Locomotion control API

NAOqi Motion - Overview | API | robot position Tutorial


Methods

void ALMotionProxy:: move ( const float& x , const float& y , const float& theta )

There are two overloads of this function:

Makes the robot move at the given velocity, expressed in FRAME_ROBOT. This is a non-blocking call.

Parameters:
  • x – velocity along X-axis, in meters per second. Use negative values for backward motion
  • y – velocity along Y-axis, in meters per second. Use positive values to go to the left
  • theta – velocity around Z-axis, in radians per second. Use negative values to turn clockwise.
void ALMotionProxy:: move ( const float& x , const float& y , const float& theta , const AL::ALValue moveConfig )

Makes the robot move at the given velocity, expressed in FRAME_ROBOT, with a move configuration. This is a non-blocking call.

Parameters:
  • x – velocity along X-axis, in meters per second. Use negative values for backward motion
  • y – velocity along Y-axis, in meters per second. Use positive values to go to the left
  • theta – velocity around Z-axis, in radians per second. Use negative values to turn clockwise.
  • moveConfig – An ALValue with the custom move configuration. For further details, see: Move config .
void ALMotionProxy:: moveToward ( const float& x , const float& y , const float& theta )

There are two overloads of this function:

Makes the robot move at the given normalized velocity, expressed in FRAME_ROBOT. This is a non-blocking call.

Parameters:
  • x – normalized, unitless, velocity along X-axis. +1 and -1 correspond to the maximum velocity in the forward and backward directions, respectively.
  • y – normalized, unitless, velocity along Y-axis. +1 and -1 correspond to the maximum velocity in the left and right directions, respectively.
  • theta – normalized, unitless, velocity around Z-axis. +1 and -1 correspond to the maximum velocity in the counterclockwise and clockwise directions, respectively.
void ALMotionProxy:: moveToward ( const float& x , const float& y , const float& theta , const AL::ALValue moveConfig )

Makes the robot move at the given normalized velocity, expressed in FRAME_ROBOT, with a move configuration. This is a non-blocking call.

Parameters:
  • x – normalized, unitless, velocity along X-axis. +1 and -1 correspond to the maximum velocity in the forward and backward directions, respectively.
  • y – normalized, unitless, velocity along Y-axis. +1 and -1 correspond to the maximum velocity in the left and right directions, respectively.
  • theta – normalized, unitless, velocity around Z-axis. +1 and -1 correspond to the maximum velocity in the counterclockwise and clockwise directions, respectively.
  • moveConfig – An ALValue with the custom move configuration. For further details, see: Move config .

almotion_moveToward.py


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

"""Example: Use moveToward Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the moveToward 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 Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # Example showing the use of moveToward
    # The parameters are fractions of the maximums
    # Here we are asking for full speed forwards
    x     = 1.0
    y     = 0.0
    theta = 0.0
    frequency = 1.0
    motion_service.moveToward(x, y, theta, [["Frequency", frequency]])

    # If we don't send another command, he will move forever
    # Lets make him slow down(step length) and turn after 3 seconds
    time.sleep(3)
    x     = 0.5
    theta = 0.6
    motion_service.moveToward(x, y, theta, [["Frequency", frequency]])

    # Lets make him slow down(frequency) after 3 seconds
    time.sleep(3)
    frequency = 0.5
    motion_service.moveToward(x, y, theta, [["Frequency", frequency]])

    # Lets make him stop after 3 seconds
    time.sleep(3)
    motion_service.stopMove()
    # Note that at any time, you can use a moveTo command
    # to run a precise distance. The last command received,
    # of velocity or position always wins

    # 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:: setWalkTargetVelocity ( const float& x , const float& y , const float& theta , const float& frequency )

Deprecated since version 1.22: use ALMotionProxy::moveToward instead. Note that ‘frequency’ parameter is now set using ‘MaxStepFrequency’ inside Move config parameter.

nao NAO only

There are three overloads of this function:

Makes the robot walk at the given velocity. This is a non-blocking call.

