Whole body motion

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This section contains examples showing various possibilities of Whole Body Motion.

Effector control

Control NAO’s effectors, separately or simultaneously.

Arms

almotion_wbEffectorControlLArm.py


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

"""Example: Whole Body Motion - Left or Right Arm position control"""

import qi
import argparse
import sys
import motion
import time


def main(session, chainName):
    """
    Example of a whole body Left or Right Arm position control
    Warning: Needs a PoseInit before executing
            Whole body balancer must be inactivated at the end of the script
    This example is only compatible with NAO
    """
    # Get the service ALMotion.

    motion_service = session.service("ALMotion")

    # Wake up robot
    motion_service.wakeUp()

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

    frame     = motion.FRAME_ROBOT
    useSensor = False

    effectorInit = motion_service.getPosition(chainName, frame, useSensor)

    # Active LArm tracking
    isEnabled = True
    motion_service.wbEnableEffectorControl(chainName, isEnabled)

    # Example showing how to set position target for LArm
    # The 3 coordinates are absolute LArm position in FRAME_ROBOT
    # Position in meter in x, y and z axis.

    # X Axis LArm Position feasible movement = [ +0.00, +0.12] meter
    # Y Axis LArm Position feasible movement = [ -0.05, +0.10] meter
    # Y Axis RArm Position feasible movement = [ -0.10, +0.05] meter
    # Z Axis LArm Position feasible movement = [ -0.10, +0.10] meter

    coef = 1.0
    if chainName == "LArm":
        coef = +1.0
    elif chainName == "RArm":
        coef = -1.0

    targetCoordinateList = [
    [ +0.12, +0.00*coef, +0.00], # target 0
    [ +0.12, +0.00*coef, -0.10], # target 1
    [ +0.12, +0.05*coef, -0.10], # target 1
    [ +0.12, +0.05*coef, +0.10], # target 2
    [ +0.12, -0.10*coef, +0.10], # target 3
    [ +0.12, -0.10*coef, -0.10], # target 4
    [ +0.12, +0.00*coef, -0.10], # target 5
    [ +0.12, +0.00*coef, +0.00], # target 6
    [ +0.00, +0.00*coef, +0.00], # target 7
    ]


    # wbSetEffectorControl is a non blocking function
    # time.sleep allow head go to his target
    # The recommended minimum period between two successives set commands is
    # 0.2 s.
    for targetCoordinate in targetCoordinateList:
        targetCoordinate = [targetCoordinate[i] + effectorInit[i] for i in range(3)]
        motion_service.wbSetEffectorControl(chainName, targetCoordinate)
        time.sleep(4.0)

    # Deactivate Head tracking
    isEnabled    = False
    motion_service.wbEnableEffectorControl(chainName, isEnabled)

    # 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")
    parser.add_argument("--chain", type=str, default="LArm",
                        choices=["LArm", "RArm"], help="Chain name")

    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, args.chain)

             
            

Multiple Effectors

Control arms and torso simultaneously.

almotion_wbMultipleEffectors.py


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

"""Example: Whole Body Motion - Multiple Effectors control """

import qi
import argparse
import sys
import almath
import motion


def main(session):
    """
        Example of a whole body multiple effectors control "LArm", "RArm" and "Torso"
        Warning: Needs a PoseInit before executing
                 Whole body balancer must be inactivated at the end of the script.
    """
    # 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)

    # end go to Stand Init, begin initialize whole body

    # Enable Whole Body Balancer
    isEnabled  = True
    motion_service.wbEnable(isEnabled)

    # Legs are constrained fixed
    stateName  = "Fixed"
    supportLeg = "Legs"
    motion_service.wbFootState(stateName, supportLeg)

    # Constraint Balance Motion
    isEnable   = True
    supportLeg = "Legs"
    motion_service.wbEnableBalanceConstraint(isEnable, supportLeg)

    # end initialize whole body, define arms motions

    useSensorValues = False

    # Arms motion
    effectorList = ["LArm", "RArm"]

    frame        = motion.FRAME_ROBOT

    # pathLArm
    pathLArm = []
    currentTf = motion_service.getTransform("LArm", frame, useSensorValues)
    # 1
    target1Tf  = almath.Transform(currentTf)
    target1Tf.r2_c4 += 0.08 # y
    target1Tf.r3_c4 += 0.14 # z

    # 2
    target2Tf  = almath.Transform(currentTf)
    target2Tf.r2_c4 -= 0.05 # y
    target2Tf.r3_c4 -= 0.07 # z

    pathLArm.append(list(target1Tf.toVector()))
    pathLArm.append(list(target2Tf.toVector()))
    pathLArm.append(list(target1Tf.toVector()))
    pathLArm.append(list(target2Tf.toVector()))
    pathLArm.append(list(target1Tf.toVector()))

