PyNAO is the main Python extension module of PyRIDE on Aldebaran NAO robot. More...

Public Member Functions
	moveHeadTo (head_yaw, head_pitch, relative, frac_speed)
	Move the NAO head to a specific yaw and pitch position. This new position could be either absolute head position or a relative position w.r.t the current head position. More...

	sit (is_relax)
	Move the robot into a sitting pose. More...

	stand (is_init)
	Move the robot into a standing pose. More...

	lyingDown (is_bellyup)
	Move the robot into a lying down pose. More...

	crouch ()
	Move the robot into a crouch pose. More...

	getHeadPos ()
	Get the current robot head yaw and pitch in radian. More...

	setHeadStiffness (stiffness)
	Set the stiffness of the NAO head. More...

	setBodyStiffness (stiffness)
	Set the stiffness of the NAO body. More...

	setArmStiffness (left_arm, stiffness)
	Set the stiffness of a NAO' arm. More...

	setLegStiffness (left_leg, stiffness)
	Set the stiffness of a NAO' leg. More...

	moveArmWithJointTrajectory (joint_trajectory, is_blocking)
	Move a NAO arm to a sequence of joint positions, i.e. trajectory. More...

	moveArmWithJointPos (joint_position, frac_max_speed, is_blocking)
	Move a NAO's arm to the specified joint position with a certain speed. More...

	moveLegWithJointPos (joint_position, frac_max_speed)
	Move a NAO's leg to the specified joint position with a certain speed. More...

	moveBodyWithJointPos (joint_position, frac_max_speed)
	Move the NAO body joints to the specified joint position within a time frame. More...

	moveBodyWithRawTrajectoryData (joint_trajectory_data)
	Move the NAO body joints in specified trajectories. More...

	getArmJointPositions (left_arm)
	Get the current joint positions of one of the NAO arm. More...

	getLegJointPositions (left_leg)
	Get the current joint positions of one of the NAO left. More...

	getBodyJointPositions (use_sensor_data)
	Get the current joint positions of NAO body joints. More...

	moveBodyTo (x, y, theta, cancel_previous_move, is_blocking)
	Move the NAO body to a pose at (x,y,theta). More...

	openHand (which_hand, keep_stiffness)
	Opens one or both NAO hands. More...

	closeHand (which_hand, keep_stiffness)
	Closes one or both NAO hands. More...

	setHandPosition (which_hand, hand_joint_ratio, keep_stiffness)
	open one of NAO hands to the specified ratio [0..1.0]. More...

	setTeamMemberID (member_id, team_id)
	Sets the ID number of the robot. More...

	say (text)
	Use Text-to-Speech system to say the input text. More...

	sendTeamMessage (message)
	Broadcast a message to other robots in the same team (colour). More...

Remote Client Access Functions
	onRemoteCommand (cmd_id, cmd_text)
	Callback function when a custom command is received from a remote client. More...

	onUserLogOn (user_name)
	Callback function when a user logs in through a remote client. More...

	onUserLogOff (user_name)
	Callback function when a remote user logs off. More...

	disconnect (username)
	Disconnect all remote clients. More...

	blockRemoteExclusiveControl (toblock)
	Block or unblock exclusive control of connected remote clients. More...

	updateOperationalStatus (op_state, op_text)
	Send robot operational status notification to all connected remote clients. More...

Timer Management Functions
	onTimer (timer_id)
	Callback function when a timer object (created by PyNAO.addTimer) is fired. More...

	onTimerLapsed (timer_id)
	Callback function when a timer object (created by PyNAO.addTimer) is fired for the last time. More...

	addTimer (init_start, repeats, interval)
	Add a timer object. More...

	removeTimer (timer_id)
	Remove a timer object. More...

	isTimerRunning (timer_id)
	Check whether a timer object is still alive. More...

	removeAllTimers ()
	Remove all timer objects in the system. More...

Miscellaneous Functions
	onPeerMessage (sender_id, message)
	Callback function when a team message is received from a team member (calling PyNAO.sendTeamMessage). More...

	setChestLED (colour)
	Set NAO's chest LED to a colour. More...

	pulseChestLED (colour_one, colour_two, period)
	Periodically switch NAO's chest LED between the two input colours. More...

	getBatteryStatus ()
	Return the current robot battery status. More...

	takeCameraSnapshot (all_camera)
	Take a snapshot for the robot camera(s) More...

	getMyIPAddress ()
	Get the IP address of the robot. More...


	onSnapshotImage (image_name)
	Callback function when PyNAO.takeCameraSnapshot is called. More...