Parameters:
  • x – Fraction of MaxStepX. Use negative for backwards. [-1.0 to 1.0]
  • y – Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0]
  • theta – Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0]
  • frequency – Fraction of MaxStepFrequency [0.0 to 1.0]
void ALMotionProxy:: setWalkTargetVelocity ( const float& x , const float& y , const float& theta , const float& frequency , const AL::ALValue& feetGaitConfig )

Deprecated since version 1.22: use ALMotionProxy::moveToward instead. Note that ‘frequency’ parameter is now set using ‘MaxStepFrequency’ inside Move config parameter.

nao NAO only

Makes the robot walk at the given velocity. This is a non-blocking call.

Parameters:
  • x – Fraction of MaxStepX. Use negative for backwards. [-1.0 to 1.0]
  • y – Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0]
  • theta – Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0]
  • frequency – Fraction of MaxStepFrequency [0.0 to 1.0]
  • feetGaitConfig – An ALValue with the custom gait configuration for both feet
void ALMotionProxy:: setWalkTargetVelocity ( const float& x , const float& y , const float& theta , const float& frequency , const AL::ALValue& leftFootGaitConfig , const AL::ALValue& rightFootGaitConfig )

Deprecated since version 1.22: use ALMotionProxy::moveToward instead. Note that ‘frequency’ parameter is now set using ‘MaxStepFrequency’ inside Move config parameter.

nao NAO only

Makes the robot walk at the given velocity. This is a non-blocking call.

Parameters:
  • x – Fraction of MaxStepX. Use negative for backwards. [-1.0 to 1.0]
  • y – Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0]
  • theta – Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0]
  • frequency – Fraction of MaxStepFrequency [0.0 to 1.0]
  • leftFootGaitConfig – An ALValue with custom gait configuration for the left foot
  • rightFootGaitConfig – An ALValue with custom gait configuration for the right foot
bool ALMotionProxy:: moveTo ( const float& x , const float& y , const float& theta )

There are four overloads of this function:

Makes the robot move to the given pose in the ground plane, relative to FRAME_ROBOT. This is a blocking call.

Parameters:
  • x – Distance along the X axis in meters.
  • y – Distance along the Y axis in meters.
  • theta – Rotation around the Z axis in radians [-3.1415 to 3.1415].
Returns:

True if the moveTo terminated successfully, False if it was interrupted.

almotion_moveto.cpp


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

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

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

  AL::ALMotionProxy motion(robotIp);
  AL::ALRobotPostureProxy robotPosture(robotIp);

  robotPosture.goToPosture("StandInit", 0.5f);

  // Example showing the moveTo command
  // as length of path is less than 0.4m
  // the path will be an SE3 interpolation
  // The units for this command are meters and radians
  float x  = 0.2f;
  float y  = 0.2f;
  // pi/2 anti-clockwise (90 degrees)
  float theta = 1.5709f;
  motion.moveTo(x, y, theta);
  // Will block until walk Task is finished

  // Example showing the moveTo command
  // as length of path is more than 0.4m
  // the path will be follow a dubins curve
  // The units for this command are meters and radians
  x  = -0.1f;
  y  = -0.5f;
  theta  = 0.0f;
  motion.moveTo(x, y, theta);

  return 0;
}

              
             

almotion_moveTo.py


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

"""Example: Use moveTo Method"""

import qi
import argparse
import sys
import math


def main(session):
    """
    This example uses the moveTo 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 Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # Example showing the moveTo command
    # The units for this command are meters and radians
    x  = 0.2
    y  = 0.2
    theta  = math.pi/2
    motion_service.moveTo(x, y, theta)
    # Will block until move Task is finished

    ########
    # NOTE #
    ########
    # If moveTo() method does nothing on the robot,
    # read the section about walk protection in the
    # Locomotion control overview page.

    # 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)

              
             
bool ALMotionProxy:: moveTo ( const float& x , const float& y , const float& theta , const AL::ALValue& moveConfig )

Makes the robot move to the given pose in the ground plane, relative to FRAME_ROBOT, with custom move configuration. This is a blocking call.