    # pathRArm
    pathRArm = []
    currentTf = motion_service.getTransform("RArm", frame, useSensorValues)
    # 1
    target1Tf  = almath.Transform(currentTf)
    target1Tf.r2_c4 += 0.05 # y
    target1Tf.r3_c4 -= 0.07 # z

    # 2
    target2Tf  = almath.Transform(currentTf)
    target2Tf.r2_c4 -= 0.08 # y
    target2Tf.r3_c4 += 0.14 # z

    pathRArm.append(list(target1Tf.toVector()))
    pathRArm.append(list(target2Tf.toVector()))
    pathRArm.append(list(target1Tf.toVector()))
    pathRArm.append(list(target2Tf.toVector()))
    pathRArm.append(list(target1Tf.toVector()))
    pathRArm.append(list(target2Tf.toVector()))

    pathList = [pathLArm, pathRArm]

    axisMaskList = [almath.AXIS_MASK_VEL, # for "LArm"
                    almath.AXIS_MASK_VEL] # for "RArm"

    coef       = 1.5
    timesList  = [ [coef*(i+1) for i in range(5)],  # for "LArm" in seconds
                   [coef*(i+1) for i in range(6)] ] # for "RArm" in seconds

    # called cartesian interpolation
    motion_service.transformInterpolations(effectorList, frame, pathList, axisMaskList, timesList)

    # end define arms motions, define torso motion

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

    dy = 0.06
    dz = 0.06

    # pathTorso
    currentTf = motion_service.getTransform("Torso", frame, useSensorValues)
    # 1
    target1Tf  = almath.Transform(currentTf)
    target1Tf.r2_c4 += dy
    target1Tf.r3_c4 -= dz

    # 2
    target2Tf  = almath.Transform(currentTf)
    target2Tf.r2_c4 -= dy
    target2Tf.r3_c4 -= dz

    pathTorso = []
    for i in range(3):
        pathTorso.append(list(target1Tf.toVector()))
        pathTorso.append(currentTf)
        pathTorso.append(list(target2Tf.toVector()))
        pathTorso.append(currentTf)

    pathLArm = [motion_service.getTransform("LArm", frame, useSensorValues)]
    pathRArm = [motion_service.getTransform("RArm", frame, useSensorValues)]

    pathList = [pathTorso, pathLArm, pathRArm]

    axisMaskList = [almath.AXIS_MASK_ALL, # for "Torso"
                    almath.AXIS_MASK_VEL, # for "LArm"
                    almath.AXIS_MASK_VEL] # for "RArm"

    coef       = 0.5
    timesList  = [
                  [coef*(i+1) for i in range(12)], # for "Torso" in seconds
                  [coef*12],                       # for "LArm" in seconds
                  [coef*12]                        # for "RArm" in seconds
                 ]

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

    # end define torso motion, disable whole body

    # Deactivate whole body
    isEnabled    = False
    motion_service.wbEnable(isEnabled)

    # Send robot to Pose Init
    posture_service.goToPosture("StandInit", 0.3)

    # Go to rest position
    motion_service.rest()

    # end script


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)

             
            

Balance

Balance constraints in whole body motion.

Balance constraint

Enable a balance constraint.

almotion_wbEnableBalanceConstraint.py


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

"""Example: Whole Body Motion - Enable Balance Constraint"""

import qi
import argparse
import sys
import math


def main(session):
    """
    Example of a whole body Enable Balance Constraint.
    Warning: Needs a PoseInit before executing.
        Whole body balancer must be deactivated at the end of the script.
    This example is only compatible with NAO.
    """
    # 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)

    # Activate Whole Body Balancer
    isEnabled  = True
    motion_service.wbEnable(isEnabled)

    # Legs are constrained in a plane
    stateName  = "Fixed"
    supportLeg = "Legs"
    motion_service.wbFootState(stateName, supportLeg)

    # Constraint Balance Motion
    isEnable   = True
    supportLeg = "Legs"
    motion_service.wbEnableBalanceConstraint(isEnable, supportLeg)

    # KneePitch angleInterpolation
    # Without Whole Body balancer, foot will fall down
    names      = ["LKneePitch", "RKneePitch"]
    angleLists = [ [0.0, 40.0*math.pi/180.0], [0.0, 40.0*math.pi/180.0]]
    timeLists  = [ [5.0, 10.0], [5.0, 10.0]]
    isAbsolute = True
    try:
        motion_service.angleInterpolation(names, angleLists, timeLists, isAbsolute)
    except Exception, errorMsg:
        print str(errorMsg)
        print "This example is not allowed on this robot."
        exit()

