “Body”, “Joints” and “Com” give the total mass of the robot. For the chain, it gives the total mass of the chain.
Returns:

The mass in kg.

almotion_getmass.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_getmass robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get the mass of "HeadYaw".
  std::string pName = "HeadYaw";
  float mass = motion.getMass(pName);

  std::cout << "Mass on " << pName << " is " << mass << std::endl;

  return 0;
}

almotion_getMass.py


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

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    # Example showing how to get the mass of "HeadYaw".
    pName = "HeadYaw"
    mass = motionProxy.getMass(pName)
    print pName + " mass: " + str(mass)

    # Example showing how to get the mass "LLeg" chain.
    pName = "LLeg"
    print "LLeg mass: ", motionProxy.getMass(pName)

    # It is equivalent to the following script
    pNameList = motionProxy.getBodyNames("LLeg")
    mass = 0.0
    for pName in pNameList:
        jointMass = motionProxy.getMass(pName)
        print pName + " mass: " + str(jointMass)
        mass = mass + jointMass
    print "LLeg mass:", mass


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        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)

std::vector<float> ALMotionProxy::getCOM(const std::string& pName, const int& pSpace, const bool& pUseSensorValues)

Gets the COM of a joint, chain, “Body” or “Joints”.

Parameters:
  • pName – Name of the body which we want the mass. In chain name case, this function give the com of the chain.
  • pSpace – Task space {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.
  • pUseSensorValues – If true, the sensor values will be used to determine the position.
Returns:

The COM position (meter).

almotion_getcom.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_getcom robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get the COM of "HeadYaw".
  std::string pName = "HeadYaw";
  int pSpace = 0; // FRAME_TORSO
  bool pUseSensors = false;
  std::vector<float> pos = motion.getCOM(pName, pSpace, pUseSensors);

  std::cout << pName << " COM position: " << std::endl;
  std::cout << "x: " << pos[0] << "; y: " << pos[1] << "; z: " << pos[2]
            << std::endl;

  return 0;
}

almotion_getCOM.py


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

import motion
import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    # Example showing how to get the COM position of "HeadYaw".
    name = "HeadYaw"
    frame = motion.FRAME_TORSO
    useSensors = False
    pos = motionProxy.getCOM(name, frame, useSensors)
    print "HeadYaw COM Position: x = ", pos[0], " y:", pos[1], " z:", pos[2]


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        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)

void ALMotionProxy::setMotionConfig(const AL::ALValue& config)

Internal Use.

Parameters:
  • config – Internal: An array of ALValues [i][0]: name, [i][1]: value
void ALMotionProxy::setEnableNotifications(bool enable)

Enable / Disable notifications.

Parameters:
  • enable – If true enable notifications.
void ALMotionProxy::updateTrackerTarget(const float& pTargetPositionWy, const float& pTargetPositionWz, const int& pTimeSinceDetectionMs, const bool& pUseOfWholeBody)

Deprecated since version 1.18: use ALTrackerProxy instead.

Update the target to be followed by the head of the robot.

Parameters:
  • pTargetPositionWy – The target position wy in FRAME_ROBOT
  • pTargetPositionWz – The target position wz in FRAME_ROBOT
  • pTimeSinceDetectionMs – The time in Ms since the target was detected
  • pUseOfWholeBody – If true, the target is follow in Cartesian space by the Head with whole Body constraints.