Device Components

Device components are reusable modules that provide specific functionalities for different robotic platforms. These components can be shared across multiple device types and provide a consistent interface for common capabilities like cameras, microphones, speakers, motion control, and more.

NAOqi Components

Components for NAOqi-based robots (NAO and Pepper).

Camera

class sic_framework.devices.common_naoqi.naoqi_camera.NaoqiCameraConf(naoqi_ip='127.0.0.1', port=9559, cam_id=0, res_id=2, fps=30, brightness=None, contrast=None, saturation=None, hue=None, gain=None, hflip=None, vflip=None, auto_exposition=None, auto_white_bal=None, manual_exposure_val=None, auto_exp_algo=None, sharpness=None, back_light_comp=None, auto_focus=None, manual_focus_value=None)

Bases: SICConfMessage

__init__(naoqi_ip='127.0.0.1', port=9559, cam_id=0, res_id=2, fps=30, brightness=None, contrast=None, saturation=None, hue=None, gain=None, hflip=None, vflip=None, auto_exposition=None, auto_white_bal=None, manual_exposure_val=None, auto_exp_algo=None, sharpness=None, back_light_comp=None, auto_focus=None, manual_focus_value=None)

Initialize camera configuration and optional device parameters.

For parameter meaning and defaults, see: - http://doc.aldebaran.com/2-8/family/nao_technical/video_naov6.html#naov6-video - http://doc.aldebaran.com/2-1/family/robots/video_robot.html

Parameters:

• naoqi_ip (str) – NAOqi host IP.

• port (int) – NAOqi TCP port.

• cam_id (int) – Camera ID to use.

• res_id (int) – Resolution ID.

• fps (int) – Target frames per second.

• brightness (Optional[int]) – Camera brightness.

• contrast (Optional[int]) – Camera contrast.

• saturation (Optional[int]) – Camera color saturation.

• hue (Optional[int]) – Camera hue adjustment.

• gain (Optional[int]) – Camera gain level.

• hflip (Optional[int]) – Horizontal flip toggle.

• vflip (Optional[int]) – Vertical flip toggle.

• auto_exposition (Optional[int]) – Auto exposure toggle.

• auto_white_bal (Optional[int]) – Auto white balance toggle.

• manual_exposure_val (Optional[int]) – Manual exposure value.

• auto_exp_algo (Optional[int]) – Auto exposure algorithm.

• sharpness (Optional[int]) – Image sharpness.

• back_light_comp (Optional[int]) – Backlight compensation toggle.

• auto_focus (Optional[int]) – Auto focus toggle.

• manual_focus_value (Optional[int]) – Manual focus value.

Parameter Defaults: brightness: 55 contrast: 32 saturation: 128 hue: 0 gain: 32 hflip: 0 vflip: 0 auto_exposition: 1 auto_white_bal: 1 auto_exp_algo: 1 sharpness: 0 back_light_comp: 1 auto_focus: 0 manual_focus_value: 0

class sic_framework.devices.common_naoqi.naoqi_camera.BaseNaoqiCameraSensor(*args, **kwargs)

Bases: SICSensor

__init__(*args, **kwargs)

static get_conf()

Return the default configuration for a single camera sensor.

Returns:

Camera configuration instance.

Return type:

NaoqiCameraConf

static get_inputs()

Declare that the sensor does not accept input messages.

Returns:

Empty list.

Return type:

list

static get_output()

Declare the output message type produced by this sensor.

Returns:

Compressed image message class.

execute()

Grab one image frame from the NAOqi camera and return it.

Returns:

Compressed image containing the RGB frame as a NumPy array.

Return type:

CompressedImageMessage

stop(*args)

Stop the camera sensor by closing the NAOqi session and the component.

class sic_framework.devices.common_naoqi.naoqi_camera.NaoqiTopCameraSensor(*args, **kwargs)

Bases: BaseNaoqiCameraSensor

__init__(*args, **kwargs)

static get_conf()

Return the default configuration for the top camera.

Returns:

Configuration with cam_id=0 and res_id=1.

Return type:

NaoqiCameraConf

class sic_framework.devices.common_naoqi.naoqi_camera.NaoqiTopCamera(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiTopCameraSensor

class sic_framework.devices.common_naoqi.naoqi_camera.NaoqiBottomCameraSensor(*args, **kwargs)

Bases: BaseNaoqiCameraSensor

Sensor for the NAO bottom camera (cam_id=1).

__init__(*args, **kwargs)

static get_conf()

Return the default configuration for the bottom camera.

Returns:

Configuration with cam_id=1 and res_id=1.

Return type:

NaoqiCameraConf

class sic_framework.devices.common_naoqi.naoqi_camera.NaoqiBottomCamera(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiBottomCameraSensor

class sic_framework.devices.common_naoqi.naoqi_camera.StereoImageMessage(left, right)

Bases: SICMessage

__init__(left, right)

Create a stereo image message.

