I made a box to rest before Pepper gets tired

Since the motor may get hot during continuous playback of the application or making animation during development, development may stop in the middle, so I made a box that will take a break without permission before getting tired. If you put it in the Init or Main of the app, even if you get heat during playback, it will not stop in the middle, just take a break on your own and try to make it feel like it will start moving again when the heat cools down.

API used

ALMotionProxy

Method used

getIdlePostureEnabled(const std::string& pChainName) setIdlePostureEnabled(const std::string& pChainName, const bool& pEnable)

variable

• Monitor cycle (s)
  A timer checks the temperature of the motor at regular intervals.
  You can specify from 1 second to 5000 seconds.
• Motion stop temperature(or more)
  Pepper will rest when the temperature specified here is reached.
  It can be set from 40 degrees to 70 degrees. When returning from the break, it will be when the temperature falls below this temperature.

How it works

If you want to stop this function by putting it in the management / monitoring box, fire an event to stop it.

Example.py

    def onLoad(self):
        self.timer = None
        self.memory = ALProxy("ALMemory")
        self.motion = ALProxy("ALMotion")
        self.parts = ["Head", "LArm", "RArm", "Legs"]

    def onTimer(self):
        partList = []
        tempList = []
        partCount = { "Head":False, "LArm":False, "RArm":False, "Legs":False }
        sNameList = ["HeadPitch", "HeadYaw", "LElbowRoll", "LElbowYaw", "LHand", "LShoulderPitch", "LShoulderRoll", "LWristYaw", "RElbowRoll", "RElbowYaw", "RHand", "RShoulderPitch", "RShoulderRoll", "RWristYaw", "KneePitch", "HipRoll", "HipPitch"]

        for sName in sNameList:
            sKeyName = "Device/SubDeviceList/%s/Temperature/Sensor/Value" % sName
            try:
                partList.append(sName)
                tempList.append(int( self.memory.getData(sKeyName) ))
            except:
                self.logger.error("No temperature found for this hardware: " + str(sName))

        for pName in partList:
            if ( "Head" in pName ):
                act = "Head"
            elif ( "LElbow" in pName or "LHand" in pName or "LShoulder" in pName or "LWrist" in pName ):
                act = "LArm"
            elif ( "RElbow" in pName or "RHand" in pName or "RShoulder" in pName or "RWrist" in pName ):
                act = "RArm"
            elif ( "Ankle" in pName or "Hip" in pName or "Knee"):
                act = "Legs"

            i = tempList[partList.index(pName)]

            if i >= int(self.getParameter("Motion stop temperature(or more)")):
                if partCount[act] == False:
                   partCount[act] = True

        for part in self.parts:
            if partCount[part] and self.motion.getIdlePostureEnabled(part) == False:
                self.logger.warn("%s Motion Stopped" % part)
                self.motion.setIdlePostureEnabled(part, True)
            elif partCount[part] == False and self.motion.getIdlePostureEnabled(part):
                self.logger.info("%s Motion Start" % part)
                self.motion.setIdlePostureEnabled(part, False)

Finally

The sauce is dirty, but please forgive me.

sample

Robot Start's Robot Library https://robo-lib.com/repositories/summary/49