    # Deactivate Whole Body Balancer
    isEnabled  = False
    motion_service.wbEnable(isEnabled)

    # 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)

             
            

Kick

Make NAO kick the air with its foot.

almotion_wbKick.py


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

"""Example: Whole Body Motion - kick"""

import qi
import argparse
import sys
import motion
import time
import almath


def computePath(motion_service, effector, frame):
    dx      = 0.05                 # translation axis X (meters)
    dz      = 0.05                 # translation axis Z (meters)
    dwy     = 5.0*almath.TO_RAD    # rotation axis Y (radian)

    useSensorValues = False

    path = []
    currentTf = []
    try:
        currentTf = motion_service.getTransform(effector, frame, useSensorValues)
    except Exception, errorMsg:
        print str(errorMsg)
        print "This example is not allowed on this robot."
        exit()

    # 1
    targetTf  = almath.Transform(currentTf)
    targetTf *= almath.Transform(-dx, 0.0, dz)
    targetTf *= almath.Transform().fromRotY(dwy)
    path.append(list(targetTf.toVector()))

    # 2
    targetTf  = almath.Transform(currentTf)
    targetTf *= almath.Transform(dx, 0.0, dz)
    path.append(list(targetTf.toVector()))

    # 3
    path.append(currentTf)

    return path


def main(session):
    """
    Example of a whole body kick.
    Warning: Needs a PoseInit before executing
             Whole body balancer must be inactivated at the end of the script.
    This example is only compatible with NAO.
    """
    # 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)

    # Activate Whole Body Balancer
    isEnabled  = True
    motion_service.wbEnable(isEnabled)

    # Legs are constrained fixed
    stateName  = "Fixed"
    supportLeg = "Legs"
    motion_service.wbFootState(stateName, supportLeg)

    # Constraint Balance Motion
    isEnable   = True
    supportLeg = "Legs"
    motion_service.wbEnableBalanceConstraint(isEnable, supportLeg)

    # Com go to LLeg
    supportLeg = "LLeg"
    duration   = 2.0
    motion_service.wbGoToBalance(supportLeg, duration)

    # RLeg is free
    stateName  = "Free"
    supportLeg = "RLeg"
    motion_service.wbFootState(stateName, supportLeg)

    # RLeg is optimized
    effector = "RLeg"
    axisMask = 63
    frame    = motion.FRAME_WORLD

    # Motion of the RLeg
    times   = [2.0, 2.7, 4.5]

    path = computePath(motion_service, effector, frame)

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

    # Example showing how to Enable Effector Control as an Optimization
    isActive     = False
    motion_service.wbEnableEffectorOptimization(effector, isActive)

    # Com go to LLeg
    supportLeg = "RLeg"
    duration   = 2.0
    motion_service.wbGoToBalance(supportLeg, duration)

    # RLeg is free
    stateName  = "Free"
    supportLeg = "LLeg"
    motion_service.wbFootState(stateName, supportLeg)

    effector = "LLeg"
    path = computePath(motion_service, effector, frame)
    motion_service.transformInterpolations(effector, frame, path, axisMask, times)

    time.sleep(1.0)

    # Deactivate Head tracking
    isEnabled = False
    motion_service.wbEnable(isEnabled)

    # send robot to Pose Init
    posture_service.goToPosture("StandInit", 0.3)

    # 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)

             
            

Foot state

Constrain whole body balancer with foot state.

almotion_wbFootState.py


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

"""Example: Whole Body Motion - Foot State"""

import qi
import argparse
import sys
import math


def main(session):
    """
    Example of a whole body FootState.
    Warning: Needs a PoseInit before executing.
        Whole body balancer must be inactivated at the end of the script.
    This example is only compatible with NAO.
    """
    # 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)

    # Activate Whole Body Balancer.
    isEnabled  = True
    motion_service.wbEnable(isEnabled)

    # Legs are constrained in a plane
    stateName  = "Plane"
    supportLeg = "Legs"
    motion_service.wbFootState(stateName, supportLeg)

    # HipYawPitch angleInterpolation
    # Without Whole Body balancer, foot will not be keeped plane.
    names      = "LHipYawPitch"
    angleLists = [-45.0, 10.0, 0.0]
    timeLists  = [3.0, 6.0, 9.0]
    isAbsolute = True
    angleLists = [angle*math.pi/180.0 for angle in angleLists]
    try:
        motion_service.angleInterpolation(names, angleLists, timeLists, isAbsolute)
    except Exception, errorMsg:
        print str(errorMsg)
        print "This example is not allowed on this robot."
        exit()

    # Deactivate Whole Body Balancer.
    isEnabled  = False
    motion_service.wbEnable(isEnabled)

    # 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)