Parameters:

• left (numpy.ndarray) – Left image array.

• right (numpy.ndarray) – Right image array.

class sic_framework.devices.common_naoqi.naoqi_camera.NaoStereoCameraConf(calib_params=None, naoqi_ip='127.0.0.1', port=9559, cam_id=0, res_id=2, color_id=11, fps=30, convert_bw=True, use_calib=True)

Bases: NaoqiCameraConf

__init__(calib_params=None, naoqi_ip='127.0.0.1', port=9559, cam_id=0, res_id=2, color_id=11, fps=30, convert_bw=True, use_calib=True)

Initialize camera configuration and optional device parameters.

For parameter meaning and defaults, see: - http://doc.aldebaran.com/2-8/family/nao_technical/video_naov6.html#naov6-video - http://doc.aldebaran.com/2-1/family/robots/video_robot.html

Parameters:

• naoqi_ip (str) – NAOqi host IP.

• port (int) – NAOqi TCP port.

• cam_id (int) – Camera ID to use.

• res_id (int) – Resolution ID.

• fps (int) – Target frames per second.

• brightness (Optional[int]) – Camera brightness.

• contrast (Optional[int]) – Camera contrast.

• saturation (Optional[int]) – Camera color saturation.

• hue (Optional[int]) – Camera hue adjustment.

• gain (Optional[int]) – Camera gain level.

• hflip (Optional[int]) – Horizontal flip toggle.

• vflip (Optional[int]) – Vertical flip toggle.

• auto_exposition (Optional[int]) – Auto exposure toggle.

• auto_white_bal (Optional[int]) – Auto white balance toggle.

• manual_exposure_val (Optional[int]) – Manual exposure value.

• auto_exp_algo (Optional[int]) – Auto exposure algorithm.

• sharpness (Optional[int]) – Image sharpness.

• back_light_comp (Optional[int]) – Backlight compensation toggle.

• auto_focus (Optional[int]) – Auto focus toggle.

• manual_focus_value (Optional[int]) – Manual focus value.

Parameter Defaults: brightness: 55 contrast: 32 saturation: 128 hue: 0 gain: 32 hflip: 0 vflip: 0 auto_exposition: 1 auto_white_bal: 1 auto_exp_algo: 1 sharpness: 0 back_light_comp: 1 auto_focus: 0 manual_focus_value: 0

class sic_framework.devices.common_naoqi.naoqi_camera.StereoPepperCameraSensor(*args, **kwargs)

Bases: BaseNaoqiCameraSensor

__init__(*args, **kwargs)

static get_conf()

Return the default configuration for a single camera sensor.

Returns:

Camera configuration instance.

Return type:

NaoqiCameraConf

undistort(img)

Remove lens distortion using intrinsic matrix and distortion coefficients.

Parameters:

img (numpy.ndarray) – Image to undistort.

Returns:

Undistorted image.

Return type:

numpy.ndarray

warp(img, is_left)

Apply perspective warp using rectification homography.

Parameters:

• img (numpy.ndarray) – Image to warp.

• is_left (bool) – Selects H1 for left and H2 for right.

Returns:

Warped image.

Return type:

numpy.ndarray

Raises:

AssertionError – If H1 or H2 is missing.

rectify(img, is_left)

Undistort and warp an image for rectification.

Parameters:

• img (numpy.ndarray) – Image to rectify.

• is_left (bool) – Whether this is a left frame.

Returns:

Rectified image.

Return type:

numpy.ndarray

execute()

Grab one image frame from the NAOqi camera and return it.

Returns:

Compressed image containing the RGB frame as a NumPy array.

Return type:

CompressedImageMessage

static get_output()

Declare the output message type for this sensor.

Returns:

StereoImageMessage type.

class sic_framework.devices.common_naoqi.naoqi_camera.StereoPepperCamera(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of StereoPepperCameraSensor

class sic_framework.devices.common_naoqi.naoqi_camera.DepthPepperCameraSensor(*args, **kwargs)

Bases: BaseNaoqiCameraSensor

__init__(*args, **kwargs)

static get_conf()

Return the default configuration for the depth camera.

Returns:

Configuration with cam_id=2 and res_id=10.

Return type:

NaoqiCameraConf

class sic_framework.devices.common_naoqi.naoqi_camera.DepthPepperCamera(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of DepthPepperCameraSensor

Microphone

class sic_framework.devices.common_naoqi.naoqi_microphone.NaoqiMicrophoneConf

Bases: SICConfMessage

__init__()

class sic_framework.devices.common_naoqi.naoqi_microphone.NaoqiMicrophoneSensor(*args, **kwargs)

Bases: SICSensor

COMPONENT_STARTUP_TIMEOUT = 4

Timeout in seconds for component startup.

