Skip to main content

​
ZenohAgent

Inherits from: Robot A class to represent a Zenoh-based robot agent. This class inherits from Robot and implements Zenoh-specific functionality for communicating with and controlling a robot through Zenoh topics. Attributes: config (dict): Configuration dictionary for Zenoh clients. Please see our Zenoh documentation for more details. clients (dict): Dictionary of Zenoh client objects

​
Inherited methods

  • From Robot: addSensor, getState, moveByVelocity, cleanup

​
init

ZenohAgent.__init__(client_config: dict, agent_dict: Optional[dict] = None)
Initialize a Zenoh agent with the given client configuration.
​
Arguments
​
client_config (dict)
dict
required
Configuration dictionary specifying Zenoh clients and their parameters
​
agent_dict (Optional[dict])
Optional[dict]
Optional dictionary of agent-specific parameters. Defaults to None.

​
create_clients

ZenohAgent.create_clients(client_config: dict, agent_config: Optional[dict] = None)
Create Zenoh clients based on configuration.
​
Arguments
​
client_config (dict)
dict
required
Dictionary of client configurations
​
agent_config (Optional[dict])
Optional[dict]
Optional dictionary of agent parameters

​
getForce

ZenohAgent.getForce(name: str = '') -> Force
Get force from named wrench client.
​
Arguments
​
name (str)
str
Name of wrench client
​
Returns
​
returns
Force

​
getTorque

ZenohAgent.getTorque(name: str = '') -> Torque
Get torque from named wrench client.
​
Arguments
​
name (str)
str
Name of wrench client
​
Returns
​
returns
Torque

​
getImage

ZenohAgent.getImage(camera_name: str = '', image_type: Optional[str] = '') -> Image
Get image from named image client.
​
Arguments
​
camera_name (str)
str
Name of image client
​
image_type (Optional[str])
Optional[str]
Type of image (“rgb” or “depth”). Defaults to “rgb”.
​
Returns
​
Image
Image
Image object
​
Raises
​
TypeError
If client is not an ImageClient

​
getPosition

ZenohAgent.getPosition(name: str = 'robot_pose') -> Optional[Position]
Get position from named pose client.
​
Arguments
​
name (str)
str
Name of pose client
​
Returns
​
returns
Optional[Position]
​
Raises
​
TypeError
If client is not a PoseClient

​
getOrientation

ZenohAgent.getOrientation(name: str = 'robot_pose') -> Orientation
Get orientation from named pose client.
​
Arguments
​
name (str)
str
Name of pose client
​
Returns
​
Orientation
Orientation
Orientation of agent as a quaternion
​
Raises
​
TypeError
If client is not a PoseClient

​
sendVelocity

ZenohAgent.sendVelocity(linear_vel: Velocity, angular_vel: Velocity, name: str = 'cmd_vel') -> None
Send velocity command to named velocity client.
​
Arguments
​
linear_vel (Velocity)
Velocity
required
Linear velocity components
​
angular_vel (Velocity)
Velocity
required
Angular velocity components
​
name (str)
str
Name of velocity client
​
Returns
​
returns
None
​
Raises
​
TypeError
If client is not a VelocityClient
​
ValueError
If client is not in talker mode

​
sendPose

ZenohAgent.sendPose(position: Position, orientation: Optional[Orientation] = None, name: str = 'cmd_delta_pose') -> None
Send pose command to named pose client.
​
Arguments
​
position (Position)
Position
required
Target position
​
orientation (Optional[Orientation])
Optional[Orientation]
Target orientation (defaults to [0,0,0,1] if None)
​
name (str)
str
Name of pose client
​
Returns
​
returns
None
​
Raises
​
TypeError
If client is not a PoseClient
​
ValueError
If client is not in talker mode

​
publishMsg

ZenohAgent.publishMsg(msg: dict, name: str) -> None
Publish a message to a named generic client.
​
Arguments
​
msg (dict)
dict
required
Message to publish
​
name (str)
str
required
Name of the generic client
​
Returns
​
returns
None

​
getMsg

ZenohAgent.getMsg(name: str) -> dict
Get a message from a named generic client.
​
Arguments
​
name (str)
str
required
Name of the generic client
​
Returns
​
returns
dict

​
getJointAngles

ZenohAgent.getJointAngles(name: str = 'joint_states') -> Optional[list]
Get joint angles from named joint angle client.
​
Arguments
​
name (str)
str
Name of joint angle client
​
Returns
​
returns
Optional[list]
​
Raises
​
TypeError
If client is not a JointAngleClient

​
setJointAngles

ZenohAgent.setJointAngles(angles: list, blocking: bool = False, moving_time: Optional[float] = None, accel_time: Optional[float] = None, name: str = 'joint_cmd') -> None
Send joint angle command to named joint angle client.
​
Arguments
​
angles (list)
list
required
List of target joint angles in radians
​
blocking (bool)
bool
Wait for movement to complete (default False)
​
moving_time (Optional[float])
Optional[float]
Time to complete the movement in seconds
​
accel_time (Optional[float])
Optional[float]
Time to accelerate/decelerate in seconds
​
name (str)
str
Name of joint angle client
​
Returns
​
returns
None
​
Raises
​
TypeError
If client is not a JointAngleClient
​
ValueError
If client is not in talker mode

​
getJointVelocities

ZenohAgent.getJointVelocities(name: str = 'joint_states') -> Optional[list]
Get joint velocities from named joint angle client.
​
Arguments
​
name (str)
str
Name of joint angle client
​
Returns
​
returns
Optional[list]

​
getJointStates

ZenohAgent.getJointStates(name: str = 'joint_states') -> Optional[dict]
Get complete joint states from named joint angle client.
​
Arguments
​
name (str)
str
Name of joint angle client
​
Returns
​
returns
Optional[dict]
​
Raises
​
TypeError
If client is not a JointAngleClient

​
getObjectPose

ZenohAgent.getObjectPose(name: str = 'get_object_pose') -> Optional[Tuple[Position, Orientation]]
No docstring provided.
​
Arguments
​
name (str)
str
No description provided.
​
Returns
​
returns
Optional[Tuple[Position, Orientation]]

​
setObjectPose

ZenohAgent.setObjectPose(position: Position, orientation: Optional[Orientation] = None, name: str = 'set_object_pose') -> None
No docstring provided.
​
Arguments
​
position (Position)
Position
required
No description provided.
​
orientation (Optional[Orientation])
Optional[Orientation]
No description provided.
​
name (str)
str
No description provided.
​
Returns
​
returns
None

​
run

ZenohAgent.run()
Run all Zenoh clients

​
stop

ZenohAgent.stop()
Stop all clients and close Zenoh session

​
prompt

ZenohAgent.prompt()
No docstring provided.

​
reset

ZenohAgent.reset(name: str = 'reset')
No docstring provided.
​
Arguments
​
name (str)
str
No description provided.