Documentation of pyRobots actions and helpers

Automatically generated from pyRobots source on February 27, 2014

Actions

Category administration

Action configure_grippers

• Sets the grippers thresholds.

Parameters

• grab_acc: threshold for grab detection

• grab_slip: threshold for grab detection

• release_acc: threshold for release detection

• release_slip: threshold for release detection

• force: hold force

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 grab_acc = GRAB_ACC # define here a grab_acc
   5 grab_slip = GRAB_SLIP # define here a grab_slip
   6 release_acc = RELEASE_ACC # define here a release_acc
   7 release_slip = RELEASE_SLIP # define here a release_slip
   8 force = FORCE # define here a force
   9 pr2.configure_grippers(grab_acc, grab_slip, release_acc, release_slip, force)

Action display

• Allows to select which software window is displayed by the robot.
  • Requires:
    • - laaswm as windows manager - laaswm.py installed (available from laaswm-libs repository)

Parameters

• window: name (or part of the name) of the window to put

  • on front. Case insensitive.

• host: the LAASWM host (default: localhost)

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 window = WINDOW # define here a window
   5 host = HOST # define here a host
   6 pr2.display(window, host)

Action init

• Initialize modules in correct order.

  • Modules whose initialization is reentrant (ie, init code can be safely called twice) are enabled by default.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.init()

Action lock_object

• Lock to position of an object in SPARK. It won't be updated
  • anymore.

Parameters

• object: The ID of the object to lock.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 object = OBJECT # an object ID, as spelled by SPARK/Viman
   5 pr2.lock_object(object)

Action settorso

• Set the PR2 torso height.

Parameters

• height: The height of the torso, in meters. Defaults to 0.15

  • cm. Height is clamped into [0, 30].

• callback: (optional) If given, the action is non-blocking,

  • and the callback is invoked at the activity completion.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 height = HEIGHT # define here a height
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 pr2.settorso(height, callback)

Action setup_scenario

• Allows to load a custom scene configuration ('sce' files) in SPARK
  • at runtime.

Parameters

• scenario: The complete path to a valid scenario file ('.sce')

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 scenario = SCENARIO # define here a scenario
   5 pr2.setup_scenario(scenario)

Action unlock_object

• Unlock to position of an object in SPARK. It will be updated
  • when seen.

Parameters

• object: The ID of the object to unlock.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 object = OBJECT # an object ID, as spelled by SPARK/Viman
   5 pr2.unlock_object(object)

Action wait

• This special action simply waits for a given amount of second before
  • sending the next action.

Parameters

• seconds: the time to wait, in seconds

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 seconds = SECONDS # define here a seconds
   5 pr2.wait(seconds)

Category configuration

Action disabledevileye

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.disabledevileye()

Action enabledevileye

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.enabledevileye()

Action extractpose

• Quick method to set the PR2 joints in "extraction" configuration. In "extractaction" configuration, the robot's right hand is next to the shoulder, far from the table. Useful to prevent collisions when moving near to the tables.

Parameters

• callback: (optional) If given, the action is non-blocking, and the callback is

  • invoked at the activity completion.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 callback = CALLBACK # a function (or functor) to call when the action is done
   5 pr2.extractpose(callback)

Action idle

• action to do when nothing to do.

Parameters

• choice: default to -1, this param make it possible to choose

  • the action to do. if choice>10 or choice<0 the action to do is randomly choosed.

• callback: (optional) If given, the action is non-blocking, and the callback is

  • invoked at the activity completion.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 choice = CHOICE # define here a choice
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 pr2.idle(choice, callback)

Action manipose

• Quick method to set the PR2 joints in "manip" configuration. This posture is designed for the robot to easily move around with an object in its right hand.

Parameters

• no_head: (default: true) If true, only arms and torso will set a new configuration.

  • Very useful if you track an object.

• callback: (optional) If given, the action is non-blocking, and the callback is

  • invoked at the activity completion.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 no_head = NO_HEAD # define here a no_head
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 nao.manipose(no_head, callback)

Action movearm

• Moves one of the robot arms to a pose.