This controls how long a SICConnector should wait when requesting a component to start. Increase this value for components that need more time to initialize (e.g., robots that need to stand up or models that need to load to GPU).

__init__(*args, **kwargs)

Parameters:

• args (Any) – Positional arguments passed to the base class.

• kwargs (Any) – Keyword arguments passed to the base class.

Raises:

RuntimeError – If the callback service cannot be registered.

static get_conf()

Return the default configuration for this sensor.

Returns:

Microphone configuration instance.

Return type:

NaoqiMicrophoneConf

static get_inputs()

Returns:

Empty list.

Return type:

list

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute()

Main function of the sensor.

Must be implemented by the subclass.

Returns:

A SICMessage

Return type:

SICMessage

stop(*args)

Stop the microphone sensor.

processRemote(nbOfChannels, nbOfSamplesByChannel, timeStamp, inputBuffer)

class sic_framework.devices.common_naoqi.naoqi_microphone.NaoqiMicrophone(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiMicrophoneSensor

Speakers

class sic_framework.devices.common_naoqi.naoqi_speakers.NaoqiSpeakersConf

Bases: SICConfMessage

Configuration for the NAOqi speaker component.

__init__()

Initialize default audio configuration values for the NAOqi speaker component.

class sic_framework.devices.common_naoqi.naoqi_speakers.NaoqiSpeakerComponent(*args, **kwargs)

Bases: SICComponent

__init__(*args, **kwargs)

Initialize the NAOqi speaker component and connect to ALAudioDevice and ALAudioPlayer.

static get_conf()

Return the default configuration for this component.

Returns:

Default speaker configuration.

Return type:

NaoqiSpeakersConf

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Define the handler for input messages.

Parameters:

message (SICMessage) – The message to handle.

Returns:

The reply

Return type:

SICMessage

on_request(request)

Define the handler for Component specific requests. Must return a SICMessage as a reply to the request.

Parameters:

request (SICRequest) – The request for this component.

Returns:

The reply

Return type:

SICMessage

play_sound(message)

stop(*args)

Stop the NAOqi speaker component.

class sic_framework.devices.common_naoqi.naoqi_speakers.NaoqiSpeaker(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiSpeakerComponent

Text-to-Speech

class sic_framework.devices.common_naoqi.naoqi_text_to_speech.NaoqiTextToSpeechRequest(text, language=None, animated=False, pitch=None, speed=None, pitch_shift=None, volume=None)

Bases: SICRequest

Request the robot to say a given text using text-to-speech.

__init__(text, language=None, animated=False, pitch=None, speed=None, pitch_shift=None, volume=None)

Initialize a text-to-speech request.

Parameters:

• text (str) – Text to be spoken.

• language (str) – “English” or “Dutch” or see http://doc.aldebaran.com/2-8/family/nao_technical/languages_naov6.html#language-codes-naov6

• animated – Use animated text to speech, e.g. perform some gestures while talking

class sic_framework.devices.common_naoqi.naoqi_text_to_speech.NaoqiTextToSpeechConf(language='English', volume=None, speed=None, pitch=None, pitch_shift=None)

Bases: SICConfMessage

Configuration for the NAOqi text-to-speech engine.

Defines default voice parameters such as language, volume, pitch, and speed.

__init__(language='English', volume=None, speed=None, pitch=None, pitch_shift=None)

Initialize default parameters for the text-to-speech configuration.

If None, the default NAOqi values are used.

See also: http://doc.aldebaran.com/2-4/naoqi/audio/altexttospeech-api.html#ALTextToSpeechProxy::setParameter__ssCR.floatCR

Parameters:

• language (str) – Language to use “English” or “Dutch” or see http://doc.aldebaran.com/2-8/family/nao_technical/languages_naov6.html#language-codes-naov6

• volume (float) – Sets the current gain applied to the signal synthesized by the text to speech engine if not None.

• pitch (int) – Applies a pitch shift to the voice. Range is [50 - 100].

• pitch_shift (float) – Applies a pitch shift to the voice. Range is [1.0 - 4.0]. 0 disables the effect.

• speed (int) – sets the current voice speed. The default value is 100. Range is [50 - 400]

class sic_framework.devices.common_naoqi.naoqi_text_to_speech.NaoqiTextToSpeechActuator(*args, **kwargs)

Bases: SICActuator

__init__(*args, **kwargs)

set_params(params)

static get_conf()

Return the default configuration for this actuator.

Returns:

Default text-to-speech configuration.

Return type:

NaoqiTextToSpeechConf

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(message)

Execute the text-to-speech request.

Applies message-specific parameters, then speaks using ALTextToSpeech or ALAnimatedSpeech.

Parameters:

message (NaoqiTextToSpeechRequest) – Request containing speech parameters and text.

Returns:

Acknowledgement message after speaking.

