Self-collision avoidance API

NAOqi Motion - Overview | API

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Method list

class ALMotionProxy

• ALMotionProxy::setCollisionProtectionEnabled
• ALMotionProxy::getCollisionProtectionEnabled
• ALMotionProxy::isCollision

bool ALMotionProxy::setCollisionProtectionEnabled(const std::string& ChainName, const bool& Enable)

Enable/Disable Anti-collision protection of the arms of the robot. Use ALMotionProxy::isCollision to know if a chain is in collision and can be inactivated.

Parameters:

• ChainName – The chain name {“Arms”, “LArm” or “RArm”}.
• Enable – Activate or deactivate the anti-collision of the desired Chain.

Returns:

A bool which return always true.

almotion_setCollisionProtectionEnabled.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use setCollisionProtectionEnabled Method"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the setCollisionProtectionEnabled method.
    """
    # Get the service ALMotion.

    motion_service  = session.service("ALMotion")

    # Example showing how to activate "Arms" anticollision
    chainName = "Arms"
    enable  = True
    isSuccess = motion_service.setCollisionProtectionEnabled(chainName, enable)
    print "Anticollision activation on arms: " + str(isSuccess)

    # Example showing how to deactivate "LArm" anticollision
    chainName = "LArm"
    collisionState = motion_service.isCollision(chainName)
    print "Is there collision? ", collisionState
    enable = False
    isSuccess = motion_service.setCollisionProtectionEnabled(chainName, enable)
    print "isSuccess: ", isSuccess


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
    parser.add_argument("--port", type=int, default=9559,
                        help="Naoqi port number")

    args = parser.parse_args()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.ip + ":" + str(args.port))
    except RuntimeError:
        print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
               "Please check your script arguments. Run with -h option for help.")
        sys.exit(1)
    main(session)

bool ALMotionProxy::getCollisionProtectionEnabled(const std::string& ChainName)

Allow to know if the collision protection is activated on the given chain.

Parameters:

• ChainName – The chain name {“LArm” or “RArm”}.

Returns:

Return true is the collision protection of the given Arm is activated.

std::string ALMotionProxy::isCollision(const std::string& ChainName)

Give the collision state of a chain. If a chain has a collision state “none” or “near”, it could be deactivates.

Parameters:

• ChainName – The chain name {“Arms”, “LArm” or “RArm”}.

Returns:

A string which notice the collision state: “none” there are no collision, “near” the collision is taking in account in the anti-collision algorithm, “collision” the chain is in contact with an other body. If the chain asked is “Arms” the most unfavorable result is given.

almotion_iscollision.cpp

#include <iostream>
#include <alproxies/almotionproxy.h>

int main(int argc, char **argv)
{
  std::string robotIp = "127.0.0.1";

  if (argc < 2) {
    std::cerr << "Usage: almotion_iscollision robotIp "
              << "(optional default \"127.0.0.1\")."<< std::endl;
  }
  else {
    robotIp = argv[1];
  }

  AL::ALMotionProxy motion(robotIp);

  // Example showing how to get the collision state
  std::string pChainName = "LArm";
  std::string collisionState = motion.isCollision(pChainName);

  std::cout << pChainName << " collision state: " << collisionState << std::endl;
  return 0;
}

almotion_isCollision.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use isCollision Method"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the isCollision method.
    """
    # Get the services ALMotion & ALRobotPosture.

    motion_service  = session.service("ALMotion")

    # Example showing how to get the collision state
    pChainName = "LArm"
    collisionState = motion_service.isCollision(pChainName)

    print pChainName + " collision state is " + collisionState +"."


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
    parser.add_argument("--port", type=int, default=9559,
                        help="Naoqi port number")

    args = parser.parse_args()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.ip + ":" + str(args.port))
    except RuntimeError:
        print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
               "Please check your script arguments. Run with -h option for help.")
        sys.exit(1)
    main(session)