Parameters

• target: the destination for the arm wrist

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 target = TARGET # a final position ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 nao.movearm(target)

Action pointsat

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.pointsat()

Action rest

• Quick method to set the robot joints in rest configuration. You have the choice with three rest configuration. This choice is random.

Parameters

• no_head: (optional) If true, only arms and torso will set a new configuration.

  • Very useful if you track an object.

• callback: (optional) If given, the action is non-blocking, and the callback is

  • invoked at the activity completion.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 no_head = NO_HEAD # define here a no_head
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 nao.rest(no_head, callback)

Action restpose

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.restpose()

Action setpose

• Set the robot base and internal joints in a given configuration. Beware: if collision_avoidance is not set to True, not collision detection is done. This can result in a dangerous robot behaviour. Note also that collision avoidance is available for the right arm only. While you can set the global position of the PR2 robot with this action, please

  use goto in the 'nav' category for obstacle aware navigation.

  If posture = {} and part = 'PR2', all parameters take 0 for value

Parameters

• posture: a posture, ie, a dictionary built as follow:

  • Key BASE: array of 6 floats [x,y,z,rx,ry,rz], in meters and in radians. The position is given in the world frame.

  • Key RARM: array of 7 joint angles for the right arm, in radians,

  • Key LARM: array of 7 joint angles for the left arm, in radians,

  • Key TORSO: the height of the torso ([0-30]), in centimeters,

  • Key HEAD: array of pan and tilt values, in radians,

  • Note that none of the items of the dictionary are mandatory. If no robot part is selected (see the 'part' parameter below), the smallest set of part is selected that allow execution of the pose. 'posture' may also be the name of a pre-recorded posture, as available from the posture library (cf helpers/postures.py) or other robot-dependent prerecorded postures.

• part: (optional) force only a certain part of the PR2 to execute to posture.

  • Allowed values: 'BASE', 'RARM', 'LARM', 'ARMS', 'PR2', 'PR2SYN', 'TORSO', 'PR2NOHEAD', 'HEAD'

• collision_avoidance: (optional), If true, the robot will be consider obstacles

  • in its environment. If true, you have to precise part = 'RARM'.

• relative: (default: False) if set to true, the posture is considered as

  • being relative to the current configuration.

• obj: (optional) set which objet the robot has to avoid during the movement.

  • You can give only one object.

• support: (optional) set which support the robot has to avoid during the movement.

  • You can give only one support.

• callback: (optional) If given, the action is non-blocking, and the callback is

  • invoked at the activity completion.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 posture = POSTURE # define here a posture
   5 part = PART # define here a part
   6 collision_avoidance = COLLISION_AVOIDANCE # define here a collision_avoidance
   7 relative = RELATIVE # define here a relative
   8 obj = OBJ # define here a obj
   9 support = SUPPORT # define here a support
  10 callback = CALLBACK # a function (or functor) to call when the action is done
  11 nao.setpose(posture, part, collision_avoidance, relative, obj, support, callback)

Action settorso

• Set the PR2 torso height.

Parameters

• height: The height of the torso, in meters. Defaults to 0.15

  • cm. Height is clamped into [0, 30].

• callback: (optional) If given, the action is non-blocking,

  • and the callback is invoked at the activity completion.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 height = HEIGHT # define here a height
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 pr2.settorso(height, callback)

Action tuckedpose

• Tucks the robot arms.

Parameters

• callback: (optional) If given, the action is non-blocking, and the callback is

  • invoked at the activity completion.

• no_head: (optional) If true, only arms and torso will set a new configuration.

  • Very useful if you track an object

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 callback = CALLBACK # a function (or functor) to call when the action is done
   5 no_head = NO_HEAD # define here a no_head
   6 pr2.tuckedpose(callback, no_head)

Category manipulation

Action amit_give

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.amit_give()

Action attachobject

• attach or detach the object to the robot hand
  • This function should be called after a release or a grab

Parameters

• obj: the object to attach/dettach.

• attach: true (default) to attach an object, false to detach it

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 obj = OBJ # define here a obj
   5 attach = ATTACH # define here a attach
   6 pr2.attachobject(obj, attach)

Action basicgive

• The ultra stupid basic GIVE: simply hand the object in front of the
  • robot.