Return type:

SICMessage

stop(*args)

Stop the text-to-speech actuator.

class sic_framework.devices.common_naoqi.naoqi_text_to_speech.NaoqiTextToSpeech(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiTextToSpeechActuator

Motion

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiMoveRequest(x, y, theta)

Bases: SICRequest

Request to move with given velocities in the robot frame.

Parameters:

• x (float) – Velocity along X (forward) in m/s. Negative for backward.

• y (float) – Velocity along Y (left) in m/s. Positive to move left.

• theta (float) – Rotational velocity around Z in rad/s. Negative for clockwise.

__init__(x, y, theta)

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiMoveToRequest(x, y, theta)

Bases: NaoqiMoveRequest

Request to move to a relative pose (x, y, theta) from the robot frame.

Variables:

• x (float) – Distance along X (forward) in meters.

• y (float) – Distance along Y (left) in meters.

• theta (float) – Rotation around Z in radians [-3.1415, 3.1415].

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiMoveTowardRequest(x, y, theta)

Bases: NaoqiMoveRequest

Request to move with normalized velocities (unitless in [-1, 1]).

Variables:

• x (float) – Normalized velocity along X. +1 and -1 correspond to the maximum velocity in the forward and backward directions, respectively.

• y (float) – Normalized velocity along Y. +1 and -1 correspond to the maximum velocity in the left and right directions, respectively.

• theta (float) – Normalized rotational velocity around Z. +1 and -1 correspond to the maximum velocity in the counterclockwise and clockwise directions, respectively.

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiIdlePostureRequest(joints, value)

Bases: SICRequest

Control idle behaviour. This is the robot behaviour when no user commands are sent. There are three idle control modes:

No idle control: in this mode, when no user command is sent to the robot, it does not move. Idle posture control: in this mode, the robot automatically comes back to a reference posture, then stays at that posture until a user command is sent. Breathing control: in this mode, the robot plays a breathing animation in loop.

See also NaoqiIdlePostureRequest.

http://doc.aldebaran.com/2-4/naoqi/motion/idle.html

__init__(joints, value)

Initialize an idle posture request.

Chains: “Body”, “Legs”, “Arms”, “LArm”, “RArm”, or “Head”.

Parameters:

• joints (str) – Chain name (e.g., “Body”, “LArm”).

• value (bool) – True to enable, False to disable.

Raises:

AssertionError – If joints is empty.

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiBreathingRequest(joints, value)

Bases: SICRequest

Control idle Breathing. This is the robot behaviour when no user commands are sent. There are three idle control modes:

No idle control: in this mode, when no user command is sent to the robot, it does not move. Idle posture control: in this mode, the robot automatically comes back to a reference posture, then stays at that posture until a user command is sent. Breathing control: in this mode, the robot plays a breathing animation in loop.

See also NaoqiBreathingRequest.

http://doc.aldebaran.com/2-4/naoqi/motion/idle.html

__init__(joints, value)

Initialize a breathing request.

Parameters:

• joints (str) – Chain name (e.g., “Body”, “Head”).

• value (bool) – True to enable, False to disable.

class sic_framework.devices.common_naoqi.naoqi_motion.NaoPostureRequest(target_posture, speed=0.4)

Bases: SICRequest

Request to go to a predefined NAO posture.

Options: “Crouch”, “LyingBack”, “LyingBelly”, “Sit”, “SitRelax”, “Stand”, “StandInit”, “StandZero”.

__init__(target_posture, speed=0.4)

Create a posture request.

Parameters:

• target_posture (str) – Target posture name.

• speed (float) – Interpolation speed fraction [0–1].

Raises:

AssertionError – If target_posture is not a supported option.

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiAnimationRequest(animation_path)

Bases: SICRequest

Request to play a predefined animation via ALAnimationPlayer.

See: http://doc.aldebaran.com/2-4/naoqi/motion/alanimationplayer-advanced.html#animationplayer-list-behaviors-nao

__init__(animation_path)

Initialize an animation request.

Parameters:

animation_path (str) – Animation behavior name or full path.

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiSmartStiffnessRequest(enable=True)

Bases: SICRequest

Request to enable or disable Smart Stiffness reflex for all joints.

See: http://doc.aldebaran.com/2-4/naoqi/motion/reflexes-smart-stiffness.html

__init__(enable=True)

Initialize a Smart Stiffness request.

Parameters:

enable (bool) – True to enable, False to disable.

class sic_framework.devices.common_naoqi.naoqi_motion.PepperPostureRequest(target_posture, speed=0.4)

Bases: SICRequest

Request to go to a predefined Pepper posture.

Options: “Crouch”, “Stand”, “StandInit”, “StandZero”.

__init__(target_posture, speed=0.4)

Create a Pepper posture request.

Parameters:

• target_posture (str) – Target posture name.

• speed (float) – Interpolation speed fraction [0–1].

Raises:

AssertionError – If target_posture is not a supported option.

