Cartesian commands

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This section contains examples showing cartesian commands on NAO’s body.

Arms

Arm trajectories examples.

Trajectory 1

almotion_cartesianArm1.py


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

'''Cartesian control: Arm trajectory example'''
''' This example is only compatible with NAO '''

import argparse
import motion
import almath
from naoqi import ALProxy


def main(robotIP, PORT=9559):
    ''' Example showing a path of two positions
    Warning: Needs a PoseInit before executing
    '''

    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)

    effector   = "LArm"
    frame      = motion.FRAME_TORSO
    axisMask   = almath.AXIS_MASK_VEL # just control position
    useSensorValues = False

    path = []
    currentTf = motionProxy.getTransform(effector, frame, useSensorValues)
    targetTf  = almath.Transform(currentTf)
    targetTf.r1_c4 += 0.03 # x
    targetTf.r2_c4 += 0.03 # y

    path.append(list(targetTf.toVector()))
    path.append(currentTf)

    # Go to the target and back again
    times      = [2.0, 4.0] # seconds

    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # 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)

Trajectory 2

almotion_cartesianArm2.py


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

'''Cartesian control: Arm trajectory example'''
''' This example is only compatible with NAO '''

import argparse
import motion
import almath
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    ''' Example showing a hand ellipsoid
    Warning: Needs a PoseInit before executing
    '''

    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)

    effector   = "LArm"
    frame      = motion.FRAME_TORSO
    axisMask   = almath.AXIS_MASK_VEL    # just control position
    useSensorValues = False

    path = []
    currentTf = motionProxy.getTransform(effector, frame, useSensorValues)
    # point 1
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 -= 0.05 # y
    path.append(list(targetTf.toVector()))

    # point 2
    targetTf  = almath.Transform(currentTf)
    targetTf.r3_c4 += 0.04 # z
    path.append(list(targetTf.toVector()))

    # point 3
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 += 0.04 # y
    path.append(list(targetTf.toVector()))

    # point 4
    targetTf  = almath.Transform(currentTf)
    targetTf.r3_c4 -= 0.02 # z
    path.append(list(targetTf.toVector()))

    # point 5
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 -= 0.05 # y
    path.append(list(targetTf.toVector()))

    # point 6
    path.append(currentTf)

    times = [0.5, 1.0, 2.0, 3.0, 4.0, 4.5] # seconds

    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # 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)

Feet

Control NAO’s left foot.

almotion_cartesianFoot.py


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

'''Cartesian control: Torso and Foot trajectories'''
''' This example is only compatible with NAO '''

import argparse
import motion
import almath
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    ''' Example of a cartesian foot trajectory
    Warning: Needs a PoseInit before executing
    '''

    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)

    frame      = motion.FRAME_WORLD
    axisMask   = almath.AXIS_MASK_ALL   # full control
    useSensorValues = False

    # Lower the Torso and move to the side
    effector = "Torso"
    initTf   = almath.Transform(
        motionProxy.getTransform(effector, frame, useSensorValues))
    deltaTf  = almath.Transform(0.0, -0.06, -0.03) # x, y, z
    targetTf = initTf*deltaTf
    path     = list(targetTf.toVector())
    times    = 2.0 # seconds
    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # LLeg motion
    effector = "LLeg"
    initTf = almath.Transform()

    try:
        initTf = almath.Transform(motionProxy.getTransform(effector, frame, useSensorValues))
    except Exception, errorMsg:
        print str(errorMsg)
        print "This example is not allowed on this robot."
        exit()

    # rotation Z
    deltaTf  = almath.Transform(0.0, 0.04, 0.0)*almath.Transform().fromRotZ(45.0*almath.TO_RAD)
    targetTf = initTf*deltaTf
    path     = list(targetTf.toVector())
    times    = 2.0 # seconds

    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # 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)

Torso

Make NAO’s torso take different positions.

Trajectory

almotion_cartesianTorso.py


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

'''Cartesian control: Torso trajectory'''

import argparse
import motion
import almath
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    ''' Example showing a path of five positions
    Needs a PoseInit before execution
    '''

    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)

    effector   = "Torso"
    frame      =  motion.FRAME_WORLD
    axisMask   = almath.AXIS_MASK_ALL # full control
    useSensorValues = False

    # Define the changes relative to the current position
    dx         = 0.045 # translation axis X (meter)
    dy         = 0.050 # translation axis Y (meter)

    path = []
    currentTf = motionProxy.getTransform(effector, frame, useSensorValues)

    # point 1
    targetTf  = almath.Transform(currentTf)
    targetTf.r1_c4 += dx
    path.append(list(targetTf.toVector()))