    After handing the object, the robot waits for someone to take it, and stay in this posture.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.basicgive()

Action basictake

• The ultra stupid basic TAKE: simply hand the object in front of the
  • robot.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.basictake()

Action close_gripper

• Closes the right gripper.
  • If pr2SoftMotion-genom is available, it tries with it. Else it tries with fingers-genom. Parameter 'gripper' is ignored when using fingers-genom. :see: grab_gripper

Parameters

• gripper: "right" (default) or "left"

• callback: if set, the action is non-blocking and the callback is invoked upon completion

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 gripper = GRIPPER # define here a gripper
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 nao.close_gripper(gripper, callback)

Action configure_grippers

• Sets the grippers thresholds.

Parameters

• grab_acc: threshold for grab detection

• grab_slip: threshold for grab detection

• release_acc: threshold for release detection

• release_slip: threshold for release detection

• force: hold force

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 grab_acc = GRAB_ACC # define here a grab_acc
   5 grab_slip = GRAB_SLIP # define here a grab_slip
   6 release_acc = RELEASE_ACC # define here a release_acc
   7 release_slip = RELEASE_SLIP # define here a release_slip
   8 force = FORCE # define here a force
   9 pr2.configure_grippers(grab_acc, grab_slip, release_acc, release_slip, force)

Action grab_gripper

• Closes the gripper to grab something. Like gripper_close, except it waits until it senses some effort on the gripper force sensors, and tries to appliy a force suitable to hold something. :see: close_gripper

Parameters

• gripper: "right" (default) or "left"

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 gripper = GRIPPER # define here a gripper
   5 nao.grab_gripper(gripper)

Action handover

• Computes and executes a move for a 'hand-over': given a
  • human, the robot finds a trajectory and a pose to go and hand the object in its right hand to the human.

    The efforts can be shared between the human and the robot with the 'mobility' parameter. Note that the object is assumed to be already in the hand.

Parameters

• human: the human (SPARK ID) to hand an object over.

• mobility: the level of mobility of the human. 0.0 means

  • the human can not move (the robot does all the displacement), 1.0 means the robot and the human will each roughly move half the way.

• feedback: (optional) a callback that is invoked as the

  • robot moves along. It provides the percentage of the trajectory

    already covered, the distance to go and the distance already covered.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 human = HUMAN # define here a human
   5 mobility = MOBILITY # define here a mobility
   6 feedback = FEEDBACK # define here a feedback
   7 pr2.handover(human, mobility, feedback)

Action hide

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.hide()

Action open_gripper

• Opens a gripper. If pr2SoftMotion-genom is available, it tries with it. Else it tries with fingers-genom. Parameter 'gripper' is ignored when using fingers-genom. :see: release_gripper

Parameters

• gripper: "right" (default) or "left"

• callback: if set, the action is non-blocking and the callback is invoked upon completion

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 gripper = GRIPPER # define here a gripper
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 nao.open_gripper(gripper, callback)

Action pick

• Picks an object that is reachable by the robot.
  • Uses MHP to plan a trajectory. The trajectory is executed with by pr2SoftMotion-genom if available, else with lwr-genom if available, else oonly exported to the mhpArmTraj poster.

Parameters

• object: the object to pick.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 object = OBJECT # an object ID, as spelled by SPARK/Viman
   5 pr2.pick(object)

Action put

• Put an object on a given support
  • Uses MHP to plan a trajectory. The trajectory is executed with by pr2SoftMotion-genom if available, else with lwr-genom if available, else oonly exported to the mhpArmTraj poster.

Parameters

• object: the object to put.

• support: the support to put the object

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 object = OBJECT # an object ID, as spelled by SPARK/Viman
   5 support = SUPPORT # define here a support
   6 pr2.put(object, support)

Action put_accessible

• Grasps + shows the object to a 'receiver'

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.put_accessible()

Action release_gripper

• Opens the gripper to release something. Like gripper_open, except it waits until it senses some effort on the gripper force sensors. :see: open_gripper

Parameters

• gripper: "right" (default) or "left"

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 gripper = GRIPPER # define here a gripper
   5 nao.release_gripper(gripper)

Action show

• Grasps + shows the object to a 'receiver'

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.show()

Action take

• Go to the human and take an object.

