Joint control Tutorial: The Pose Init

NAOqi Motion - Overview | API | Tutorial


Introduction

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

almotion_poseInit.py


# -*- 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
    motionProxy.wakeUp()

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

    # Go to rest position
    motionProxy.rest()

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)