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiMotionActuator(*args, **kwargs)

Bases: SICActuator

__init__(*args, **kwargs)

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Main function of the Actuator. Must return a SICMessage as a reply to the user.

Must be implemented by the subclass.

Parameters:

request (SICRequest) – input messages

Return type:

SICMessage

goToPosture(motion)

run_animation(motion)

move(motion)

moveTo(motion)

moveToward(motion)

stop(*args)

Stop the Naoqi motion actuator.

class sic_framework.devices.common_naoqi.naoqi_motion.NaoqiMotion(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiMotionActuator

Motion Recorder

class sic_framework.devices.common_naoqi.naoqi_motion_recorder.StartRecording(joints)

Bases: SICRequest

__init__(joints)

Initialize a request to record the motion of selected joints.

For more information on joint chains, see robot documentation: - Nao: http://doc.aldebaran.com/2-8/family/nao_technical/bodyparts_naov6.html#nao-chains - Pepper: http://doc.aldebaran.com/2-8/family/pepper_technical/bodyparts_pep.html

Parameters:

joints (list[str]) – One or more joint chains or individual joints (e.g., [“Body”] or [“LArm”, “HeadYaw”]).

class sic_framework.devices.common_naoqi.naoqi_motion_recorder.StopRecording(request_id=None)

Bases: SICRequest

class sic_framework.devices.common_naoqi.naoqi_motion_recorder.NaoqiMotionRecording(recorded_joints, recorded_angles, recorded_times)

Bases: SICMessage

__init__(recorded_joints, recorded_angles, recorded_times)

Create a motion recording message.

Example

recorded_joints = [“HeadYaw”, “HeadPitch”, “LWrist”] recorded_angles = [[0.13, 0.21, 0.25], [0.21, 0.23, 0.31], [-1.0, 0.0, 0.1]] recorded_times = [[0.1, 0.2, 0.3], [0.1, 0.2, 0.3], [0.1, 0.2, 0.3]]

See: http://doc.aldebaran.com/2-1/naoqi/motion/control-joint-api.html#joint-control-api

Parameters:

• recorded_joints (list[str]) – Joint names (e.g., “HeadYaw”), not chains (e.g., “Body”).

• recorded_angles (list[list[float]]) – Angles per joint, in radians.

• recorded_times (list[list[float]]) – Target times per angle, in seconds.

save(filename)

Save the recording to a file (e.g., “wave.motion”).

Parameters:

filename (str) – Target filename (preferably with .motion extension).

classmethod load(filename)

Load a motion recording.

Parameters:

filename (str) – Path to a saved .motion file.

Returns:

Deserialized motion recording message.

Return type:

NaoqiMotionRecording

class sic_framework.devices.common_naoqi.naoqi_motion_recorder.PlayRecording(motion_recording_message, playback_speed=1)

Bases: SICRequest

Request to replay a previously recorded motion.

__init__(motion_recording_message, playback_speed=1)

Play a recorded motion.

Parameters:

• motion_recording_message (NaoqiMotionRecording) – a NaoqiMotionRecording message.

• playback_speed (float) – Playback speed multiplier (e.g., 1.5 for 1.5x; 0.5 for half speed).

class sic_framework.devices.common_naoqi.naoqi_motion_recorder.NaoqiMotionRecorderConf(replay_stiffness=0.6, replay_speed=0.75, use_interpolation=True, setup_time=0.5, use_sensors=False, samples_per_second=20)

Bases: SICConfMessage

Configuration for recording and replaying motions.

__init__(replay_stiffness=0.6, replay_speed=0.75, use_interpolation=True, setup_time=0.5, use_sensors=False, samples_per_second=20)

Initialize recorder configuration options.

There is a choice between setAngles (approximate) and angleInterpolation (exact but speed-limited).

Note: replay_speed is used only when use_interpolation=False. Note: setup_time is used only when use_interpolation=True.

Parameters:

• replay_stiffness – Control how much power the robot should use to reach the given joint angles.

• replay_speed – Control how fast the robot should to reach the given joint angles.

• use_interpolation – Use setAngles if False and angleInterpolation if True.

• setup_time – The time in seconds the robot has to reach the start position of the recording.

• use_sensors – If true, sensor angles will be returned, otherwise command angles are used.

• samples_per_second – How many times per second the joint positions are sampled.

class sic_framework.devices.common_naoqi.naoqi_motion_recorder.NaoqiMotionRecorderActuator(*args, **kwargs)

Bases: SICActuator, NaoqiMotionTools

COMPONENT_STARTUP_TIMEOUT = 20

Timeout in seconds for component startup.

This controls how long a SICConnector should wait when requesting a component to start. Increase this value for components that need more time to initialize (e.g., robots that need to stand up or models that need to load to GPU).

__init__(*args, **kwargs)

Initialize the motion tools by determining the robot type.

Parameters:

qi_session (qi.Session) – A qi.Session() instance used to determine robot type.

