[Pepper] Move base and control other joints at the same time

[Giovanni Claudio]

Hi!

I have noticed that if I send a velocity command to the base (Vx, Vy, Wz), the other joints are moving (for stability reasons?). 

I need to create a demo in which the camera is not moving with respect to the base frame while sending velocity.

So I want to block the joints to the zero position during the experiment. I tried to use the function setPosition of ALMotion 

but it has no effect. I have the same problem if I use ROS or not.

Any suggestions?

Thanks! 

[Natalia Lyubova]

Hi Giovanni,

you can try to call  setWalkArmsEnabled through ssh on a robot:

qicli call ALMotion.setWalkArmsEnabled 0 0

[Giovanni Claudio]

Hi Natalia,

Thank for your answer, I have already tried setWalkArmsEnabled (via proxy and using qicli). 

If I send via ROS a velocity command around Wz (topic: /cmd), Pepper moves all the other joints:

After some seconds Pepper moves also the arms:

How can I block the joints to a constant position?

Thanks for the help!

Giovanni

[Sébastien Dalibard]

Hi Giovanni,

During base moves, if not explicitely controlled, all the joints may be used to ensure stability.

You can either make the joints automatically go back to a neutral configuration with the API ALMotion.setIdlePostureEnabled() [1] or use any interpolation API [2] (setAngles, angleInterpolation, angleInterpolationBezier) to specify a given configuration.

setPosition is a cartesian control API, that is deactivated on Pepper.

Hope it helps,

Sébastien

[1] http://doc.aldebaran.com/2-4/naoqi/motion/idle-api.html#ALMotionProxy::setIdlePostureEnabled__ssCR.bCR

[2] http://doc.aldebaran.com/2-4/naoqi/motion/control-joint-api.html#control-joint-api

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[Giovanni Claudio]

Hi Sébastien,

Thanks for your answer. 

Sorry,  I wrote setPosition but I meant setAngles. Before, I was just sending a command to the leg joints, but it was not enough.

After I tried to send a command to all the joints, and now it is better. 

Thanks for the help!

Giovanni

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