Parameters:
  • x – Distance along the X axis in meters.
  • y – Distance along the Y axis in meters.
  • theta – Rotation around the Z axis in radians [-3.1415 to 3.1415].
  • moveConfig – An ALValue with the custom move configuration. For further details, see: Move config .
Returns:

True if the moveTo terminated successfully, False if it was interrupted.

void ALMotionProxy:: moveTo ( const AL::ALValue& controlPoints )

nao NAO only - For Pepper, use Planar Move .

Makes the robot move to the given pose in the ground plane, relative to FRAME_ROBOT, while passing through check points. This is a blocking call.

Parameters:
  • controlPoint – An ALValue with all the control points [[x1,y1,theta1], ..., [xN,yN,thetaN]
Returns:

True if the moveTo terminated successfully, False if it was interrupted.

bool ALMotionProxy:: moveTo ( const AL::ALValue& controlPoints , const AL::ALValue& moveConfig )

nao NAO only - For Pepper, use Planar Move .

Makes the robot move to the given pose in the ground plane, relative to FRAME_ROBOT, while passing through check points with custom move configuration. This is a blocking call.

Parameters:
  • controlPoints – An ALValue with all the control points [[x1,y1,theta1], ..., [xN,yN,thetaN]
  • moveConfig – An ALValue with the custom move configuration. For further details, see: Move config .
Returns:

True if the moveTo terminated successfully, False if it was interrupted.

bool ALMotionProxy:: moveTo ( const float& x , const float& y , const float& theta , const float& time )

pepp Pepper only

Makes the robot move to the relative position ( x , y , theta ) in time .

If time is too short, the robot will move to ( x , y , theta ) in optimal time (> time ), and NAOqi will warn the user that input time is not achievable.

Parameters:
  • x – Distance along the X axis in meters.
  • y – Distance along the Y axis in meters.
  • theta – Rotation around the Z axis in radians [-3.1415 to 3.1415].
  • time – The time to reach the target position in seconds.
Returns:

True if the moveTo terminated successfully, False if it was interrupted.

bool ALMotionProxy:: walkTo ( const float& x , const float& y , const float& theta )

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

Makes the robot walk to the given pose in the ground plane, relative to FRAME_ROBOT. This is a blocking call.

Parameters:
  • x – Distance along the X axis in meters.
  • y – Distance along the Y axis in meters.
  • theta – Rotation around the Z axis in radians [-3.1415 to 3.1415].
Returns:

True if the walkTo terminated successfully, False if it was interrupted.

bool ALMotionProxy:: walkTo ( const float& x , const float& y , const float& theta , const AL::ALValue& feetGaitConfig )

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

Makes the robot move to the given pose in the ground plane, relative to FRAME_ROBOT, with custom gait parameters. This is a blocking call.

Parameters:
  • x – Distance along the X axis in meters.
  • y – Distance along the Y axis in meters.
  • theta – Rotation around the Z axis in radians [-3.1415 to 3.1415].
  • feetGaitConfig – An ALValue with the custom gait configuration for both feet.
Returns:

True if the walkTo terminated successfully, False if it was interrupted.

bool ALMotionProxy:: walkTo ( const AL::ALValue& controlPoints )

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

Makes the robot move to the given pose in the ground plane, relative to FRAME_ROBOT, while passing through check points. This is a blocking call.

Parameters:
  • controlPoints – An ALValue with all the control points [[x1,y1,theta1], ..., [xN,yN,thetaN]
Returns:

True if the walkTo terminated successfully, False if it was interrupted.

bool ALMotionProxy:: walkTo ( const AL::ALValue& controlPoints , const AL::ALValue& feetGaitConfig )

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

Makes the robot walk to the given pose in the ground plane, relative to FRAME_ROBOT, while passing through check points with custom move configuration. This is a blocking call.