  • Uses the OTP algorithm to find a path + posture to

    take an object from the human.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.take()

Category games

Action alternative_handsup_folded

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.alternative_handsup_folded()

Action arms_against_torso

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.arms_against_torso()

Action basket

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.basket()

Action gym

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.gym()

Action handsup

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.handsup()

Action handsup_folded

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.handsup_folded()

Action larm_swinging

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.larm_swinging()

Action move_head

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.move_head()

Action rarm_swinging

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.rarm_swinging()

Action slow_arms_swinging

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.slow_arms_swinging()

Action speed_arms_swinging

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.speed_arms_swinging()

Action wait

• This special action simply waits for a given amount of second before
  • sending the next action.

Parameters

• seconds: the time to wait, in seconds

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 seconds = SECONDS # define here a seconds
   5 pr2.wait(seconds)

Category nav

Action cancel_follow

• If running, interrupt a current follow action.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.cancel_follow()

Action carry

• Moves to a place, taking into account door crossing.
  • If the robot needs to cross a door, it will stop in front of the door, tuck its arms, cross the door, untuck the arms and complete its route. TODO: This action is currently completely hardcoded, and will work only for the Novela scenario.

Parameters

• target: the destination, as a dictionary {x,y,z,qx,qy,qz,qw}.

• callback: (optional) a callback to be called when the destination

  • is reached. If nothing is provided, the action blocks until the destination is reached.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 target = TARGET # a final position ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 pr2.carry(target, callback)

Action follow

• Follows a target until cancelled.
  • Every 3 seconds, it re-evaluate the pose of the target, and move to it. This is a background action. Can be cancelled with cancel_follow.

Parameters

• target: a pyRobots pose to follow. At each step, the pose is re-evaluated is needed (eg for a TF frame or a SPARK object)

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 target = TARGET # a final position ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 pr2.follow(target)

Action goto

• Moves the robot base to a given target, using ROS 2D navigation stack.
  • Only (x,y,theta), ie (x, y, qw, qz), are considered for the target. All other values are ignored.

Parameters

• target: the destination, as a valid pyRobots position.

• callback: (optional) a callback to be called when the destination

  • is reached. If nothing is provided, the action blocks until the destination is reached.

• feedback: (optional) a callback that is called at regular intervals

  • with an update of the current robot position

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 target = TARGET # a final position ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 feedback = FEEDBACK # define here a feedback
   7 pr2.goto(target, callback, feedback)

Action moveclose

• Moves towards a target, stopping close to it.
  • Underneath, it uses the ROS 2D navigation stack. Only (x,y,theta), ie (x, y, qw, qz), are considered for the target. All other values are ignored.

Parameters

• target: the destination, as a valid pyRobots position.

• distance: the distance from the target, in meter, where to stop.

• callback: (optional) a callback to be called when the destination

  • is reached. If nothing is provided, the action blocks until the destination is reached.

• feedback: (optional) a callback that is called at regular intervals

  • with an update of the current robot position

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 target = TARGET # a final position ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 distance = DISTANCE # define here a distance
   6 callback = CALLBACK # a function (or functor) to call when the action is done
   7 feedback = FEEDBACK # define here a feedback
   8 pr2.moveclose(target, distance, callback, feedback)

Action waypoints

• Moves the robot base along a set of waypoints, using ROS 2D navigation
  • stack (and the LAAS 'waypoints' ROS node).

Parameters

• waypoints: a set of locations (any valid pyRobot pose).

• callback: (optional) a callback to be called when the final destination

  • is reached. If nothing is provided, the action blocks until the destination is reached.

• feedback: (optional) a callback to be called each time the feedback topic of the waypoint is updated (ie, every few percent of trajectory accomplishment).

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 waypoints = WAYPOINTS # a list of positions ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 callback = CALLBACK # a function (or functor) to call when the action is done
   6 feedback = FEEDBACK # define here a feedback
   7 pr2.waypoints(waypoints, callback, feedback)

Category look_at

Action cancel_track

• If running, interrupt a current track action.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.cancel_track()

Action glance_to

• Briefly look at a given location, and come back to the
  • currently pose.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.glance_to()

Action look_at

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.look_at()

Action look_at_ros

• Create the client and the goal.