Event Callback Functions
	onBumperPressed (side)
	Callback function when one of NAO's bumpers is pressed. More...

	onHeadTactileTouched (side)
	Callback function when one of NAO's head tactile sensor is touched. More...

	onRightHandTouched (side, status)
	Callback function when one of NAO's right hand tactile sensor is touched. More...

	onLeftHandTouched (side, status)
	Callback function when one of NAO's left hand tactile sensor is touched. More...

	onChestButtonPressed (presses)
	Callback function when the chest button is pressed. More...

	onPowerPluggedChange (is_plugged)
	Callback function when NAO change between battery power or main power. More...

	onBatteryChargeChange (bat_percent, is_discharging)
	Callback function when the NAO battery status has changed. More...

	onSystemShutdown ()
	Callback function when the NAO is shutting down. More...

Audio Management Functions
	loadAudioFile (file_name)
	Load an audio file into the robot system. More...

	unloadAudioFile (audio_id)
	Unload an audio from the robot system (free memory). More...

	unloadAllAudioFile ()
	Unload all audio from the robot system. More...

	playAudioID (audio_id)
	Play a loaded audio file. More...

	getAudioVolume ()
	Get the current master audio volume. More...

	setAudioVolume (volume)
	Set the master audio volume. More...

	pauseAudioID (audio_id)
	Pause a playing audio. More...

	stopAllAudio ()
	Stop playing all audio files. More...

Remote Client User Management Functions
	listCurrentUsers ()
	Return a list of users who are currently logged in through remote clients. More...

	listAllUsers ()
	Return a list of users who can log in remotely. More...

	saveConfiguration ()
	Save the current user access configuration. More...

	addUser (user_name, user_password)
	Add a new remote user into the system. More...

	removeUser (user_name)
	Remove an existing remote user from the system. More...

	changeUserPassword (user_name, old_password, new_password)
	Change an existing remote user's password. More...

Detailed Description

PyNAO is the main Python extension module of PyRIDE on Aldebaran NAO robot.

PyNAO module consists of a set of callable Python methods specifically related to NAO low level functionalities and a set of callback functions that should be implemented by NAO programmers.

Member Function Documentation

addTimer	(	init_start	,
		repeats	,
		interval
	)

Add a timer object.

Parameters

float	init_start. Initial start time (in seconds, precision to 10th of a second) after the method is called.
long	repeats. A number of times the timer shall be called. -1 means infinite.
float	interval. Time interval (in seconds, precision to 10th of a second) between timer callbacks.

Returns: long The ID of the timer object.

addUser	(	user_name	,
		user_password
	)

Add a new remote user into the system.

Parameters

str	user_name.
str	user_password.

Returns: None.

blockRemoteExclusiveControl ( toblock )

Block or unblock exclusive control of connected remote clients.

Allow or block the exclusive control right of remote clients. If a client has already taken the exclusive control, the control right will be revoked when the input is set to True.

Parameters

bool	toblock. True for block; False for unblock.

Returns: None

changeUserPassword	(	user_name	,
		old_password	,
		new_password
	)

Change an existing remote user's password.

Parameters

str	user_name name.
str	old_password.
str	new_password.

Returns: None.

closeHand	(	which_hand	,
		keep_stiffness
	)

Closes one or both NAO hands.

Parameters

int	which_hand. 1 = left hand, 2 = right hand and 3 = both hands.
bool	keep_stiffness. Optional, keep stiffness on after closing the hand (default False).

Returns: bool. True == valid command; False == invalid command.

crouch ( )

Move the robot into a crouch pose.

Returns: None.

Note: Stiffness will be turned off.

disconnect ( username )

Disconnect all remote clients.

Parameters

str	username. Optional name of an online user to be disconnected. If no username is provided. All connected clients will be disconnected.

Returns: None

getArmJointPositions ( left_arm )

Get the current joint positions of one of the NAO arm.

Parameters

bool	left_arm. True for left arm; False for right arm.

Returns: dictionary(arm_joint_positions).

Note: Returned dictionary use joint names as keys.

getAudioVolume ( )

Get the current master audio volume.

Returns: int audio volume between [0,100].

getBatteryStatus ( )

Return the current robot battery status.

Returns: tuple(battery percentage, is_plugged_in, is_(dis)charging).

getBodyJointPositions ( use_sensor_data )

Get the current joint positions of NAO body joints.