    # point 2
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 -= dy
    path.append(list(targetTf.toVector()))

    # point 3
    targetTf  = almath.Transform(currentTf)
    targetTf.r1_c4 -= dx
    path.append(list(targetTf.toVector()))

    # point 4
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 += dy
    path.append(list(targetTf.toVector()))

    # point 5
    targetTf  = almath.Transform(currentTf)
    targetTf.r1_c4 += dx
    path.append(list(targetTf.toVector()))

    # point 6
    path.append(currentTf)

    times = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0] # seconds

    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # 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)

Hula Hoop

almotion_hulaHoop.py


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

'''Motion: Hula Hoop'''
''' This example is only compatible with NAO '''

import argparse
import motion
import almath
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    '''
         Example showing a Hula Hoop Motion
         with the NAO cartesian control of torso
    '''

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

    # end initialize proxy, begin go to Stand Init

    # Wake up robot
    motionProxy.wakeUp()

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

    # end go to Stand Init, begin define control point
    effector        = "Torso"
    frame           =  motion.FRAME_ROBOT
    axisMask        = almath.AXIS_MASK_ALL
    isAbsolute      = True
    useSensorValues = False

    currentTf = almath.Transform(motionProxy.getTransform(effector, frame, useSensorValues))

    # end define control point, begin define target

    # Define the changes relative to the current position
    dx         = 0.03                    # translation axis X (meter)
    dy         = 0.03                    # translation axis Y (meter)
    dwx        = 8.0*almath.TO_RAD       # rotation axis X (rad)
    dwy        = 8.0*almath.TO_RAD       # rotation axis Y (rad)

    # point 01 : forward  / bend backward
    target1Tf = almath.Transform(currentTf.r1_c4, currentTf.r2_c4, currentTf.r3_c4)
    target1Tf *= almath.Transform(dx, 0.0, 0.0)
    target1Tf *= almath.Transform().fromRotY(-dwy)

    # point 02 : right    / bend left
    target2Tf = almath.Transform(currentTf.r1_c4, currentTf.r2_c4, currentTf.r3_c4)
    target2Tf *= almath.Transform(0.0, -dy, 0.0)
    target2Tf *= almath.Transform().fromRotX(-dwx)

    # point 03 : backward / bend forward
    target3Tf = almath.Transform(currentTf.r1_c4, currentTf.r2_c4, currentTf.r3_c4)
    target3Tf *= almath.Transform(-dx, 0.0, 0.0)
    target3Tf *= almath.Transform().fromRotY(dwy)

    # point 04 : left     / bend right
    target4Tf = almath.Transform(currentTf.r1_c4, currentTf.r2_c4, currentTf.r3_c4)
    target4Tf *= almath.Transform(0.0, dy, 0.0)
    target4Tf *= almath.Transform().fromRotX(dwx)

    path = []
    path.append(list(target1Tf.toVector()))
    path.append(list(target2Tf.toVector()))
    path.append(list(target3Tf.toVector()))
    path.append(list(target4Tf.toVector()))

    path.append(list(target1Tf.toVector()))
    path.append(list(target2Tf.toVector()))
    path.append(list(target3Tf.toVector()))
    path.append(list(target4Tf.toVector()))

    path.append(list(target1Tf.toVector()))
    path.append(list(currentTf.toVector()))

    timeOneMove  = 0.5 #seconds
    times = []
    for i in range(len(path)):
        times.append((i+1)*timeOneMove)

    # end define target, begin call motion api

    # call the cartesian control API

    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # Go to rest position
    motionProxy.rest()

    # end script

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)

Arms and torso

Control multiple effectors with cartesian commands.

Trajectory 1

almotion_cartesianTorsoArm1.py


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

'''Cartesian control: Multiple Effector Trajectories'''
''' This example is only compatible with NAO '''

import argparse
import motion
import almath
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    ''' Simultaneously control three effectors:
    the Torso, the Left Arm and the Right Arm
    Warning: Needs a PoseInit before executing
    '''

    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)

    frame      = motion.FRAME_WORLD
    coef       = 0.5                   # motion speed
    times      = [coef, 2.0*coef, 3.0*coef, 4.0*coef]
    useSensorValues = False

    # Relative movement between current and desired positions
    dy         = +0.03                 # translation axis Y (meters)
    dz         = -0.03                 # translation axis Z (meters)
    dwx        = +8.0*almath.TO_RAD   # rotation axis X (radians)

