nicomotion¶

The nicomotion package contains classes to control the movement of the NICO robot.

Kinematics¶

The Kinematics class allows inverse kinematics control of the NICO motors.

Motion¶

The Motion class allows direct control over the NICO motors.

class nicomotion.Motion.Motion(motorConfig='config.json', vrep=False, vrepConfig=None, ignoreMissing=False, monitorHandCurrents=True)¶

Bases: object

The Motion class provides a high level interface to various movement related functions of the NICO robot

_adjust_port_latency()¶: Lowers the latency of the NICO port to prevent communication delays

callVREPRemoteApi(func_name, *args, **kwargs)¶

Calls any remote API func in a thread_safe way.

Parameters

func_name (str) – name of the remote API func to call
args – args to pass to the remote API call
kwargs – args to pass to the remote API call

Returns

api response

Note

You can add an extra keyword to specify if you want to use the streaming or sending mode. The oneshot_wait mode is used by default (see here for details about possible modes).

Warning

You should not pass the clientId and the operationMode as arguments. They will be automatically added.

changeAngle(jointName, change, fractionMaxSpeed)¶

Changes the angle of a given joint by an angle (in degree)

Parameters

jointName (str) – Name of the joint
angle (float) – Angle (in degree)
fractionMaxSpeed (float) – Movement speed of joint

cleanup()¶: Cleans up the current connection to the robot. After this you can no longer control the robot

closeHand(handName, fractionMaxSpeed=1.0, percentage=1.0)¶

Closes the specified hand. handName can be ‘RHand’ or ‘LHand’

Parameters

handName (str) – Name of the hand (RHand, LHand)
fractionMaxSpeed (float) – Speed at which hand should close. Default: 1.0
percentage (float) – Percentage hand should open. 0.0 < percentage <= 1.0

disableForceControl(jointName)¶

Disables force control for a single joint

Parameters: jointName (str) – Name of the joint

disableForceControlAll()¶: Disables force control for all joints which support this feature

disableTorque(jointName)¶

Disables torque on a single joint.

Parameters: jointName (str) – Name of the motor

disableTorqueAll()¶: Disables toruqe on all joints

enableForceControl(jointName, goalForce)¶

Enables force control for a single joint

Parameters

jointName (str) – Name of the joint
goalForce (int) – Goal force (0-2000)

enableForceControlAll(goalForce=500)¶

Enables force control for all joints which support this feature

Parameters: goalForce (int) – Goal force (0-2000)

enableTorque(jointName)¶

Enables torque on a single joint.

Parameters: jointName (str) – Name of the motor

enableTorqueAll()¶: Enables toruqe on all joints

getAngle(jointName)¶

Returns the current angle of a given joint (in degree)

Parameters: jointName (str) – Name of the joint
Returns: Angle of the joint (degree)
Return type: float

getAngleLowerLimit(jointName)¶

Returns the lower angle limit of a joint (in degree)

Parameters: jointName (str) – Name of the joint
Returns: Lower angle limit of the joint (degree)
Return type: float

getAngleUpperLimit(jointName)¶

Returns the upper angle limit of a joint (in degree)

Parameters: jointName (str) – Name of the joint
Returns: Upper angle limit of the joint (degree)
Return type: float

getConfig()¶

Returns the JSON configuration of motors

Returns: motor configuration
Return type: dict

getCurrent(jointName)¶

Returns the current current of a motor

Parameters: jointName (str) – Name of the joint
Returns: Current of the joint
Return type: float

getJointNames()¶

Returns all joint names

Returns: List with joint names
Return type: list

getPID(jointName)¶

Returns the current stifftness of a motor. For more information see http://support.robotis.com/en/product/actuator/dynamixel/mx_series/mx-64at_ar.htm#Actuator_Address_1A

Parameters: jointName (str) – Name of the joint
Returns: Tupel: p,i,d
Return type: tuple

getPalmSensorReading(handName)¶

Returns current reading of the palm IR sensor of the specified hand.

Parameters: handName (str) – Name of the hand (RHand, LHand)
Returns: Raw IR sensor value
Return type: int

getPose(objectName, relativeToObject=None)¶

Returns the current pose of the scene object with given name relative to the second given object

Parameters

objectName (str) – Name of the object
relativeToObject (str) – Name of the object that the position should be relative to

Returns

Position of the requestet object in x,y,z coordinates relative to the second object

Return type

list of three floats

getSensorNames()¶

Returns all sensor names

Returns: List with sensor names
Return type: list

getSimulationDeltatime()¶

Gets the timeframe which one simulation step represents.