Parameters:
  • controlPoints – An ALValue with all the control points [[x1,y1,theta1], ..., [xN,yN,thetaN]
  • feetGaitConfig – An ALValue with the custom gait configuration for both feet
Returns:

True if the walkTo terminated successfully, False if it was interrupted.

void ALMotionProxy:: setFootSteps ( const std::vector<std::string>& legName , const AL::ALValue& footSteps , const std::vector<float>& timeList , const bool& clearExisting )

nao NAO only

Makes the robot do foot step planner. This is a non-blocking call.

Parameters:
  • legName – name of the leg to move(‘LLeg’or ‘RLeg’)
  • footSteps – [x, y, theta], [Position along X/Y, Orientation round Z axis] of the leg relative to the other Leg in [meters, meters, radians]. Must be less than [MaxStepX, MaxStepY, MaxStepTheta]
  • timeList – time list of each foot step
  • clearExisting – Clear existing foot steps.

almotion_setFootSteps.py


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

"""Example: Use setFootSteps Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the setFootSteps 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 Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # A small step forwards and anti-clockwise with the left foot
    legName  = ["LLeg"]
    X        = 0.04
    Y        = 0.1
    Theta    = 0.3
    footSteps = [[X, Y, Theta]]
    timeList = [0.6]
    clearExisting = False
    motion_service.setFootSteps(legName, footSteps, timeList, clearExisting)

    time.sleep(1.0)

    # A small step forwards and anti-clockwise with the left foot
    legName = ["LLeg", "RLeg"]
    X       = 0.04
    Y       = 0.1
    Theta   = 0.3
    footSteps = [[X, Y, Theta], [X, -Y, Theta]]
    timeList = [0.6, 1.2]
    clearExisting = False
    motion_service.setFootSteps(legName, footSteps, timeList, clearExisting)

    motion_service.waitUntilMoveIsFinished()

    # 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:: setFootStepsWithSpeed ( const std::vector<std::string>& legName , const AL::ALValue& footSteps , const std::vector<float>& fractionMaxSpeed , const bool& clearExisting )

nao NAO only

Makes the robot do foot step planner with speed. This is a blocking call.

Parameters:
  • legName – name of the leg to move(‘LLeg’or ‘RLeg’)
  • footSteps – [x, y, theta], [Position along X/Y, Orientation round Z axis] of the leg relative to the other Leg in [meters, meters, radians]. Must be less than [MaxStepX, MaxStepY, MaxStepTheta]
  • fractionMaxSpeed – speed of each foot step. Must be between 0 and 1.
  • clearExisting – Clear existing foot steps.

almotion_setFootStepsWithSpeed.py


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

"""Example: Use setFootStepsWithSpeed Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the setFootStepsWithSpeed 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 Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # A small step forwards and anti-clockwise with the left foot
    legName = ["LLeg"]
    X       = 0.04
    Y       = 0.1
    Theta   = 0.3
    footSteps = [[X, Y, Theta]]
    fractionMaxSpeed = [1.0]
    clearExisting = False
    motion_service.setFootStepsWithSpeed(legName, footSteps, fractionMaxSpeed, clearExisting)

    time.sleep(0.5)

    # A small step forwards and anti-clockwise with the left foot
    legName = ["LLeg", "RLeg"]
    X       = 0.04
    Y       = 0.1
    Theta   = 0.3
    footSteps = [[X, Y, Theta], [X, -Y, Theta]]
    fractionMaxSpeed = [1.0, 1.0]
    clearExisting = False
    motion_service.setFootStepsWithSpeed(legName, footSteps, fractionMaxSpeed, clearExisting)

    motion_service.waitUntilMoveIsFinished()

    # 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)

              
             
AL::ALValue ALMotionProxy:: getFootSteps ( )

Get the actual foot steps vector. This is a non-blocking call.

