neurapy_ai_utils.robot package

neurapy_ai_utils.robot.kinematics_interface module

class neurapy_ai_utils.robot.kinematics_interface.DummyKinematics(num_joints: int = 7)

Bases: KinematicsInterface

cartesian_2_joint(pose, reference_joint_states=None)
execute(ids: List[int], execution_feasibilities: List[bool])
get_current_joint_state() → List[float]
move_joint_to_cartesian(goal_pose, speed=None, acc=None)
move_joint_to_joint(pose_joint, speed=None, acc=None)
move_joint_via_points(trajectory, speed=None, acc=None)
move_linear(goal_pose, speed=None, acc=None)
move_linear_via_points(trajectory, speed=None, acc=None)
plan_motion_joint_to_cartesian(goal_pose, reference_joint_states=None, start_joint_states: List[float] | None = None, speed=None, acc=None, reusable=False) → Tuple[bool, int, List[float]]
plan_motion_joint_to_joint(goal_pose: List[float], start_joint_states: List[float] | None = None, speed=None, acc=None, reusable=False) → Tuple[bool, int, List[float]]
plan_motion_joint_via_points(trajectory: List[List[float]], start_joint_states: List[float] | None = None, speed: float | None = None, acc: float | None = None, reusable=False) → Tuple[bool, int, List[float]]
plan_motion_linear(goal_pose: List[float], start_cartesian_pose: List[float] | None = None, start_joint_states: List[float] | None = None, speed=None, acc=None, reusable=False) → Tuple[bool, int, List[float]]
plan_motion_linear_via_points(goal_poses: List[List[float]], start_cartesian_pose: List[float] | None = None, start_joint_states: List[float] | None = None, speed=None, acc=None, rot_speed=None, rot_acc=None, blending_radius=None, reusable=False) → Tuple[bool, int, List[float]]
set_motion_param(speed_mj: float, speed_ml: float, acc_mj: float, acc_ml: float)
wait(time_s)
class neurapy_ai_utils.robot.kinematics_interface.KinematicsInterface

Bases: ABC

abstract cartesian_2_joint(pose, reference_joint_states=None)
abstract change_gripper_to(end_effector: EndEffector)
abstract clear_ids(ids: List[int]) → bool
abstract execute(ids: List[int], execution_feasibilities: List[bool])
abstract finish() → None
abstract get_current_cartesian_tcp_pose() → List[float]
abstract get_current_joint_state() → List[float]
abstract move_joint_to_cartesian(goal_pose, speed=None, acc=None)
abstract move_joint_to_joint(pose_joint, speed=None, acc=None)
abstract move_joint_via_points(trajectory, speed=None, acc=None)
abstract move_linear(goal_pose, speed=None, acc=None)
abstract move_linear_via_points(goal_poses, speed=None, acc=None, rot_speed=None, rot_acc=None, blending_radius=None)
abstract plan_motion_joint_to_cartesian(goal_pose, reference_joint_states=None, start_joint_states: List[float] | None = None, speed=None, acc=None, reusable=False) → Tuple[Tuple[bool, bool], int, List[float]]
abstract plan_motion_joint_to_joint(goal_pose: List[float], start_joint_states: List[float] | None = None, speed=None, acc=None, reusable=False) → Tuple[Tuple[bool, bool], int, List[float]]
abstract plan_motion_joint_via_points(trajectory: List[List[float]], start_joint_states: List[float] | None = None, speed: int | None = None, acc: int | None = None, reusable: bool | None = False) → Tuple[Tuple[bool, bool], int, List[float]]
abstract plan_motion_linear(goal_pose: List[float], start_cartesian_pose: List[float] | None = None, start_joint_states: List[float] | None = None, speed=None, acc=None, reusable=False) → Tuple[Tuple[bool, bool], int, List[float]]
abstract plan_motion_linear_via_points(goal_poses: List[List[float]], start_cartesian_pose: List[float] | None = None, start_joint_states: List[float] | None = None, speed: float | None = None, acc: float | None = None, rot_speed: float | None = None, rot_acc: float | None = None, blending_radius: float | None = None, reusable: bool | None = False) → Tuple[Tuple[bool, bool], int, List[float]]
abstract set_motion_param(speed_mj: float, speed_ml: float, acc_mj: float, acc_ml: float)
abstract set_motion_till_force(stopping_forces: List[float], reflex_mode_after_contact: bool) → None
abstract wait(time_s)

