Cartesian commands

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

Arms

Arm trajectories examples.

Trajectory 1

motion_cartesianArm1.py

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

'''Cartesian control: Arm trajectory example'''

import sys
import motion
import almath
from naoqi import ALProxy


def StiffnessOn(proxy):
  #We use the "Body" name to signify the collection of all joints
  pNames = "Body"
  pStiffnessLists = 1.0
  pTimeLists = 1.0
  proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


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

    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

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

    effector   = "LArm"
    space      = motion.FRAME_ROBOT
    axisMask   = almath.AXIS_MASK_VEL    # just control position
    isAbsolute = False

    # Since we are in relative, the current position is zero
    currentPos = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

    # Define the changes relative to the current position
    dx         =  0.03      # translation axis X (meters)
    dy         =  0.03      # translation axis Y (meters)
    dz         =  0.00      # translation axis Z (meters)
    dwx        =  0.00      # rotation axis X (radians)
    dwy        =  0.00      # rotation axis Y (radians)
    dwz        =  0.00      # rotation axis Z (radians)
    targetPos  = [dx, dy, dz, dwx, dwy, dwz]

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

    motionProxy.positionInterpolation(effector, space, path,
                                      axisMask, times, isAbsolute)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_cartesianArm1.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Trajectory 2

motion_cartesianArm2.py

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

'''Cartesian control: Arm trajectory example'''

import sys
import motion
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


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

    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

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

    effector   = "LArm"
    space      = motion.FRAME_ROBOT
    path       = [
     [0.0, -0.05, +0.00, 0.0, 0.0, 0.0],        # point 1
     [0.0, +0.00, +0.04, 0.0, 0.0, 0.0],        # point 2
     [0.0, +0.04, +0.00, 0.0, 0.0, 0.0],        # point 3
     [0.0, +0.00, -0.02, 0.0, 0.0, 0.0],        # point 4
     [0.0, -0.05, +0.00, 0.0, 0.0, 0.0],        # point 5
     [0.0, +0.00, +0.00, 0.0, 0.0, 0.0]]        # point 6
    axisMask   = 7                              # just control position
    times      = [0.5, 1.0, 2.0, 3.0, 4.0, 4.5] # seconds
    isAbsolute = False
    motionProxy.positionInterpolation(effector, space, path,
                                      axisMask, times, isAbsolute)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_cartesianArm2.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Feet

Control NAO’s left foot.

motion_cartesianFoot.py

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

'''Cartesian control: Torso and Foot trajectories'''

import sys
import motion
import almath
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


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

    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

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

    space      = motion.FRAME_ROBOT
    axisMask   = almath.AXIS_MASK_ALL   # full control
    isAbsolute = False

    # Lower the Torso and move to the side
    effector   = "Torso"
    path       = [0.0, -0.07, -0.03, 0.0, 0.0, 0.0]
    time       = 2.0                    # seconds
    motionProxy.positionInterpolation(effector, space, path,
                                axisMask, time, isAbsolute)

    # LLeg motion
    effector   = "LLeg"
    path       = [0.0,  0.06,  0.00, 0.0, 0.0, 0.8]
    times      = 2.0                    # seconds

    motionProxy.positionInterpolation(effector, space, path,
                                      axisMask, times, isAbsolute)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_cartesianFoot.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Torso

Make NAO’s torso take different positions.

Trajectory

motion_cartesianTorso.py

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

'''Cartesian control: Torso trajectory'''

import sys
import motion
import almath
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


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

    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e


    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

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

    effector   = "Torso"
    space      =  motion.FRAME_WORLD

    # Position Only
    axisMask   = almath.AXIS_MASK_ALL           # full control
    isAbsolute = False

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

    path       = [
      [+dx, 0.0, 0.0, 0.0, 0.0, 0.0],           # point 1
      [0.0, -dy, 0.0, 0.0, 0.0, 0.0],           # point 2
      [-dx, 0.0, 0.0, 0.0, 0.0, 0.0],           # point 3
      [0.0, +dy, 0.0, 0.0, 0.0, 0.0],           # point 4
      [+dx, 0.0, 0.0, 0.0, 0.0, 0.0],           # point 5
      [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]           # point 6

    times      = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0] # seconds
    motionProxy.positionInterpolation(effector, space, path,
                                axisMask, times, isAbsolute)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_cartesianTorso.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Hula Hoop

motion_cartesianTorso2.py

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

import sys
import motion
import almath
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


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

    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

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

    # Define the changes relative to the current position
    dx         = 0.07                    # translation axis X (meter)
    dy         = 0.07                    # translation axis Y (meter)
    dwx        = 0.15                    # rotation axis X (rad)
    dwy        = 0.15                    # rotation axis Y (rad)

    # Define a path of two hula hoop loops
    path = [ [+dx, 0.0, 0.0,  0.0, -dwy, 0.0],  # point 01 : forward  / bend backward
             [0.0, -dy, 0.0, -dwx,  0.0, 0.0],  # point 02 : right    / bend left
             [-dx, 0.0, 0.0,  0.0,  dwy, 0.0],  # point 03 : backward / bend forward
             [0.0, +dy, 0.0,  dwx,  0.0, 0.0],  # point 04 : left     / bend right

             [+dx, 0.0, 0.0,  0.0, -dwy, 0.0],  # point 01 : forward  / bend backward
             [0.0, -dy, 0.0, -dwx,  0.0, 0.0],  # point 02 : right    / bend left
             [-dx, 0.0, 0.0,  0.0,  dwy, 0.0],  # point 03 : backward / bend forward
             [0.0, +dy, 0.0,  dwx,  0.0, 0.0],  # point 04 : left     / bend right

             [+dx, 0.0, 0.0,  0.0, -dwy, 0.0],  # point 05 : forward  / bend backward
             [0.0, 0.0, 0.0,  0.0,  0.0, 0.0] ] # point 06 : Back to init pose

    timeOneMove  = 0.4 #seconds
    times = []
    for i in range(len(path)):
        times.append( (i+1)*timeOneMove )

    # call the cartesian control API
    effector   = "Torso"
    space      =  motion.FRAME_ROBOT

    axisMask   = almath.AXIS_MASK_ALL
    isAbsolute = False

    motionProxy.positionInterpolation(effector, space, path,
                                      axisMask, times, isAbsolute)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_hulaHoop.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Arms and torso

Control multiple effectors with cartesian commands.

Trajectory 1

motion_cartesianTorsoArm1.py

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

'''Cartesian control: Multiple Effector Trajectories'''

import sys
import motion
import almath
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


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

    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

    # Send Robot to Pose Init
    postureProxy.goToPosture("StandInit", 0.5)

    space      = motion.FRAME_ROBOT
    coef       = 0.5                   # motion speed
    times      = [coef, 2.0*coef, 3.0*coef, 4.0*coef]
    isAbsolute = False

    # Relative movement between current and desired positions
    dy         = +0.06                 # translation axis Y (meters)
    dz         = -0.03                 # translation axis Z (meters)
    dwx        = +0.30                 # rotation axis X (radians)

    # Motion of Torso with post process
    effector   = "Torso"
    path       = [
      [0.0, -dy,  dz, -dwx, 0.0, 0.0], # point 1
      [0.0, 0.0, 0.0,  0.0, 0.0, 0.0], # point 2
      [0.0, +dy,  dz, +dwx, 0.0, 0.0], # point 3
      [0.0, 0.0, 0.0,  0.0, 0.0, 0.0]] # point 4
    axisMask   = almath.AXIS_MASK_ALL  # control all the effector axes
    motionProxy.post.positionInterpolation(effector, space, path,
                                           axisMask, times, isAbsolute)

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

    dy         = +0.03                 # translation axis Y (meters)
    # Motion of Right Arm during the first half of the Torso motion
    effector   = "RArm"
    path       = [
      [0.0, -dy, 0.0, 0.0, 0.0, 0.0],  # point 1
      [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]  # point 2
    motionProxy.positionInterpolation(effector, space, path,
                                      axisMask, times, isAbsolute)

    # Motion of Left Arm during the last half of the Torso motion
    effector   = "LArm"
    path       = [
      [0.0,  dy, 0.0, 0.0, 0.0, 0.0],  # point 1
      [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]  # point 2
    motionProxy.positionInterpolation(effector, space, path,
                                      axisMask, times, isAbsolute)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_cartesianTorsoArm1.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Trajectory 2

motion_cartesianTorsoArm2.py

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

'''Cartesian control: Multiple Effector Trajectories'''

import sys
import motion
import almath
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


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

    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

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

    space      = motion.FRAME_ROBOT
    isAbsolute = 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
    pathList     = [[[0.0, -0.04, 0.0, 0.0, 0.0, 0.0]],
                    [[0.0,  0.04, 0.0, 0.0, 0.0, 0.0]]]
    motionProxy.positionInterpolations(effectorList, space, pathList,
                                       axisMaskList, timesList, isAbsolute)


    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

    dx           = 0.03                  # translation axis X (meters)
    dy           = 0.04                  # translation axis Y (meters)

    pathList     = [[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], # LArm do not move
                    [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], # RArm do not move
                    [[0.0, +dy, 0.0, 0.0, 0.0, 0.0],  # Torso point 1
                     [-dx, 0.0, 0.0, 0.0, 0.0, 0.0],  # Torso point 2
                     [0.0, -dy, 0.0, 0.0, 0.0, 0.0],  # Torso point 3
                     [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]  # Torso point 4
                    ]
    motionProxy.positionInterpolations(effectorList, space, pathList,
                                       axisMaskList, timesList, isAbsolute)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_cartesianTorsoArm2.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)