Parameters

• place: a dictionary which contains object position parameters.

  • Cf look_at for details.

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 place = PLACE # a position ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 pr2.look_at_ros(place)

Action look_at_xyz_with_moveHead

• Look at via pr2SoftMotion.

Parameters

• x: the x coordinate

• y: the y coordinate

• z: the z coordinate

• frame: the frame in which coordinates are interpreted. By default, '/map'

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 x = X # define here a x
   5 y = Y # define here a y
   6 z = Z # define here a z
   7 frame = FRAME # define here a frame
   8 pr2.look_at_xyz_with_moveHead(x, y, z, frame)

Action lookat

• Orders the robot to look at a given place of object.
  • If available, uses pr2SoftMotion::moveHead. Else tries with the platine-genom module.

Parameters

• place: any valid pyrobots place (spark id, ROS frame, [x,y,z],...)

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 place = PLACE # a position ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 nao.lookat(place)

Action setpose

• Set the robot base and internal joints in a given configuration. Beware: if collision_avoidance is not set to True, not collision detection is done. This can result in a dangerous robot behaviour. Note also that collision avoidance is available for the right arm only. While you can set the global position of the PR2 robot with this action, please

  use goto in the 'nav' category for obstacle aware navigation.

  If posture = {} and part = 'PR2', all parameters take 0 for value

Parameters

• posture: a posture, ie, a dictionary built as follow:

  • Key BASE: array of 6 floats [x,y,z,rx,ry,rz], in meters and in radians. The position is given in the world frame.

  • Key RARM: array of 7 joint angles for the right arm, in radians,

  • Key LARM: array of 7 joint angles for the left arm, in radians,

  • Key TORSO: the height of the torso ([0-30]), in centimeters,

  • Key HEAD: array of pan and tilt values, in radians,

  • Note that none of the items of the dictionary are mandatory. If no robot part is selected (see the 'part' parameter below), the smallest set of part is selected that allow execution of the pose. 'posture' may also be the name of a pre-recorded posture, as available from the posture library (cf helpers/postures.py) or other robot-dependent prerecorded postures.

• part: (optional) force only a certain part of the PR2 to execute to posture.

  • Allowed values: 'BASE', 'RARM', 'LARM', 'ARMS', 'PR2', 'PR2SYN', 'TORSO', 'PR2NOHEAD', 'HEAD'

• collision_avoidance: (optional), If true, the robot will be consider obstacles

  • in its environment. If true, you have to precise part = 'RARM'.

• relative: (default: False) if set to true, the posture is considered as

  • being relative to the current configuration.

• obj: (optional) set which objet the robot has to avoid during the movement.

  • You can give only one object.

• support: (optional) set which support the robot has to avoid during the movement.

  • You can give only one support.

• callback: (optional) If given, the action is non-blocking, and the callback is

  • invoked at the activity completion.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 posture = POSTURE # define here a posture
   5 part = PART # define here a part
   6 collision_avoidance = COLLISION_AVOIDANCE # define here a collision_avoidance
   7 relative = RELATIVE # define here a relative
   8 obj = OBJ # define here a obj
   9 support = SUPPORT # define here a support
  10 callback = CALLBACK # a function (or functor) to call when the action is done
  11 nao.setpose(posture, part, collision_avoidance, relative, obj, support, callback)

Action sweep

• Makes a sweep movement with the robot head via pr2SoftMotion compared with its current position

Parameters

• amplitude: Number of degrees of the sweeping head movement (default:

  • 90 deg)

• speed: Speed of the movement (default: 0.2)

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 amplitude = AMPLITUDE # define here a amplitude
   5 speed = SPEED # define here a speed
   6 nao.sweep(amplitude, speed)

Action switch_active_stereo_pair

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.switch_active_stereo_pair()

Action track

• Tracks an object with the head.
  • This uses pr2SoftMotion. This is a background action. Can be cancelled with cancel_track.