Returns: timeframe of one simulation step in seconds
Return type: float

getSpeed(jointName)¶

Returns the current speed of a motor

Parameters: jointName (str) – Name of the joint
Returns: Speed of the joint
Return type: float

getStiffness(jointName)¶

Returns the current stiffness of a motor

Parameters: jointName (str) – Name of the joint
Returns: Stiffness of the joint
Return type: float

getTemperature(jointName)¶

Returns the current temperature of a motor

Parameters: jointName (str) – Name of the joint
Returns: Temperature of the joint
Return type: float

getTorqueLimit(jointName)¶

Returns the torque limit of a joint

Parameters: jointName (str) – Name of the joint
Returns: Torque limit of the joint
Return type: float

getVrep()¶

Returns if vrep simulation is used or not

Returns: is vrep or real NICO used
Return type: boolean

getVrepIO()¶

Gives access to pypots vrep IO (see https://poppy-project.github.io/pypot/pypot.vrep.html#pypot.vrep.io.VrepIO)

Returns: Pypot vrep IO
Return type: pypot.vrep.io

nextSimulationStep()¶: Advances the V-REP simulation by one step if synchronize was set on startSimulation().

openHand(handName, fractionMaxSpeed=1.0, percentage=1.0)¶

Opens the specified hand. handName can be ‘RHand’ or ‘LHand’

Parameters

handName (str) – Name of the hand (RHand, LHand)
fractionMaxSpeed (float) – Speed at which hand should open. Default: 1.0
percentage (float) – Percentage hand should open. 0.0 < percentage <= 1.0

static pyrepConfig()¶

Returns a default config dict

Returns: dict

resetSimulation()¶: Restarts the V-REP simulation

setAngle(jointName, angle, fractionMaxSpeed)¶

Sets the angle of a given joint to an angle (in degree)

Parameters

jointName (str) – Name of the joint
angle (float) – Angle (in degree)
fractionMaxSpeed (float) – Movement speed of joint

setAngleLowerLimit(jointName, angle)¶

Sets the lower angle limit of a joint (in degree)

Parameters

jointName (str) – Name of the joint
angle (float) – Angle (in degree)

setAngleUpperLimit(jointName, angle)¶

Sets the upper angle limit of a joint (in degree)

Parameters

jointName (str) – Name of the joint
angle (float) – Angle (in degree)

setHandPose(handName, poseName, fractionMaxSpeed=1.0, percentage=1)¶

Executes pose with the specified hand. Most poses only works with the RH5D and RH7D 4-finger hands. Make sure to open the hand beforehand.

Known poses are: (“thumbsUp”, “pointAt”, “okSign”, “pinchToIndex”, “keyGrip”, “pencilGrip”, “closeHand”, “openHand”).

handName can be ‘RHand’ or ‘LHand’

Parameters

handName (str) – Name of the hand (RHand, LHand)
poseName (str) – Name of the pose (“thumbsUp”, “pointAt”, “okSign”, “pinchToIndex”, “keyGrip”, “pencilGrip”, “closeHand”, “openHand”)
fractionMaxSpeed (float) – Speed at which hand move. Default: 1.0
percentage (float) – Percentage of the pose to execute. 0.0 < percentage <= 1.0 (default)

setMaximumSpeed(maximumSpeed)¶

Sets the maximum allowed speed (in fraction of maximum possible speed). When giving a higher speed to any other functions the movement won’t go over the value set here

Parameters: maximumSpeed – Maximum allowed speed (0 <= maximumSpeed <= 1.0)

setPID(jointName, p, i, d)¶

Sets the PID controller for a single motor. For more information see http://support.robotis.com/en/product/actuator/dynamixel/mx_series/mx-64at_ar.htm#Actuator_Address_1A

Parameters

jointName (str) – Name of the joint
p (float) – Proportional band
i (float) – Integral action
d (float) – Derivative action

setSimulationDeltatime(dt)¶

Sets the timeframe which one simulation step represents.

Only works while the simulation is stopped and dt is set to custom.

Parameters: dt (float) – timeframe of one simulation step in seconds

setStiffness(jointName, stiffness)¶

Sets the stiffness (0 <= stiffness <= 1) for a single motor

Parameters

jointName (str) – Name of the joint
stiffness (float) – Target stiffness

startSimulation(synchronize=False)¶

Starts the V-REP Simulation. If ‘synchronize’ is set True the simulation steps will not advance until nextSimulationStep() is called. (NOTE: pyrep is always in synchronous mode)

Parameters: synchronize (bool) – Enables control over simulation time steps

stopSimulation()¶: Stops the V-REP simulation

toSafePosition()¶: Moves the robot to its initial state of this session. In this state it should be safe to disable the force control. To receive a collision free motion trajectories use the corresponding moveitWrapper function instead.

static vrepRemoteConfig()¶

Returns a default config dict

Returns: dict

Mover¶

The Mover class allows playback of prerecorded positions of the NICO motors.

class nicomotion.Mover.Mover(robot, stiff_off=False, path_to_config_file='mover.conf')¶

Bases: object

calc_move_file(fname, target_fname, number)¶

freeze_joints(subsetfname=None, stiffness=None, unfreeze=False)¶

move_file_position(fname, subsetfname=None, move_speed=0.04)¶

move_position(target_positions, speed, real=True)¶

play_movement(fname, subsetfname=None, move_speed=0.04)¶

record_movement(fname=None)¶

record_position(fname=None)¶

nicomotion¶

Kinematics¶

Motion¶

Mover¶

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