Parameters

bool	use_sensor_data. True = using sensor reading; False = not using sensor.

Returns: dictionary(body_joint_positions).

Note: Returned dictionary use joint names as keys.

getHeadPos ( )

Get the current robot head yaw and pitch in radian.

Returns: tuple(head_yaw, head_pitch)

getLegJointPositions ( left_leg )

Get the current joint positions of one of the NAO left.

Parameters

bool	left_leg. True for left leg; False for right leg.

Returns: dictionary(leg_joint_positions).

Note: Returned dictionary use joint names as keys.

getMyIPAddress ( )

Get the IP address of the robot.

Returns: The robot IP address in text.

isTimerRunning ( timer_id )

Check whether a timer object is still alive.

Parameters

long	timer_id. ID of the timer object.

Returns: True = timer is alive; False = timer is dead.

listAllUsers ( )

Return a list of users who can log in remotely.

Returns: A list of user names.

listCurrentUsers ( )

Return a list of users who are currently logged in through remote clients.

Returns: A list of user names.

loadAudioFile ( file_name )

Load an audio file into the robot system.

Parameters

str	file_name. Audio file path. Must be a full path.

Returns: int audio ID.

lyingDown ( is_bellyup )

Move the robot into a lying down pose.

Parameters

bool	is_bellyup. Optional. True = belly up; False = belly down.

Returns: None.

moveArmWithJointPos	(	joint_position	,
		frac_max_speed	,
		is_blocking
	)

Move a NAO's arm to the specified joint position with a certain speed.

Parameters

dict	joint_position. A dictionary of arm joint positions in radian. The dictionary must the same structure as the return of PyNAO.getArmJointPositions.
float	frac_max_speed. Fraction of the maximum motor speed.
bool	is_blocking. Optional. True = blocking call; False = unblocking call (Default False).

Returns: bool. True == valid command; False == invalid command.

moveArmWithJointTrajectory	(	joint_trajectory	,
		is_blocking
	)

Move a NAO arm to a sequence of joint positions, i.e. trajectory.

Parameters

list	joint_trajectory. A list of joint position dictionaries with the same structure of the PyNAO.moveArmWithJointPos.
bool	is_blocking. Optional. True = blocking call; False = unblocking call (Default False).

Returns: bool. True == valid command; False == invalid command.

moveBodyTo	(	x	,
		y	,
		theta	,
		cancel_previous_move	,
		is_blocking
	)

Move the NAO body to a pose at (x,y,theta).

Parameters

float	x. X coordinate w.r.t. the current pose.
float	y. Y coordinate w.r.t. the current pose.
float	theta. Angular position w.r.t. the current pose.
bool	cancel_previous_move. Optional cancel previous move command if it is still executing (default False).
bool	is_blocking. Optional. True = blocking call; False = unblocking call (Default False).

Returns: bool. True == valid command; False == invalid command.

moveBodyWithJointPos	(	joint_position	,
		frac_max_speed
	)

Move the NAO body joints to the specified joint position within a time frame.

Parameters

dict	joint_position. A dictionary of body joint positions in radian. The dictionary must the same structure as the return of PyNAO.getBodyJointPositions.
float	frac_max_speed. Fraction of the maximum motor speed.

Returns: bool. True == valid command; False == invalid command.

moveBodyWithRawTrajectoryData ( joint_trajectory_data )

Move the NAO body joints in specified trajectories.

Parameters

dict joint_trajectory_data. A dictionary of {joints, keyframes, timestamps, is_blocking} where joints is a list of joint names that are factory defined, keyframes is a list of corresponding joint values (trajectory) for each joint specified in joints; timestamps is a list of corresponding time to reach values for the keyframes for each joint specified in joints; is_blocking is a boolean for whether the call is blocking.

Returns: bool. True == valid command; False == invalid command.

Warning: This method is not for general use. You need to know what you are doing.

moveHeadTo	(	head_yaw	,
		head_pitch	,
		relative	,
		frac_speed
	)

Move the NAO head to a specific yaw and pitch position. This new position could be either absolute head position or a relative position w.r.t the current head position.

Parameters

float	head_yaw. Must be in radian.
float	head_pitch. Must be in radian.
bool	relative. True == relative angle values; False == absolute angle values. Optional, default is False.
float	frac_speed. Fraction of the maximum speed, i.e. within (0..1] Optional, default = 0.05.