Returns: An ALValue containing three vector with:

                  
                   [
  [The actual position of the left and right foot steps in world frame]
  [The unChangeable foot steps]
  [The changeable foot steps]
]

                  
                 

In more details:


                  
                   [
  [
    [(float) LFootWorld_X, (float) LFootWorld_Y, (float) LFootWorld_Theta],
    [(float) RFootWorld_X, (float) RFootWorld_Y, (float) RFootWorld_Theta]
  ]
  [
    [(std::string) LegName, (float) Time, [(float) Move_X, (float) Move_Y, (float) Move_Y],
    [...],
    [(std::string) LegName, (float) Time, [(float) Move_X, (float) Move_Y, (float) Move_Y]
  ]
  [
    [(std::string) LegName, (float) Time, [(float) Move_X, (float) Move_Y, (float) Move_Y],
    [...],
    [(std::string) LegName, (float) Time, [(float) Move_X, (float) Move_Y, (float) Move_Y]
  ]
]

                  
                 

Each move of foot step is relative to the previous location of the opposite foot step. For example, a foot step move of LFoot will be relative to the last position of the RFoot.

If you use setFootSteps or setFootStepsWithSpeed with clearExisting parameter equal true, walk engine execute unchangeable foot step and remove the other.

almotion_getFootSteps.py


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

"""Example: Use getFootSteps Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the getFootSteps method.
    """
    # Get the services ALMotion & ALRobotPosture.

    motion_service  = session.service("ALMotion")
    posture_service = session.service("ALRobotPosture")

    # Wake up robot
    motion_service.wakeUp()

    # Send NAO to Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    #####################################
    # A small example using getFootSteps
    #####################################

    # First call of move API
    # Use _async=True argument to not be blocking here.
    motion_service.moveTo(0.3, 0.0, 0.5, _async=True)

    # wait that the move process start running
    time.sleep(1.0)

    # get the foot steps vector
    footSteps = motion_service.getFootSteps()

    # print the result
    leftFootWorldPosition = footSteps[0][0]
    print "leftFootWorldPosition:"
    print leftFootWorldPosition
    print ""

    rightFootWorldPosition = footSteps[0][1]
    print "rightFootWorldPosition:"
    print rightFootWorldPosition
    print ""

    footStepsUnchangeable = footSteps[1]
    print "Unchangeable:"
    print footStepsUnchangeable
    print ""

    footStepsChangeable   = footSteps[2]
    print "Changeable:"
    print footStepsChangeable
    print ""

    motion_service.waitUntilMoveIsFinished()

    # 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:: walkInit ( )

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

void ALMotionProxy:: moveInit ( )

Initializes the move process. Checks the robot pose and takes a right posture. This is blocking called.

almotion_moveinit.cpp


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

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

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

  AL::ALMotionProxy motion(robotIp);
  AL::ALRobotPostureProxy robotPosture(robotIp);
  robotPosture.goToPosture("Stand", 0.5f);

  // Example showing how Initialize move process.
  motion.moveInit();

  return 0;
}

              
             

almotion_moveInit.py


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

"""Example: Use moveInit Method"""

import qi
import argparse
import sys


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

    motion_service = session.service("ALMotion")
    posture_service = session.service("ALRobotPosture")

    # Wake up robot
    motion_service.wakeUp()

    # Send robot to Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # Example showing how Initialize move process.
    motion_service.moveInit()

    # 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:: waitUntilWalkIsFinished ( )

Waits until the WalkTask is finished: this method can be used to block your script/code execution until the walk task is totally finished.

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

void ALMotionProxy:: waitUntilMoveIsFinished ( )

Waits until the MoveTask is finished: this method can be used to block your script/code execution until the move task is totally finished.

almotion_waituntilmoveisfinished.cpp


              
               #include <iostream>
#include <alproxies/almotionproxy.h>
#include <alproxies/alrobotpostureproxy.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_waituntilmoveisfinished robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);
  AL::ALRobotPostureProxy robotPosture(robotIp);

  robotPosture.goToPosture("StandInit", 0.5f);

  // Example showing how to use waitUntilMoveIsFinished.
  // Start a walk
  float x = 0.10f;
  float y = 0.0f;
  float theta = 0.0f;
  motion.post.moveTo(x, y, theta);

  // Wait for it to finish
  motion.waitUntilMoveIsFinished();
  // Then do something else

  return 0;
}

              
             

almotion_waitUntilMoveIsFinished.py


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

"""Example: Use waitUntilMoveIsFinished Method"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the waitUntilMoveIsFinished 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 Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # Example showing how to use waitUntilMoveIsFinished.