Raises:

NotImplementedError – If the robot type is not supported.

static get_conf()

Return the default configuration for this component.

Returns:

Recorder configuration.

Return type:

NaoqiMotionRecorderConf

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

record_motion()

A thread that starts to record the motion of the robot until an event is set.

reset_recording_variables(request)

Initialize variables that will be populated during recording.

execute(request)

Main function of the Actuator. Must return a SICMessage as a reply to the user.

Must be implemented by the subclass.

Parameters:

request (SICRequest) – input messages

Return type:

SICMessage

replay_recording(request)

Replay a recorded motion.

stop(*args)

Stop the motion recorder actuator.

class sic_framework.devices.common_naoqi.naoqi_motion_recorder.NaoqiMotionRecorder(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiMotionRecorderActuator

LEDs

class sic_framework.devices.common_naoqi.naoqi_leds.NaoLEDRequest(name, value)

Bases: SICRequest

Request to turn one or more LEDs on or off.

Parameters:

• name (str) – RGB LED or group name, see http://doc.aldebaran.com/2-5/naoqi/sensors/alleds.html.

• value (bool) – True to turn on, False to turn off.

__init__(name, value)

class sic_framework.devices.common_naoqi.naoqi_leds.NaoSetIntensityRequest(name, intensity)

Bases: SICRequest

Request to change the intensity of one or more LEDs.

Parameters:

• name (str) – RGB LED or group name, see http://doc.aldebaran.com/2-5/naoqi/sensors/alleds.html.

• intensity (float) – Intensity value in [0, 1].

__init__(name, intensity)

class sic_framework.devices.common_naoqi.naoqi_leds.NaoGetIntensityRequest(name)

Bases: SICRequest

Request to retrieve the intensity of an LED or LED group.

Parameters:

name (str) – RGB LED or group name, see http://doc.aldebaran.com/2-5/naoqi/sensors/alleds.html.

__init__(name)

class sic_framework.devices.common_naoqi.naoqi_leds.NaoGetIntensityReply(value)

Bases: SICMessage

Message containing the LED intensity value.

Parameters:

value (float) – Intensity value in [0, 1].

__init__(value)

class sic_framework.devices.common_naoqi.naoqi_leds.NaoFadeRGBRequest(name, r, g, b, duration=0.0)

Bases: SICRequest

Request to fade one or more LEDs to a target RGB color.

Parameters:

• name (str) – RGB LED or group name, see http://doc.aldebaran.com/2-5/naoqi/sensors/alleds.html.

• r (float) – Red channel intensity in [0, 1].

• g (float) – Green channel intensity in [0, 1].

• b (float) – Blue channel intensity in [0, 1].

• duration (float) – Duration in seconds for the fade (default = 0 for instant change).

__init__(name, r, g, b, duration=0.0)

class sic_framework.devices.common_naoqi.naoqi_leds.NaoFadeListRGBRequest(name, rgbs, durations)

Bases: SICRequest

Request to cycle LED colors through a list of RGB values over time.

Parameters:

• name (str) – RGB LED or group name, see http://doc.aldebaran.com/2-5/naoqi/sensors/alleds.html.

• rgbs (list[int]) – List of RGB values in hexadecimal format [0x00RRGGBB, …].

• durations (list[float]) – List of durations (in seconds) corresponding to each RGB value.

__init__(name, rgbs, durations)

class sic_framework.devices.common_naoqi.naoqi_leds.NaoBasicAwarenessRequest(value, stimulus_detection=None, engagement_mode=None, tracking_mode=None)

Bases: SICRequest

Request to enable or disable basic awareness and configure its parameters.

Parameters:

• value (bool) – True to enable, False to disable basic awareness.

• stimulus_detection (list[tuple[str, bool]]) – Optional list of (stimulus_name, enable) tuples for stimuli types, see http://doc.aldebaran.com/2-5/naoqi/interaction/autonomousabilities/albasicawareness.html#albasicawareness-stimuli-types.

• engagement_mode (str) – Engagement mode, see http://doc.aldebaran.com/2-5/naoqi/interaction/autonomousabilities/albasicawareness.html#albasicawareness-engagement-modes.

• tracking_mode (str) – Tracking mode, see http://doc.aldebaran.com/2-5/naoqi/interaction/autonomousabilities/albasicawareness.html#albasicawareness-tracking-modes.

__init__(value, stimulus_detection=None, engagement_mode=None, tracking_mode=None)

class sic_framework.devices.common_naoqi.naoqi_leds.NaoqiLEDsActuator(*args, **kwargs)

Bases: SICActuator

Actuator for controlling LEDs through the NAOqi ALLeds service.

Supports requests for turning LEDs on/off, changing colors, and adjusting intensity levels.

Variables:

• session (qi.Session) – Connection to the local NAOqi framework.

• leds (Any) – Handle to the ALLeds service.

