External-collision avoidance API

NAOqi Motion - Overview | API

Event list

Methods

std::vector<float> ALMotionProxy::getChainClosestObstaclePosition(const std::string& chainName, const int& frame)

Gets, for a specified chain, the position, relative to the specified frame, of the closest obstacle.

Parameters:
Returns:

Vector containing the AL::Math::Position3D of obstacle in meters (x, y, z).
bool ALMotionProxy::getExternalCollisionProtectionEnabled(const std::string& name)

Checks if the external collision protection is activated on the given name.

Parameters:
  • name – The name {“All”, “Move”, “Arms”, “LArm” or “RArm”}.
Returns:

Return true if the external collision protection of the given name is activated.
float ALMotionProxy::getOrthogonalSecurityDistance()

Gets the current orthogonal security distance used to check dangerous obstacles.

Returns:distance in meters between any part of the robot and any obstacle in the direction of the motion.

It defines the security area in which any obstacle detection stops the robot.

Default value: 0.4m.
float ALMotionProxy::getTangentialSecurityDistance()

Gets the current tangential security distance used to check dangerous obstacles.

Returns:distance in meters between any part of the robot and any obstacle.

It defines the security area in which any obstacle detection stops the robot.

Default value: 0.1m.
void ALMotionProxy::setExternalCollisionProtectionEnabled(const std::string& name, const bool& enable)
nao NAO Enable/disable external collision protection of the robot.
juju Pepper

Enable/disable external collision protection of the robot, but only if allowed by the owner.

If not allowed, an exception is thrown.

  • “All” and “Move” deactivation require the owner consent on Pepper,
  • “Arms”, “LArm” and “RArm” deactivation does not require the owner consent.

For further details, see: Deactivation of the safety reflexes.

Parameters:
  • name – The name {“All”, “Move”, “Arms”, “LArm” or “RArm”}.
  • enable – Activate or deactivate the external collision of the desired name.

almotion_setExternalCollisionProtectionEnabled.py

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

import argparse
from naoqi import ALProxy

def main(robotIP, PORT=9559):
    motionProxy = ALProxy("ALMotion", robotIP, PORT)

    # Example showing how to activate "Move", "LArm" and "RArm" external anti collision
    name = "All"
    enable  = True
    motionProxy.setExternalCollisionProtectionEnabled(name, enable)

    # Example showing how to deactivate "LArm" external anti collision
    name = "LArm"
    enable = False
    motionProxy.setExternalCollisionProtectionEnabled(name, enable)

if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot ip address")
    parser.add_argument("--port", type=int, default=9559,
                        help="Robot port number")

    args = parser.parse_args()
    main(args.ip, args.port)
void ALMotionProxy::setOrthogonalSecurityDistance(const float& distance)

Defines the orthogonal security distance.

Parameters:
void ALMotionProxy::setTangentialSecurityDistance(const float& distance)

Defines the tangential security distance.

Parameters:

Events

Event: "ALMotion/Safety/ChainVelocityClipped"
callback(std::string eventName, AL::ALValue val, std::string subscriberIdentifier)

Raised when a chain velocity is clipped because an obstacle is too close.

Parameters:
  • eventName (std::string) – “ALMotion/Safety/ChainVelocityClipped”
  • val – [[“ChainName”, obstaclePosition], ...] obstaclePosition: [x, y, z] Position3D in FRAME_WORLD.
  • subscriberIdentifier (std::string) –
Event: "ALMotion/MoveFailed"
callback(std::string eventName, AL::ALValue val, std::string subscriberIdentifier)

Raised when a move command fails.

Parameters:
  • eventName (std::string) – “ALMotion/MoveFailed”
  • val – [Cause, Status, Obstacle position] Cause: Reason of move failed std::string (“Safety”, “Internal stop”, ...). Status: 0 move not started, 1 move started but stopped. Obstacle position: Position3D of obstacle in FRAME_WORLD.
  • subscriberIdentifier (std::string) –
Event: "ALMotion/Safety/MoveFailed"
callback(std::string eventName, AL::ALValue val, std::string subscriberIdentifier)

Deprecated since version 2.0.2: use ALMotion/MoveFailed() instead.

Raised when a move command fails because there is an obstacle in the direction of the move.

Parameters:
  • eventName (std::string) – “ALMotion/Safety/MoveFailed”
  • val – [x, y, z] Position3D of obstacle in FRAME_WORLD.
  • subscriberIdentifier (std::string) –
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