Parameters

• target: a pyRobots pose to track. At each step, the pose is re-evaluated is needed (eg for a TF frame or a SPARK object)

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 target = TARGET # a final position ([x,y,z], [x,y,z,qx,qy,qz,qw], a SPARK object or a ROS frame)
   5 nao.track(target)

Category primitive_nav

Action dock

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 pr2.dock()

Action rotate

Get the robot to turn on itself of the given angle

• (relatively to its current heading). Be careful: this low-level action does NO obstacle avoidance. Currently broken: the GotoQ request does not behave as expected.

Parameters

• theta: an angle in radian

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 theta = THETA # define here a theta
   5 pr2.rotate(theta)

Action setpose

• Set the robot base and internal joints in a given configuration. Beware: if collision_avoidance is not set to True, not collision detection is done. This can result in a dangerous robot behaviour. Note also that collision avoidance is available for the right arm only. While you can set the global position of the PR2 robot with this action, please

  use goto in the 'nav' category for obstacle aware navigation.

  If posture = {} and part = 'PR2', all parameters take 0 for value

Parameters

• posture: a posture, ie, a dictionary built as follow:

  • Key BASE: array of 6 floats [x,y,z,rx,ry,rz], in meters and in radians. The position is given in the world frame.

  • Key RARM: array of 7 joint angles for the right arm, in radians,

  • Key LARM: array of 7 joint angles for the left arm, in radians,

  • Key TORSO: the height of the torso ([0-30]), in centimeters,

  • Key HEAD: array of pan and tilt values, in radians,

  • Note that none of the items of the dictionary are mandatory. If no robot part is selected (see the 'part' parameter below), the smallest set of part is selected that allow execution of the pose. 'posture' may also be the name of a pre-recorded posture, as available from the posture library (cf helpers/postures.py) or other robot-dependent prerecorded postures.

• part: (optional) force only a certain part of the PR2 to execute to posture.

  • Allowed values: 'BASE', 'RARM', 'LARM', 'ARMS', 'PR2', 'PR2SYN', 'TORSO', 'PR2NOHEAD', 'HEAD'

• collision_avoidance: (optional), If true, the robot will be consider obstacles

  • in its environment. If true, you have to precise part = 'RARM'.

• relative: (default: False) if set to true, the posture is considered as

  • being relative to the current configuration.

• obj: (optional) set which objet the robot has to avoid during the movement.

  • You can give only one object.

• support: (optional) set which support the robot has to avoid during the movement.

  • You can give only one support.

• callback: (optional) If given, the action is non-blocking, and the callback is

  • invoked at the activity completion.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 posture = POSTURE # define here a posture
   5 part = PART # define here a part
   6 collision_avoidance = COLLISION_AVOIDANCE # define here a collision_avoidance
   7 relative = RELATIVE # define here a relative
   8 obj = OBJ # define here a obj
   9 support = SUPPORT # define here a support
  10 callback = CALLBACK # a function (or functor) to call when the action is done
  11 nao.setpose(posture, part, collision_avoidance, relative, obj, support, callback)

Action translate

Move the robot base in XY, relatively to its current position.

• Be careful: this low-level action does NO obstacle avoidance. ROS version is a Python translation of

  http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20base%20controller%20with%20odometry%20and%20transform%20information Currently broken: the GotoQ request does not behave as expected.

Parameters

• x: X (forward/backward) displacement, in meter

• y: (default: 0) Y (left/right) displacement, in meter

• speed: speed, in m/s. Default: 0.1

Example:

   1 import robots
   2 pr2 = robots.PR2() # Pass 'dummy=True' to test without the real robot
   3 
   4 x = X # define here a x
   5 y = Y # define here a y
   6 speed = SPEED # define here a speed
   7 pr2.translate(x, y, speed)

Helpers

Category position

Helper distance

• Returns the euclidian distance between two pyRobots poses.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.poses.distance()

Helper human

• Returns the pose of a human, either using Pocolibs' SPARK or ROS TF. If using SPARK, a body part may be specified (default to 'Pelvis'). For the head, the part is "HeadX".

  If using ROS, we return the pose of a TF frame called 'face_<human>' or 'human_<human>'.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.poses.human()

Helper inframe

• Transform a pose from one frame to another one.
  • Uses transformation matrices. Could be refactored to use directly quaternions.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.poses.inframe()

Helper myself

• Returns the current robot's pose, ie the pose of the ROS TF 'base_link' frame.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.poses.myself()

Category geometric_planning

Helper handover

• Computes a set of waypoints that allow the robot to reach a position

  • suitable to transfer an object to a human.