neurapy_ai_utils.robot.maira_kinematics module

neurapy_ai_utils.robot.moveit_kinematics module

class neurapy_ai_utils.robot.moveit_kinematics.MoveitKinematics

Bases: KinematicsInterface

cartesian_2_joint(goal_pose_cartesian: List[float], reference_joint_states: List[float] | None = None) → List[float]

Get the inverse kinematics for a given pose and current joint state

Parameters:

  • goal_pose_cartesian (List[float]) – Cartesian pose of tcp frame

  • reference_joint_states (Optional[List[float]], optional) – Joint positions to seed IK solver. Default is None, to use current joint positions.

Returns:

Joint position from IK solution.

Return type:

List[float]

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Action failed

change_gripper_to(end_effector: EndEffector) → None

Choose gripper to control.

Parameters:

end_effector (neurapy_ai.utils.types.EndEffector) – End effector parameters as saved on database.

clear_ids(ids: List[int]) → bool

Clear given plan IDs from memory stack to prevent overload.

Parameters:

ids (List[int]) – Plan IDs

Returns:

Clearing success

Return type:

bool

execute(ids: List[int], execution_feasibilities: List[bool]) → None

Execute a given plan.

Parameters:

  • ids (List[int]) – A list of id of the planned motion to be executed

  • execution_feasibilities (List[bool]) – A List of flag indicate the execution feasibility, false will be jumped over

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Action failed

finish() → None
get_current_cartesian_tcp_pose() → List[float]

Get the current tcp pose as a list of floats

Returns:

Current tcp pose

Return type:

List[float]

get_current_joint_state() → List[float]

Get the current joint state as a list of floats

Returns:

Current joint positions

Return type:

List[float]

move_joint_to_cartesian(goal_pose: List[float], reference_joint_states: List[float] | None = None, speed: int | None = None, acc: int | None = None) → bool

Execute move joint action with given goal, speed and acceleration

Parameters:

  • goal_pose (list) – TCP goal pose in cartesian as a list

  • reference_joint_states (Union[List[float],None]) – Reference joint states to seed the IK solution for the given pose. Defaults to None, to use the current joint positions.

  • speed (Optional[int], optional) – Joint speed as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • acc (Optional[int], optional) – Joint acceleration as percentage value [0, 100]. Defaults to None, to use the class’ default value.

Returns:

Move command success

Return type:

bool

Raises:

  • TypeError – If get wrong input type

  • RuntimeError – If action failed

move_joint_to_joint(pose_joint: List[float], speed: int | None = None, acc: int | None = None) → bool

Execute move joint action with given goal, speed and acceleration

Parameters:

  • pose_joint (list[float]) – Goal joint positions

  • speed (Optional[int], optional) – Joint speed as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • acc (Optional[int], optional) – Joint acceleration as percentage value [0, 100]. Defaults to None, to use the class’ default value.

Returns:

Move command success

Return type:

bool

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Action failed

move_joint_via_points(trajectory: List[List[float]], speed: int | None = None, acc: int | None = None) → bool

Execute move joint via points action with given joint trajectory, speed and acceleration

Parameters:

  • trajectory (List[List[float]]) – Joint trajectory

  • speed (Optional[int], optional) – Joint speed as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • acc (Optional[int], optional) – Joint acceleration as percentage value [0, 100]. Defaults to None, to use the class’ default value.

Returns:

Move command success

Return type:

bool

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Action failed

move_linear(goal_pose: List[float], speed: float | None = None, acc: float | None = None, rot_speed: float | None = None, rot_acc: float | None = None) → bool

Execute move linear action with given goal, speed and acceleration

Parameters:

  • goal_pose (list) – TCP goal pose in cartesian as a list

  • speed (Optional[float], optional) – Translation speed in m/sec. Defaults to None, to use the class’ default value.

