Joint control Tutorial: The Pose Init

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NAOqi Motion - Overview | API | Tutorial


Introduction

This tutorial explains how to use joint control API in the context of the SoftBank Robotics definition of the “NAO initial position” known as Stand Init.
https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/motion_initposes.jpg

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

almotion_poseInit.py


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

"""Example: PoseInit - Small example to make Nao go to an initial position."""

import qi
import argparse
import sys


def main(session):
    """
    PoseInit: Small example to make Nao go to an initial position.
    """
    # 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)

    # 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)