pyJD - A Python/Yarp Wrapper for the JD robot

pyJD is a collection of Yarp Modules to control the EZ-Robot JD Humanoid Robot.

Installation

  1. Install the dependencies:

    You need Yarp installed with the python bindings. For more details see full instructions.

    Example: OSX using Homebrew

     brew tap homebrew/x11
 brew install --with-python yarp

  2. Download the source code:

     git clone https://github.com/BrutusTT/pyJD

  3. build and install:

     cd pyJD
 python setup.py install

Usage

Each module can be started standalone using the following command line.

<ModuleName> [--ip <IP Address>] [--port <Port>] [--name <Name Prefix>]

Parameters:

[]            - denotes optional parameter
<ModuleName>  - can be one of the following: - JDModule
                                             - JDVideo
                                             - JDFollowFace
<IP Address>  - default is 192.168.1.1
<Port>        - default is 23
<Name Prefix> - if a name is given it will be used as a prefix for the port names
                e.g.:  --name test results in /test/JDModule/rpc

Example:

$ JDModule --name MyRobot

Modules

JDModule

The JDModule can be used to set JD’s joints to specified positions.

/JDModule/rpc

  • Type: RPC
  • Message Format: set pos <joint_id> <position>
  • Parameter
    • <joint_id>: integer [0 - 23]
    • <position>: integer [0 - 180]
  • Response
    • ack - command processed
    • nack - error occurred
  • Message Example
    • set pos 0 13 - JD looks to the left.

/JDModule/lookAt:i

  • Type: Buffered Port
  • Message Format: <near-far> <left-right> <down-up>
  • Parameter
    • <near-far> float - distance in meters [ 0.1, -inf ] Be aware: negative distance!
    • <left-right> float - distance in meters [ -inf, inf ]
    • <down-up> float - distance in meters [ -inf, inf ]
  • Message Example
    • -1.0 0.5 0.0 - Looks to the left (Fixation Point: 1m in front + 50cm to the left side)

/JDModule/pointLeft:i

  • Type: Buffered Port
  • Message Format: <near-far> <left-right> <down-up>
  • Parameter
    • <near-far> float - distance in meters [ inf, -inf ] Be aware: negative distance!
    • <left-right> float - distance in meters [ -inf, inf ]
    • <down-up> float - distance in meters [ -inf, inf ]
  • Message Example
    • -1.0 0.5 0.0 - Points to the left (Point: 1m in front + 50cm to the left side)

/JDModule/pointRight:i

  • Type: Buffered Port
  • Message Format: <near-far> <left-right> <down-up>
  • Parameter
    • <near-far> float - distance in meters [ inf, -inf ] Be aware: negative distance!
    • <left-right> float - distance in meters [ -inf, inf ]
    • <down-up> float - distance in meters [ -inf, inf ]
  • Message Example
    • -1.0 0.5 0.0 - Points to the left (Point: 1m in front + 50cm to the left side)

JDVideo

This module is used to receive a video stream from the JD robot.

/JDVideo/img:o

  • Type: Output
  • Message Format: RGB Image [320 x 200]

JDFollowFace

This module is used to calculate the head joint positions provided that it receives a face position. The output port of this module should be connected to the JDLookAtModule.

/JDFollowFace/face

  • Type: Input
  • Message Format: <face_count> ( (<x0> <y0>) (<x1> <y1>) ... )
  • Parameter
    • <face_count>: integer - number of faces in the list
    • <xn>: integer - x-center of the n-th face
    • <yn>: integer - y-center of the n-th face

/JDFollowFace/position

  • Type: Output
  • Message Format: <near_far> <left_right> <down_up>
  • Parameter
    • <near_far>: double
    • <left_right>: double
    • <down_up>: double

Happy hacking!

License

See COPYING for licensing info.