    # Start a move
    x = 0.2
    y = 0.0
    theta = 0.0
    motion_service.moveTo(x, y, theta, _async=True)

    # Wait for it to finish
    motion_service.waitUntilMoveIsFinished()

    # Then do something else
    print "Move is finished"

    # 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)

              
             
bool ALMotionProxy:: walkIsActive ( )
Returns: True if Walk is Active.

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

bool ALMotionProxy:: moveIsActive ( )
Returns: True if move is Active.

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

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to use walk is active.
  bool moveIsActive = motion.moveIsActive();

  std::cout << "Move is active: " << moveIsActive << std::endl;

  return 0;
}

              
             

almotion_moveIsActive.py


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

"""Example: Use moveIsActive Method"""

import qi
import argparse
import sys
import time


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

    motion_service = session.service("ALMotion")
    posture_service = session.service("ALRobotPosture")

    # Wake up robot
    motion_service.wakeUp()

    # Send robot to Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # Example showing how to use walk is active.
    # start a 0.2 meter walk
    motion_service.moveTo(0.2, 0.0, 0.0, _async=True)

    while motion_service.moveIsActive():
        # do something
        print "Move is active"

    # sleep a little
    time.sleep(1)

    # when finished do something else

    # 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)

              
             
bool ALMotionProxy:: stopWalk ( )

Stops Walk task at next double support: this method will end the walk task less brutally than killWalk but more quickly than move(0.0, 0.0, 0.0).

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

bool ALMotionProxy:: stopMove ( )

Stops Move task safely as soon as possible: this method will end the move task less brutally than killMove but more quickly than move(0.0, 0.0, 0.0). This is a blocking call.

Returns: True if the stopMove terminated successfully, False if it was interrupted.
AL::ALValue ALMotionProxy:: getFootGaitConfig ( const std::string& config )

Gets the foot Gait config (“MaxStepX”, “MaxStepY”, “MaxStepTheta”, “MaxStepFrequency”, “StepHeight”, “TorsoWx”, “TorsoWy”).

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

Parameters:
  • config – a string should be “Max”, “Min”, “Default”
Returns:

An ALValue with the following form


                  
                   [ ["MaxStepX", value],
  ["MaxStepY", value],
  ["MaxStepTheta", value],
  ["MaxStepFrequency", value],
  ["StepHeight", value],
  ["TorsoWx", value],
  ["TorsoWy", value]
]

                  
                 
AL::ALValue ALMotionProxy:: getMoveConfig ( const std::string& config )

Gets the move config (“MaxStepX”, “MaxStepY”, “MaxStepTheta”, “MaxStepFrequency”, “StepHeight”, “TorsoWx”, “TorsoWy”).

Parameters:
  • config – a string should be “Max”, “Min”, “Default”
Returns:

An ALvalue with the move config. with the following form


                  
                   [ ["MaxStepX", value],
  ["MaxStepY", value],
  ["MaxStepTheta", value],
  ["MaxStepFrequency", value],
  ["StepHeight", value],
  ["TorsoWx", value],
  ["TorsoWy", value]
]

                  
                 

Example in python:


              
               # Example showing how to get and play with foot gait config
# a getFootConfig could be directly use in a walk method
# WARNING: be aware that Max and Min are extreme values and could create
#           some strange walk behavior

import time

proxy.moveInit()
proxy.moveToward(1.0, 0.0, 0.0, proxy.getMoveConfig("Min"))
time.sleep(3.0)
proxy.stopMove()

              
             
std::vector<float> ALMotionProxy:: getRobotPosition ( const bool& useSensors )

Gets the World Absolute Robot Position.

