External-collision avoidance API

NAOqi Motion - Overview | API

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Method list

class ALMotionProxy

• ALMotionProxy::getChainClosestObstaclePosition
• ALMotionProxy::getExternalCollisionProtectionEnabled
• ALMotionProxy::getOrthogonalSecurityDistance
• ALMotionProxy::getTangentialSecurityDistance
• ALMotionProxy::setExternalCollisionProtectionEnabled
• ALMotionProxy::setOrthogonalSecurityDistance
• ALMotionProxy::setTangentialSecurityDistance

Event list

• ALMotion/Safety/ChainVelocityClipped()
• ALMotion/MoveFailed()

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:

• chainName – The chain name {“LArm” or “RArm”}.
• frame – Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.

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	Enable/disable external collision protection of the robot.
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 non-critical 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

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

"""Example: Use setExternalCollisionProtectionEnabled Method"""

import qi
import argparse
import sys


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

    motion_service  = session.service("ALMotion")

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

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

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)

void ALMotionProxy::setOrthogonalSecurityDistance(const float& distance)

Defines the orthogonal security distance.

Parameters:

• distance – distance in meters. See ALMotionProxy::getOrthogonalSecurityDistance.

void ALMotionProxy::setTangentialSecurityDistance(const float& distance)

Defines the tangential security distance.

Parameters:

• distance – distance in meters. See ALMotionProxy::getTangentialSecurityDistance.

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) –