  • acc (Optional[float], optional) – Translation acceleration in m2/sec. Defaults to None, to use the class’ default value.

  • rot_speed (Optional[float], optional) – Rotation speed in rad/sec. Defaults to None, to use the class’ default value.

  • rot_acc (Optional[float], optional) – Rotation acceleration in rad/sec2. Defaults to None, to use the class’ default value.

Returns:

Move command success

Return type:

bool

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Action failed

move_linear_via_points(goal_poses: List[List[float]], speed: float | None = None, acc: float | None = None, rot_speed: float | None = None, rot_acc: float | None = None, blending_radius: float | None = None) → bool

Execute move linear via points action with given goal, speed and acceleration

Parameters:

  • goal_poses (list[list[float]]) – TCP goal cartesian poses list

  • speed (Optional[float], optional) – Translation speed in m/sec. Defaults to None, to use the class’ default value.

  • acc (Optional[float], optional) – Translation acceleration in m/sec2. Defaults to None, to use the class’ default value.

  • rot_speed (Optional[float], optional) – Rotational speed in rad/sec. Defaults to None, to use the class’ default value.

  • rot_acc (Optional[float], optional) – Rotational acceleration in rad/sec2. Defaults to None, to use the class’ default value.

  • blending_radius (Optional[float], optional) – Blending radius in m. Defaults to None, to use the class’ default value.

Returns:

Move command success

Return type:

bool

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Action failed

plan_motion_joint_to_cartesian(goal_pose: List[float], reference_joint_states: List[float] | None = None, start_joint_states: List[float] | None = None, speed: int | None = None, acc: int | None = None, reusable: bool | None = False) → Tuple[Tuple[bool, bool], int, List[float]]

Plan motion for move joint action with given goal, speed and acceleration

Parameters:

  • goal_pose (list) – TCP goal pose in cartesian as a list

  • reference_joint_states (Union[List[float],None]) – Reference joint states to seed the IK solution for the given pose. Defaults to None, to use the current joint positions.

  • start_joint_states (Union[List[float],None]) – Start joint states. Defaults to None, to use the current joint positions.

  • speed (Optional[int], optional) – Joint speed as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • acc (Optional[int], optional) – Joint acceleration as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • reusable (Optional[bool], optional) – Reuse the planned ID for repeated executions. Defaults to False, the plan will be executable only once.

Returns:

Tuple consisting of (plan success, plan feasibility), result plan ID that points to planned trajectory, last joint positions in the result trajectory.

Return type:

Tuple[Tuple[bool,bool], int, List[float]]

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Planning failed

plan_motion_joint_to_joint(goal_pose: List[float], start_joint_states: List[float] | None = None, speed: int | None = None, acc: int | None = None, reusable: bool | None = False) → Tuple[Tuple[bool, bool], int, List[float]]

Plan motion for move joint action with given goal, speed and acceleration

Parameters:

  • goal_pose (list[float]) – Goal joint positions

  • start_joint_states (Union[List[float],None]) – Start joint states. Defaults to None, to use the current joint positions.

  • speed (Optional[int], optional) – Joint speed as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • acc (Optional[int], optional) – Joint acceleration as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • reusable (Optional[bool], optional) – Reuse the planned ID for repeated executions. Defaults to False, the plan will be executable only once.

Returns:

Tuple consisting of (plan success, plan feasibility), result plan ID that points to planned trajectory, last joint positions in the result trajectory.

Return type:

Tuple[Tuple[bool,bool], int, List[float]]

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Planning failed

plan_motion_joint_via_points(trajectory: List[List[float]], start_joint_states: List[float] | None = None, speed: int | None = None, acc: int | None = None, reusable: bool | None = False) → Tuple[Tuple[bool, bool], int, List[float]]

Plan motion for move joint via points action with given joint trajectory, speed and acceleration

Parameters:

  • trajectory (List[List[float]]) – Joint trajectory

  • start_joint_states (Union[List[float],None]) – Start joint states. Defaults to None, to use the current joint positions.