__init__(*args, **kwargs)

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(message)

Execute a LED control request.

Parameters:

message (SICRequest) – LED-related request to process.

Returns:

Reply message (e.g., NaoGetIntensityReply or generic SICMessage).

Return type:

SICMessage

stop(*args)

Stop the LEDs actuator, close the NAOqi session, and release resources.

class sic_framework.devices.common_naoqi.naoqi_leds.NaoqiLEDs(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiLEDsActuator

Button

class sic_framework.devices.common_naoqi.naoqi_button.NaoqiButtonMessage(value)

Bases: SICMessage

__init__(value)

Initialize a message carrying button/touch values.

For more information, see: http://doc.aldebaran.com/2-4/naoqi/sensors/altouch.html

Examples

[[Head/Touch/Middle, True], [ChestBoard/Button, True]] [[Head/Touch/Middle, False]]

Parameters:

value (list[list[Any, bool]]) – List of button/touch name-value pairs.

class sic_framework.devices.common_naoqi.naoqi_button.NaoqiButtonSensor(*args, **kwargs)

Bases: SICComponent

NaoqiButtonSensor is a sensor that reads the robot’s physical button and touch values from the ALMemory module.

__init__(*args, **kwargs)

Initialize the button sensor by connecting to ALMemory and subscribing to touch signals.

Parameters:

• args (Any) – Positional arguments passed to the SICComponent.

• kwargs (Any) – Keyword arguments passed to the SICComponent.

static get_conf()

Return the default configuration for this sensor.

Returns:

Default configuration message.

Return type:

SICConfMessage

static get_inputs()

Return the list of input message types accepted by this component.

Returns:

Empty list since this is a sensor-only component.

Return type:

list

static get_output()

Return the output message type produced by this component.

Returns:

The message class used for touch/button events.

Return type:

type

onTouchChanged(value)

Callback triggered when a touch or button state changes.

Parameters:

value (list[list[str, bool]]) – List of name-value pairs representing button/touch changes.

start()

Start the sensor by subscribing to the ‘TouchChanged’ ALMemory event.

Returns:

None

Return type:

None

stop(*args)

Stop the touch sensor by disconnecting signals and closing the session.

Returns:

None

Return type:

None

class sic_framework.devices.common_naoqi.naoqi_button.NaoqiButton(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiButtonSensor

Tracker

class sic_framework.devices.common_naoqi.naoqi_tracker.StartTrackRequest(target_name, size, mode='Head', effector='None', move_rel_position=None)

Bases: SICRequest

Request to register a target and start tracking it.

__init__(target_name, size, mode='Head', effector='None', move_rel_position=None)

Initialize a start-tracking request.

See: http://doc.aldebaran.com/2-5/naoqi/trackers/index.html

Parameters:

• target_name – Name of the object to track (e.g., RedBall, Face).

• size (float) – Target size in meters (e.g., ball diameter or face width).

• mode (str) – Tracking mode default mode is “Head”, other options: “WholeBody”, “Move”. See http://doc.aldebaran.com/2-5/naoqi/trackers/index.html#tracking-modes

• effector (str) – Effector to use (“Arms”, “LArm”, “RArm”, or “None”).

• move_rel_position – Set the robot position relative to target in Move mode

class sic_framework.devices.common_naoqi.naoqi_tracker.StopAllTrackRequest(request_id=None)

Bases: SICRequest

Request to stop tracking and unregister all targets.

class sic_framework.devices.common_naoqi.naoqi_tracker.RemoveTargetRequest(target_name)

Bases: SICRequest

__init__(target_name)

Initialize a request to remove a specific tracking target.

Parameters:

target_name (str) – Name of the target to stop tracking.

class sic_framework.devices.common_naoqi.naoqi_tracker.RemoveAllTargetsRequest(request_id=None)

Bases: SICRequest

Request to remove all tracking targets.

class sic_framework.devices.common_naoqi.naoqi_tracker.NaoqiTrackerActuator(*args, **kwargs)

Bases: SICActuator

__init__(*args, **kwargs)

static get_conf()

Return the default configuration for this actuator.

Returns:

Generic configuration message.

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Main function of the Actuator. Must return a SICMessage as a reply to the user.

Must be implemented by the subclass.

Parameters:

request (SICRequest) – input messages

Return type:

SICMessage

stop(*args)

Stop the tracker actuator.

class sic_framework.devices.common_naoqi.naoqi_tracker.NaoqiTracker(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiTrackerActuator

Look At

class sic_framework.devices.common_naoqi.naoqi_lookat.NaoqiLookAtConf(camera_index=0, camera_y_max=480, camera_x_max=640, mirror_x=False)

Bases: SICConfMessage

__init__(camera_index=0, camera_y_max=480, camera_x_max=640, mirror_x=False)

Initialize LookAt configuration.