Parameters

• human: the name of the human that must be reached, as

  • known by SPARK.

• standing: if True, the human is considered as standing, if False

  • as sitting.

• mobility: ratio of displacement between the human and the robot.

  • At 0.0, the human does not move. At 1.0, human and robot do approximately the same amount of displacement.

Return value

• a list with two items:
  • waypoints: the list of pyRobots poses (actually, a list of (x,y,theta)).
  • pose: the body pose (right arm + torso) of the robot as a dictionary

    (cf setpose documentation).

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 human = HUMAN # define here a human
   5 standing = STANDING # define here a standing
   6 mobility = MOBILITY # define here a mobility
   7 nao.handover(human, standing, mobility)

Helper manipulation

• Low-level action planner

Parameters

• action: Possible actions. Cf the list of actions above.

• obj: object that is acted upon

• receiver: agent that will receive the action

• performer: The agent that will perform the action

• pick_first: (default: False) if true, first pick the object,

  • then do the action. Else, assume the object is already in hand.

• timeout: timeout (in second, default: 10) before giving up with the

  • planning attempt

• adapt_candidate_search_space_with_object: (default: false) Adapt the 'mightability' computation to the object's dimensions

  • :returns: a plan ID, that is used to execute actual actions

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 action = ACTION # define here a action
   5 obj = OBJ # define here a obj
   6 receiver = RECEIVER # define here a receiver
   7 performer = PERFORMER # define here a performer
   8 pick_first = PICK_FIRST # define here a pick_first
   9 timeout = TIMEOUT # define here a timeout
  10 adapt_candidate_search_space_with_object = ADAPT_CANDIDATE_SEARCH_SPACE_WITH_OBJECT # define here a adapt_candidate_search_space_with_object
  11 nao.manipulation(action, obj, receiver, performer, pick_first, timeout, adapt_candidate_search_space_with_object)

Category state

Helper distance2obstacle

• Returns the distance, in meters, to the closest obstacle facing the robot.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.state.distance2obstacle()

Helper fingerpressed

• For Nao, only returns if the fingers are (firmly) closed or not.

Parameters

• gripper: the gripper, either 'left' or 'right'. By default, right.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 gripper = GRIPPER # define here a gripper
   5 nao.fingerpressed(gripper)

Helper getjoint

• Returns the value (in radians) of a given joint (1 DoF) angle

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.state.getjoint()

Helper getpose

Returns to current whole-body joint state of the robot.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.state.getpose()

Helper hasinhand

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.state.hasinhand()

Helper isseen

• Returns true if an object is currently seen by the
  • robot. The exact semantics of "seen" depend on the robot and the type of object (human, artifact...) The general method relies on the knowledge base, but robot-specific state managers may override this behaviour.

Parameters

• object: the ID of the object to check

  • :returns: true if the object is visible, false otherwise.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 object = OBJECT # an object ID, as spelled by SPARK/Viman
   5 nao.isseen(object)

Helper distance2obstacle

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.state.distance2obstacle()

Helper fingerpressed

• Returns true if the pression sensors of the gripper (right by
  • default) detect something. Warning: no real calibration made! This only takes one pressure sensor as input, and is based on experimental testing.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.state.fingerpressed()

Helper getjoint

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.state.getjoint()

Helper getpose

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 nao.state.getpose()

Helper isseen

• Returns true if an object is currently seen by the
  • robot. The semantics of "seen" can vary: in the current implementation, it means that the 2D ARToolkit tag has been seen in the last 2 seconds.

Parameters

• object: the object (SPARK ID) to check

  • :returns: true if the object is visible, false otherwise.

Example:

   1 import robots
   2 nao = robots.Nao() # Pass 'dummy=True' to test without the real robot
   3 
   4 object = OBJECT # an object ID, as spelled by SPARK/Viman
   5 nao.isseen(object)

Helper distance2obstacle

• Returns the distance, in meters, to the closest obstacle facing the robot.

Example: