Whole Body control Tutorial: A dance

Overview | API | Tutorial

See also

Introduction

This tutorial explains how to use whole body cartesian control API in the context of making NAO a dance with foot constraints, torso and arms cartesian commands.

Note

The tutorial is written in Python.

Download

You can download the whole Body multiple effectors control example here: motion_wbMultipleEffectors.py

To be executed, this tutorial require a config file: config.py. Modify the config file to enter your robot IP, and place it in the same folder as the example.

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

Code review

In this section we describe each important piece of code of the example.

NAOqi tools

First, we import some external library:
  • config: the config file (see above Download section)
  • motion: some useful defintion such as SPACE.
  • almath: an optimized mathematic toolbox for robotics. For further details, see: libalmath API reference.
  • time: mainly for the function sleep

Then, the proxy to ALMotion module is created. This proxy is useful to called ALMotion API.

import config
import motion
import almath
import time

def main():
    '''
    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
    '''

    proxy = config.loadProxy("ALMotion")

NAO initialization

When doing cartesian control, it’s important to be sure that NAO is in a good configuration. To have the maximum range of control, the maximum stability and far away of singularity.
A PoseInit is a good posture before a cartesian control of the NAO Torso.
# Set NAO in Stiffness On
config.StiffnessOn(motionProxy)

# Send NAO to Pose Init
config.PoseInit(motionProxy)

Whole body initialization

Here, we specify the whole body constraints :

  • enable whole body
  • both legs are fixed
  • balance on double support
# Enable Whole Body Balancer
isEnabled  = True
proxy.wbEnable(isEnabled)

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

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

Arms motion

This code is dedicated to create motion with Left and right arms in parallel.
By exectuing only this code, you will see all the robot move, but only the arms effectors are controlled.
# Arms motion
effectorList = ["LArm", "RArm"]
space        = motion.SPACE_NAO

pathList     = [
                [
                 [0.0,   0.08,  0.14, 0.0, 0.0, 0.0], # target 1 for "LArm"
                 [0.0,  -0.05, -0.07, 0.0, 0.0, 0.0], # target 2 for "LArm"
                 [0.0,   0.08,  0.14, 0.0, 0.0, 0.0], # target 3 for "LArm"
                 [0.0,  -0.05, -0.07, 0.0, 0.0, 0.0], # target 4 for "LArm"
                 [0.0,   0.08,  0.14, 0.0, 0.0, 0.0], # target 5 for "LArm"
                 ],
                [
                 [0.0,   0.05, -0.07, 0.0, 0.0, 0.0], # target 1 for "RArm"
                 [0.0,  -0.08,  0.14, 0.0, 0.0, 0.0], # target 2 for "RArm"
                 [0.0,   0.05, -0.07, 0.0, 0.0, 0.0], # target 3 for "RArm"
                 [0.0,  -0.08,  0.14, 0.0, 0.0, 0.0], # target 4 for "RArm"
                 [0.0,   0.05, -0.07, 0.0, 0.0, 0.0], # target 5 for "RArm"
                 [0.0,  -0.08,  0.14, 0.0, 0.0, 0.0], # target 6 for "RArm"
                 ]
                ]

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

isAbsolute   = False

# called cartesian interpolation
proxy.positionInterpolations(effectorList, space, pathList,
                             axisMaskList, timesList, isAbsolute)

Torso motion

This code is dedicated to create cartesian motion of NAO’s torso.
During execution the arms will be fixed in NAO_SPACE.
This is due to the fact that a previous called (positionInterpolation) on Arms effector has automatically set effector optimization to True ( wbEnableEffectorOptimization(Arms, True) ).
# Torso Motion
effectorList = ["Torso"]

dy = 0.05
dz = 0.05
pathList     = [
                [
                 [0.0, +dy, -dz, 0.0, 0.0, 0.0], # target  1 for "Torso"
                 [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], # target  2 for "Torso"
                 [0.0, -dy, -dz, 0.0, 0.0, 0.0], # target  3 for "Torso"
                 [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], # target  4 for "Torso"
                 [0.0, +dy, -dz, 0.0, 0.0, 0.0], # target  5 for "Torso"
                 [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], # target  6 for "Torso"
                 [0.0, -dy, -dz, 0.0, 0.0, 0.0], # target  7 for "Torso"
                 [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], # target  8 for "Torso"
                 [0.0, +dy, -dz, 0.0, 0.0, 0.0], # target  9 for "Torso"
                 [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], # target 10 for "Torso"
                 [0.0, -dy, -dz, 0.0, 0.0, 0.0], # target 11 for "Torso"
                 [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], # target 12 for "Torso"
                 ],
                ]

axisMaskList = [almath.AXIS_MASK_ALL] # for "Torso"

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

isAbsolute   = False

proxy.positionInterpolations(effectorList, space, pathList,
                             axisMaskList, timesList, isAbsolute)

Release constraint and disable whole body

This first part of code is quite optionnal. It just release the optimization on “LArm” and “RArm” and let time to the arms to come back to initial position.

# Remove optimization of "LArm" and "RArm".
isActive     = False
proxy.wbEnableEffectorOptimization("LArm", isActive)
proxy.wbEnableEffectorOptimization("RArm", isActive)

# Let Arms time to return to Pose Init
time.sleep(3.0)

This second part is essential and stop the xhole body balancer.

# Disactivate Head tracking
isEnabled    = False
proxy.wbEnable(isEnabled)
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