Parameters:
  • useSensors – If true, use the MRE sensor values
Returns:

A vector containing the World Absolute Robot Position. (Absolute Position X in meter, Absolute Position Y in meter, Absolute Angle Theta (Wz) in radian). Wz is an angle between ]-pi, pi].

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

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get a simplified robot position in world.
  bool useSensorValues = false;
  std::vector<float> result = motion.getRobotPosition(useSensorValues);

  std::cout << "Robot position is: " << result << std::endl;

  return 0;
}

              
             

almotion_getRobotPosition.py


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

"""Example: Use getRobotPosition Method"""

import qi
import argparse
import sys
import almath


def main(session):
    """
    This example uses the getRobotPosition 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 Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # Example showing how to get a simplified robot position in world.
    useSensorValues = False
    result = motion_service.getRobotPosition(useSensorValues)
    print "Robot Position", result

    # Example showing how to use this information to know the robot's diplacement.
    useSensorValues = False
    initRobotPosition = almath.Pose2D(motion_service.getRobotPosition(useSensorValues))

    # Make the robot move
    motion_service.moveTo(0.1, 0.0, 0.2)

    endRobotPosition = almath.Pose2D(motion_service.getRobotPosition(useSensorValues))

    # Compute robot's' displacement
    robotMove = almath.pose2DInverse(initRobotPosition)*endRobotPosition
    print "Robot Move:", robotMove

    # 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)

              
             
std::vector<float> ALMotionProxy:: getNextRobotPosition ( )

Gets the World Absolute next Robot Position.

When no walk process active, getNextRobotPosition() = getRobotPosition().

Else getNextRobotPosition return the position of the robot after the unchangeable foot steps.

Returns: A vector containing the World Absolute next Robot position.(Absolute Position X in meter, Absolute Position Y in meter, Absolute Angle Theta (Wz) in radian). Wz is an angle between ]-pi, pi].

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

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get a simplified next robot position in world.
  std::vector<float> result = motion.getNextRobotPosition();

  std::cout << "Next robot position is: " << result << std::endl;

  return 0;
}

              
             

almotion_getNextRobotPosition.py


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

"""Example: Use getNextRobotPosition Method"""

import qi
import argparse
import sys
import time
import almath


def main(session):
    """
    This example uses the getNextRobotPosition method.
    """
    # Get the services ALMotion & ALRobotPosture.

    motion_service  = session.service("ALMotion")
    posture_service = session.service("ALRobotPosture")

    # Wake up robot
    motion_service.wakeUp()

    # Send NAO to Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    # Example showing how to get a simplified robot position in world.
    result = motion_service.getNextRobotPosition()
    print "Next Robot Position", result

    # Example showing how to use this information to know the robot's diplacement
    # during the move process.

    # Make the robot move
    motion_service.moveTo(0.6, 0.0, 0.5, _async=True) # No blocking due to post called
    time.sleep(1.0)
    initRobotPosition = almath.Pose2D(motion_service.getNextRobotPosition())

    # Make the robot move
    motion_service.moveTo(0.1, 0.0, 0.2)

    endRobotPosition = almath.Pose2D(motion_service.getNextRobotPosition())

    # Compute robot's' displacement
    robotMove = almath.pose2DInverse(initRobotPosition)*endRobotPosition
    print "Robot Move :", robotMove

    # 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)

              
             
std::vector<float> ALMotionProxy:: getRobotVelocity ( )

Gets the Absolute Robot Velocity, expressed in FRAME_ROBOT.