  • speed (Optional[int], optional) – Joint speed as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • acc (Optional[int], optional) – Joint acceleration as percentage value [0, 100]. Defaults to None, to use the class’ default value.

  • reusable (Optional[bool], optional) – Reuse the planned ID for repeated executions. Defaults to False, the plan will be executable only once.

Returns:

Tuple consisting of (plan success, plan feasibility), result plan ID that points to planned trajectory, last joint positions in the result trajectory.

Return type:

Tuple[Tuple[bool,bool], int, List[float]]

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Planning failed

plan_motion_linear(goal_pose: List[float], start_cartesian_pose: List[float] | None = None, start_joint_states: List[float] | None = None, speed: float | None = None, acc: float | None = None, reusable: bool | None = False) → Tuple[Tuple[bool, bool], int, List[float]]

Plan motion for move linear action with given goal, speed and acceleration

Parameters:

  • goal_pose (List[float]) – TCP goal cartesian pose as list

  • start_cartesian_pose (Union[List[float],None]) – Start tcp cartesian pose relative to the base frame. Defaults to None, to use the current tcp pose.

  • start_joint_states (Union[List[float],None]) – Start joint states. Defaults to None, to use the current joint positions.

  • speed (Optional[float], optional) – Translation speed in m/sec. Defaults to None, to use the class’ default value.

  • acc (Optional[float], optional) – Translation acceleration in m2/sec. Defaults to None, to use the class’ default value.

  • reusable (Optional[bool], optional) – Reuse the planned ID for repeated executions. Defaults to False, the plan will be executable only once.

Returns:

Tuple consisting of the plan and fraction.

Return type:

Tuple[RobotTrajectory,float]

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Planning failed

plan_motion_linear_via_points(goal_poses: List[List[float]], start_cartesian_pose: List[float] | None = None, start_joint_states: List[float] | None = None, speed: float | None = None, acc: float | None = None, rot_speed: float | None = None, rot_acc: float | None = None, blending_radius: float | None = None, reusable: bool | None = False) → Tuple[Tuple[bool, bool], int, List[float]]

Plan motion for move linear via points action with given goal, speed and acceleration.

Parameters:

  • goal_poses (list) – TCP goal cartesian poses list

  • start_cartesian_pose (Union[List[float],None]) – Start tcp cartesian pose relative to the base frame. Defaults to None, to use the current tcp pose.

  • start_joint_states (Union[List[float],None]) – Start joint states. Defaults to None, to use the current joint positions.

  • speed (Optional[float], optional) – Translation speed in m/sec. Defaults to None, to use the class’ default value.

  • acc (Optional[float], optional) – Translation acceleration in m/sec2. Defaults to None, to use the class’ default value.

  • rot_speed (Optional[float], optional) – Rotational speed in rad/sec. Defaults to None, to use the class’ default value.

  • rot_acc (Optional[float], optional) – Rotational acceleration in rad/sec2. Defaults to None, to use the class’ default value.

  • blending_radius (Optional[float], optional) – Blending radius in m. Defaults to None, to use the class’ default value.

  • reusable (Optional[bool], optional) – Reuse the planned ID for repeated executions. Defaults to False, the plan will be executable only once.

Returns:

Tuple consisting of (plan success, plan feasibility), result plan ID that points to planned trajectory, last joint positions in the result trajectory.

Return type:

Tuple[Tuple[bool, bool], int, List[float]]

Raises:

  • TypeError – Wrong input type

  • RuntimeError – Planning failed

set_motion_param(speed_mj: float, speed_ml: float, acc_mj: float, acc_ml: float) → None

Set the default motion speed and acceleration for move joint and move linear.

Parameters:

  • speed_mj (float) – Speed for move joint, from 0 - 100

  • speed_ml (float) – Speed for move linear, m/sec

  • acc_mj (float) – Acceleration for move joint, from 0 - 100

  • acc_ml (float) – Acceleration for move linear, m/sec2

wait(time_s: float) → None

Wait for given time in seconds.

Parameters:

time_s (float) – Waiting time in seconds

Raises:

RuntimeError: – If action failed