Returns: bool. True == valid command; False == invalid command.; None.

moveLegWithJointPos	(	joint_position	,
		frac_max_speed
	)

Move a NAO's leg to the specified joint position with a certain speed.

Parameters

dict	joint_position. A dictionary of leg joint positions in radian. The dictionary must the same structure as the return of PyNAO.getLegJointPositions.
float	frac_max_speed. Fraction of the maximum motor speed.

Returns: bool. True == valid command; False == invalid command.

onBatteryChargeChange	(	bat_percent	,
		is_discharging
	)

Callback function when the NAO battery status has changed.

Parameters

int	bat_percent. The remaining battery percentage within [0..100].
bool	is_discharging. True == the battery is discharging, False == the batter is charging.

Returns: None.

onBumperPressed ( side )

Callback function when one of NAO's bumpers is pressed.

Parameters

str	side: side = "right" for the right bumper or "left" for the left bumper.

Returns: None.

onChestButtonPressed ( presses )

Callback function when the chest button is pressed.

Parameters

int	presses. Number of presses occurred.

Returns: None.

onHeadTactileTouched ( side )

Callback function when one of NAO's head tactile sensor is touched.

Parameters

str	side: side = "front" for the front tactile, "middle" for the middle tactile and "rear" from the back tactile.

Returns: None.

onLeftHandTouched	(	side	,
		status
	)

Callback function when one of NAO's left hand tactile sensor is touched.

Parameters

str	side. side = "back" for the back tactile, "right" for the right tactile and "left" from the left tactile.
str	status. status = "on" for touch on or "off" for touch off.

Returns: None.

onPeerMessage	(	sender_id	,
		message
	)

Callback function when a team message is received from a team member (calling PyNAO.sendTeamMessage).

Parameters

int	sender_id. The ID of the team member who sends the message.
str	message. Text of the message.

Returns: None.

onPowerPluggedChange ( is_plugged )

Callback function when NAO change between battery power or main power.

Parameters

bool	is_plugged. True == plugged into main, False == on battery power.

Returns: None.

onRemoteCommand	(	cmd_id	,
		cmd_text
	)

Callback function when a custom command is received from a remote client.

Parameters

int	cmd_id. Custom command ID.
str	cmd_text. Custom command text string.

Returns: None.

Note: The remote client must take the exclusive control of the robot before its commands can trigger this callback function.

onRightHandTouched	(	side	,
		status
	)

Callback function when one of NAO's right hand tactile sensor is touched.

Parameters

str	side. side = "back" for the back tactile, "right" for the right tactile and "left" from the left tactile.
bool	status. True == touch on, False == touch off.

Returns: None.

onSnapshotImage ( image_name )

Callback function when PyNAO.takeCameraSnapshot is called.

Parameters

str	image_name. Path for the saved image.

Returns: None.

onSystemShutdown ( )

Callback function when the NAO is shutting down.

Returns: None.

Note: Currently (v2.1.4) NaoQi does not exit correctly when NAO is shutting down using the chest button. Init script needs update.

onTimer ( timer_id )

Callback function when a timer object (created by PyNAO.addTimer) is fired.

Parameters

int	timer_id. ID of the timer object.

Returns: None.

onTimerLapsed ( timer_id )

Callback function when a timer object (created by PyNAO.addTimer) is fired for the last time.

Parameters

int	timer_id. ID of the timer object.

Returns: None.

Note: This callback function works only on timers with limited life span.

onUserLogOff ( user_name )

Callback function when a remote user logs off.

Parameters

str	user_name. The name of the user.

Returns: None.

onUserLogOn ( user_name )

Callback function when a user logs in through a remote client.

Parameters

str	user_name. The name of the user.

Returns: None.

openHand	(	which_hand	,
		keep_stiffness
	)

Opens one or both NAO hands.

Parameters

int	which_hand. 1 = left hand, 2 = right hand and 3 = both hand.
bool	keep_stiffness. Optional, keep stiffness on after opening the hand (default False).

Returns: bool. True == valid command; False == invalid command.

pauseAudioID ( audio_id )

Pause a playing audio.

Parameters

int	audio_id. Audo file ID.

Returns: None.

playAudioID ( audio_id )

Play a loaded audio file.

Parameters

int	audio_id. Loaded audio file ID.

Returns: None.

pulseChestLED	(	colour_one	,
		colour_two	,
		period
	)

Periodically switch NAO's chest LED between the two input colours.

Parameters

str	colour_one. Colour label one.
str	colour_one. Colour label two.
int	period. Time (in seconds) before switching LED colour.