Returns: A vector containing the Absolute Robot Velocity. (Absolute Velocity Translation X [m.s-1], Absolute Velocity Translation Y[m.s-1], Absolute Velocity Rotation WZ [rd.s-1])

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

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get a simplified absolute robot velocity in FRAME_ROBOT.
  std::vector<float> result = motion.getRobotVelocity();

  std::cout << "Robot velocity is: " << result << std::endl;

  return 0;
}

              
             

almotion_getRobotVelocity.py


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

"""Example: Use getRobotVelocity Method"""

import qi
import argparse
import sys


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

    motion_service  = session.service("ALMotion")

    # Example showing how to get a simplified absolute robot velocity in FRAME_ROBOT.
    result = motion_service.getRobotVelocity()
    print "Robot Velocity: ", result


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)

              
             
AL::ALValue ALMotionProxy:: getWalkArmsEnabled ( )

Deprecated since version 1.22: use ALMotionProxy::getMoveArmsEnabled instead.

Gets if Arms Motions are enabled during the Walk Process.

Returns: True Arm Motions are controlled by the Walk Task.
void ALMotionProxy:: setWalkArmsEnabled ( const bool& leftArmEnable , const bool& rightArmEnable )

Deprecated since version 1.22: use ALMotionProxy::setMoveArmsEnabled instead.

Sets if Arms Motions are enabled during the Walk Process.

Parameters:
  • leftArmEnable – if true Left Arm motions are controlled by the Walk Task
  • rightArmEnable – if true Right Arm motions are controlled by the Walk Task
bool ALMotionProxy:: getMoveArmsEnabled ( const std::string& chainName )

Gets if Arms Motions are enabled during the Move Process.

Parameters:
  • chainName – arm chain, it should be “LArm”, “RArm” or “Arms”.
Returns:

For “LArm” and “RArm”, returns true if the corresponding arm is enabled. For “Arms”, returns true if both arms are enabled. Returns false otherwise.

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

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get the enabled flags for the arms
  std::cout << "LeftArmEnabled: " << motion.getMoveArmsEnabled("LArm") << std::endl;
  std::cout << "RightArmEnabled: " << motion.getMoveArmsEnabled("RArm") << std::endl;
  std::cout << "BothArmsEnabled: " << motion.getMoveArmsEnabled("Arms") << std::endl;
  return 0;
}

              
             

almotion_getMoveArmsEnable.py


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

"""Example: Use getMoveArmsEnabled Method"""

import qi
import argparse
import sys


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

    motion_service  = session.service("ALMotion")

    # Example showing how to get the enabled flags for the arms
    print 'LeftArmEnabled: ', motion_service.getMoveArmsEnabled("LArm")
    print 'RightArmEnabled: ', motion_service.getMoveArmsEnabled("RArm")
    print 'BothArmsEnabled: ', motion_service.getMoveArmsEnabled("Arms")


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:: setMoveArmsEnabled ( const bool& leftArmEnable , const bool& rightArmEnable )

Sets if Arms Motions are enabled during the Move Process.

Parameters:
  • leftArmEnable – if true Left Arm motions are controlled by the Move Task
  • rightArmEnable – if true Right Arm motions are controlled by the Move Task

almotion_setMoveArmsEnabled.py


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

"""Example: Use setMoveArmsEnabled Method"""

import qi
import argparse
import sys
import time


def main(session):
    """
    This example uses the setMoveArmsEnabled 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 Pose Init
    posture_service.goToPosture("StandInit", 0.5)

    x          = 0.6
    y          = 0.0
    theta      = 0.0
    motion_service.moveToward(x, y, theta)

    time.sleep(2.0)

    # Example showing how to disable left arm motions during a move
    leftArmEnable  = False
    rightArmEnable = True
    motion_service.setMoveArmsEnabled(leftArmEnable, rightArmEnable)
    print "Disabled left arm"

    # disable also right arm motion after 1 seconds
    time.sleep(1.0)
    rightArmEnable  = False
    motion_service.setMoveArmsEnabled(leftArmEnable, rightArmEnable)
    print "Disabled right arm"

    time.sleep(1.0)

    motion_service.stopMove()

    leftArmEnable  = True
    rightArmEnable = True
    motion_service.setMoveArmsEnabled(leftArmEnable, rightArmEnable)

    # 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)