    # Motion of Torso with post process
    effector   = "Torso"

    path = []
    initTf = almath.Transform(motionProxy.getTransform(effector, frame, useSensorValues))
    # point 1
    deltaTf  = almath.Transform(0.0, -dy, dz)*almath.Transform().fromRotX(-dwx)
    targetTf = initTf*deltaTf
    path.append(list(targetTf.toVector()))

    # point 2
    path.append(list(initTf.toVector()))

    # point 3
    deltaTf  = almath.Transform(0.0, dy, dz)*almath.Transform().fromRotX(dwx)
    targetTf = initTf*deltaTf
    path.append(list(targetTf.toVector()))

    # point 4
    path.append(list(initTf.toVector()))

    axisMask   = almath.AXIS_MASK_ALL  # control all the effector axes
    motionProxy.post.transformInterpolations(effector, frame, path,
                                           axisMask, times)

    # Motion of Arms with block process
    frame     = motion.FRAME_TORSO
    axisMask  = almath.AXIS_MASK_VEL  # control just the position
    times     = [1.0*coef, 2.0*coef]  # seconds

    # Motion of Right Arm during the first half of the Torso motion
    effector  = "RArm"

    path = []
    currentTf = motionProxy.getTransform(effector, frame, useSensorValues)
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 -= 0.04 # y
    path.append(list(targetTf.toVector()))
    path.append(currentTf)

    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # Motion of Left Arm during the last half of the Torso motion
    effector   = "LArm"

    path = []
    currentTf = motionProxy.getTransform(effector, frame, useSensorValues)
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 += 0.04 # y
    path.append(list(targetTf.toVector()))
    path.append(currentTf)

    motionProxy.transformInterpolations(effector, frame, path, axisMask, times)

    # 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)

Trajectory 2

almotion_cartesianTorsoArm2.py


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

'''Cartesian control: Multiple Effector Trajectories'''
''' This example is only compatible with NAO '''

import argparse
import motion
import almath
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    ''' Move the torso and keep arms fixed in nao space
    Warning: Needs a PoseInit before executing
    '''

    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)

    frame      = motion.FRAME_ROBOT
    useSensorValues = False

    effectorList = ["LArm", "RArm"]

    # Motion of Arms with block process
    axisMaskList = [almath.AXIS_MASK_VEL, almath.AXIS_MASK_VEL]

    timesList    = [[1.0], [1.0]] # seconds

    # LArm path
    pathLArm = []
    targetTf  = almath.Transform(motionProxy.getTransform("LArm", frame, useSensorValues))
    targetTf.r2_c4 -= 0.04 # y
    pathLArm.append(list(targetTf.toVector()))

    # RArm path
    pathRArm = []
    targetTf  = almath.Transform(motionProxy.getTransform("RArm", frame, useSensorValues))
    targetTf.r2_c4 += 0.04 # y
    pathRArm.append(list(targetTf.toVector()))

    pathList = []
    pathList.append(pathLArm)
    pathList.append(pathRArm)

    motionProxy.transformInterpolations(effectorList, frame, pathList,
                                       axisMaskList, timesList)

    effectorList = ["LArm", "RArm", "Torso"]

    # Motion of Arms and Torso with block process
    axisMaskList = [almath.AXIS_MASK_VEL,
                    almath.AXIS_MASK_VEL,
                    almath.AXIS_MASK_ALL]

    timesList    = [[4.0],                  # LArm  in seconds
                    [4.0],                  # RArm  in seconds
                    [1.0, 2.0, 3.0, 4.0]]   # Torso in seconds

    # LArm path
    pathLArm = []
    pathLArm.append(motionProxy.getTransform("LArm", frame, useSensorValues))

    # RArm path
    pathRArm = []
    pathRArm.append(motionProxy.getTransform("RArm", frame, useSensorValues))

    # Torso path
    pathTorso = []
    currentTf = motionProxy.getTransform("Torso", frame, useSensorValues)

    # 1
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 += 0.04 # y
    pathTorso.append(list(targetTf.toVector()))

    # 2
    targetTf  = almath.Transform(currentTf)
    targetTf.r1_c4 -= 0.03 # x
    pathTorso.append(list(targetTf.toVector()))

    # 3
    targetTf  = almath.Transform(currentTf)
    targetTf.r2_c4 -= 0.04 # y
    pathTorso.append(list(targetTf.toVector()))

    # 4
    pathTorso.append(currentTf)

    pathList = []
    pathList.append(pathLArm)
    pathList.append(pathRArm)
    pathList.append(pathTorso)

    motionProxy.transformInterpolations(effectorList, frame, pathList,
                                       axisMaskList, timesList)

    # 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)