Returns: None.

Note: Colour must be 'red','green', 'blue', 'white', 'blank', 'yellow' or 'pink'.

removeAllTimers ( )

Remove all timer objects in the system.

Returns: None.

removeTimer ( timer_id )

Remove a timer object.

Parameters

long	timer_id. ID of the timer object pending for removal.

Returns: None.

removeUser ( user_name )

Remove an existing remote user from the system.

Parameters

str	user_name name.

Returns: None.

saveConfiguration ( )

Save the current user access configuration.

Returns: None.

say ( text )

Use Text-to-Speech system to say the input text.

Parameters

str	text. Text to be spoken by the robot.

Returns: None.

sendTeamMessage ( message )

Broadcast a message to other robots in the same team (colour).

Parameters

str	message. A text based message.

Returns: None

Note: (legacy) This is based on the team colour assignment defined in pyrideconfig.xml

setArmStiffness	(	left_arm	,
		stiffness
	)

Set the stiffness of a NAO' arm.

Parameters

bool	left_arm. True for left arm; False for right arm.
float	stiffness. Must be between [0.0,1.0].

Returns: None.

setAudioVolume ( volume )

Set the master audio volume.

Parameters

int	volume. Must be between [0,100]

Returns: None.

setBodyStiffness ( stiffness )

Set the stiffness of the NAO body.

Parameters

float stiffness. Must be between [0.0,1.0].

Returns: None.

setChestLED ( colour )

Set NAO's chest LED to a colour.

Parameters

str	colour. Colour must be 'red','green', 'blue', 'white', 'blank', 'yellow' or 'pink'.

Returns: None.

setHandPosition	(	which_hand	,
		hand_joint_ratio	,
		keep_stiffness
	)

open one of NAO hands to the specified ratio [0..1.0].

Parameters

int	which_hand. 1 = left hand, 2 = right hand and 3 = both hands.
float	hand_joint_ratio. Hand opening ratio [0..1.0].
bool	keep_stiffness. Optional, keep stiffness on after closing the hand (default False).

setHeadStiffness ( stiffness )

Set the stiffness of the NAO head.

Parameters

float stiffness. Must be between [0.0,1.0].

Returns: None.

setLegStiffness	(	left_leg	,
		stiffness
	)

Set the stiffness of a NAO' leg.

Parameters

bool	left_leg. True for left leg; False for right leg.
float	stiffness. Must be between [0.0,1.0].

Returns: None.

setTeamMemberID	(	member_id	,
		team_id
	)

Sets the ID number of the robot.

The robot can be assigned as a member of blue team (number 1) or pink team (number 2). This facilitates robot to robot communication.

Note: This function is inherited from robot soccer competition code for NAO.

Parameters

int	member_id. Must be a non-negative integer.
int	team_id. Must be either 1 (blue team) or 2 (pink team).

Returns: None.

sit ( is_relax )

Move the robot into a sitting pose.

Parameters

bool	is_relax. Optional. True = Relaxed sitting pose (stiffness is off); False = Non-relaxed sitting pose.

Returns: None.

stand ( is_init )

Move the robot into a standing pose.

Parameters

bool	is_init. Optional. True = A standing pose ready for walk; False = Default standing pose.

Returns: None.

stopAllAudio ( )

Stop playing all audio files.

Returns: None.

takeCameraSnapshot ( all_camera )

Take a snapshot for the robot camera(s)

Parameters

bool	all_camera. Take a snapshot from all available cameras.

Returns: None

Note: Image(s) taken from the robot camera(s) will be saved in {robot home directory}/recordings/cameras directory on the PyNAO.

unloadAllAudioFile ( )

Unload all audio from the robot system.

Returns: None.

unloadAudioFile ( audio_id )

Unload an audio from the robot system (free memory).

Parameters

int	audio_id. Loaded audio file ID.

Returns: None.

updateOperationalStatus	(	op_state	,
		op_text
	)

Send robot operational status notification to all connected remote clients.

Parameters

int	op_state. Must be a positive integer representing the operational status.
str	op_text. Optional text for the operational status.

Returns: None.

Note: For pre allocated operational status ID, check constants.py.

The documentation for this class was generated from the following files:

PyNaoServer/PyNAOModule.cpp
libsrc/pyridecore/PyModuleStub.cpp
PyNaoServer/PyNaoServer.cpp

Public Member Functions

Detailed Description

Member Function Documentation