Sensors

<< return to Python examples

This section shows how to get sensors values from ALMemory in Python.

To execute them, modify the robot’s IP adress inside the example file.

FSR values

sensors_getFsrValues.py

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

"""Example: Use getData Method to Use FSR Sensors"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the getData method to use FSR sensors.
    """
    # Get the service ALMemory.

    memory_service = session.service("ALMemory")

    # Get The Left Foot Force Sensor Values
    LFsrFL = memory_service.getData("Device/SubDeviceList/LFoot/FSR/FrontLeft/Sensor/Value")
    LFsrFR = memory_service.getData("Device/SubDeviceList/LFoot/FSR/FrontRight/Sensor/Value")
    LFsrBL = memory_service.getData("Device/SubDeviceList/LFoot/FSR/RearLeft/Sensor/Value")
    LFsrBR = memory_service.getData("Device/SubDeviceList/LFoot/FSR/RearRight/Sensor/Value")

    print( "Left FSR [Kg] : %.2f %.2f %.2f %.2f" %  (LFsrFL, LFsrFR, LFsrBL, LFsrBR) )

    # Get The Right Foot Force Sensor Values
    RFsrFL = memory_service.getData("Device/SubDeviceList/RFoot/FSR/FrontLeft/Sensor/Value")
    RFsrFR = memory_service.getData("Device/SubDeviceList/RFoot/FSR/FrontRight/Sensor/Value")
    RFsrBL = memory_service.getData("Device/SubDeviceList/RFoot/FSR/RearLeft/Sensor/Value")
    RFsrBR = memory_service.getData("Device/SubDeviceList/RFoot/FSR/RearRight/Sensor/Value")

    print( "Right FSR [Kg] : %.2f %.2f %.2f %.2f" %  (RFsrFL, RFsrFR, RFsrBL, RFsrBR) )


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)

Inertial Sensor values

sensors_getIntertialValues.py

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

"""Example: Use getData Method to Get Inertial Values"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the getData method to get Inertial Values.
    """
    # Get the service ALMemory.

    memory_service = session.service("ALMemory")

    # Get the Gyrometers Values
    GyrX = memory_service.getData("Device/SubDeviceList/InertialSensor/GyroscopeX/Sensor/Value")
    GyrY = memory_service.getData("Device/SubDeviceList/InertialSensor/GyroscopeY/Sensor/Value")
    print ("Gyrometers value X: %.3f, Y: %.3f" % (GyrX, GyrY))

    # Get the Accelerometers Values
    AccX = memory_service.getData("Device/SubDeviceList/InertialSensor/AccelerometerX/Sensor/Value")
    AccY = memory_service.getData("Device/SubDeviceList/InertialSensor/AccelerometerY/Sensor/Value")
    AccZ = memory_service.getData("Device/SubDeviceList/InertialSensor/AccelerometerZ/Sensor/Value")
    print ("Accelerometers value X: %.3f, Y: %.3f, Z: %.3f" % (AccX, AccY,AccZ))

    # Get the Compute Torso Angle in radian
    TorsoAngleX = memory_service.getData("Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value")
    TorsoAngleY = memory_service.getData("Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value")
    print ("Torso Angles [radian] X: %.3f, Y: %.3f" % (TorsoAngleX, TorsoAngleY))


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)

Sonar

sensors_sonar.py

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

"""Example: Use getData Method to Use Sonars Sensors"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the getData method to use sonars sensors.
    """
    # Get the services ALMemory and ALSonar.

    memory_service = session.service("ALMemory")
    sonar_service = session.service("ALSonar")

    # Subscribe to sonars, this will launch sonars (at hardware level)
    # and start data acquisition.
    sonar_service.subscribe("myApplication")

    # Now you can retrieve sonar data from ALMemory.
    # Get sonar left first echo (distance in meters to the first obstacle).
    memory_service.getData("Device/SubDeviceList/US/Left/Sensor/Value")

    # Same thing for right.
    memory_service.getData("Device/SubDeviceList/US/Right/Sensor/Value")

    # Unsubscribe from sonars, this will stop sonars (at hardware level)
    sonar_service.unsubscribe("myApplication")

    # Please read Sonar ALMemory keys section
    # if you want to know the other values you can get.


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)