Parameters:

• camera_index (int)

• camera_y_max (int)

• camera_x_max (int)

• mirror_x (bool) – Mirror the horizontal angle sign.

class sic_framework.devices.common_naoqi.naoqi_lookat.LookAtMessage(x, y)

Bases: SICMessage

Message requesting the robot to look at normalized image coordinates.

Coordinates are in range [0.0, 1.0], where (0,0) is top-left.

__init__(x, y)

Create a LookAt request message.

Parameters:

• x (float) – Horizontal normalized coordinate in [0.0, 1.0].

• y (float) – Vertical normalized coordinate in [0.0, 1.0].

class sic_framework.devices.common_naoqi.naoqi_lookat.NaoqiLookAtComponent(*args, **kwargs)

Bases: SICComponent

__init__(*args, **kwargs)

static get_conf()

Return the default configuration for this component.

Returns:

Default LookAt configuration.

Return type:

NaoqiLookAtConf

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Parameters:

message (SICMessage) – Incoming message (LookAtMessage or BoundingBoxesMessage).

stop(*args)

Stop the LookAt component.

class sic_framework.devices.common_naoqi.naoqi_lookat.NaoqiLookAt(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiLookAtComponent

Stiffness

class sic_framework.devices.common_naoqi.naoqi_stiffness.Stiffness(stiffness=0.7, joints='Body', enable_joint_list_generation=True)

Bases: SICRequest

__init__(stiffness=0.7, joints='Body', enable_joint_list_generation=True)

Initialize a stiffness control request.

Controls how strongly the robot maintains commanded joint angles.

For more information, see: - Nao: http://doc.aldebaran.com/2-8/family/nao_technical/bodyparts_naov6.html#nao-chains - Pepper: http://doc.aldebaran.com/2-8/family/pepper_technical/bodyparts_pep.html

Parameters:

• stiffness (float) – Stiffness level to set in [0, 1].

• joints (list[str]) – Joint or joint chain names (e.g., [“Body”], [“HeadYaw”, LArm]).

• enable_joint_list_generation (bool) – If True, joint lists are automatically expanded from chains.

class sic_framework.devices.common_naoqi.naoqi_stiffness.NaoqiStiffnessActuator(*args, **kwargs)

Bases: SICActuator, NaoqiMotionTools

__init__(*args, **kwargs)

Initialize the motion tools by determining the robot type.

Parameters:

qi_session (qi.Session) – A qi.Session() instance used to determine robot type.

Raises:

NotImplementedError – If the robot type is not supported.

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Main function of the Actuator. Must return a SICMessage as a reply to the user.

Must be implemented by the subclass.

Parameters:

request (SICRequest) – input messages

Return type:

SICMessage

stop(*args)

Stop the NAOqi stiffness actuator.

class sic_framework.devices.common_naoqi.naoqi_stiffness.NaoqiStiffness(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiStiffnessActuator

Autonomous

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoBlinkingRequest(value)

Bases: SICRequest

Request to enable or disable autonomous blinking.

Parameters:

value (bool) – True to enable, False to disable autonomous blinking.

__init__(value)

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoBackgroundMovingRequest(value)

Bases: SICRequest

Request to enable or disable autonomous background movement.

Parameters:

value (bool) – True to enable, False to disable background movement.

__init__(value)

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoListeningMovementRequest(value)

Bases: SICRequest

Request to enable or disable listening movements (small motions indicating attention).

Parameters:

value (bool) – True to enable, False to disable listening movements.

__init__(value)

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoSpeakingMovementRequest(value, mode=None)

Bases: SICRequest

Request to enable or disable autonomous speaking movements.

Parameters:

• value (bool) – True to enable, False to disable.

• mode (str) – Speaking movement mode (“random” or “contextual”).

Raises:

ValueError – If mode is not one of the supported options. see http://doc.aldebaran.com/2-5/naoqi/interaction/autonomousabilities/alspeakingmovement.html#speaking-movement-mode

__init__(value, mode=None)

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoRestRequest(request_id=None)

Bases: SICRequest

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoWakeUpRequest(request_id=None)

Bases: SICRequest

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoSetAutonomousLifeRequest(state='solitary')

Bases: SICRequest

Request to set the state of the Autonomous Life module.

For further details, see: http://doc.aldebaran.com/2-5/ref/life/state_machine_management.html#autonomouslife-states

Parameters:

state (str) – Target state (“solitary”, “interactive”, “safeguard”, or “disabled”).

__init__(state='solitary')

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoBasicAwarenessRequest(value, stimulus_detection=None, engagement_mode=None, tracking_mode=None)

Bases: SICRequest

Request to enable or disable basic awareness and configure its parameters.

Parameters:

• value (bool) – True to enable, False to disable basic awareness.

• stimulus_detection (list[tuple[str, bool]]) – Optional list of (stimulus_name, enable) tuples.

• engagement_mode (str) – Engagement mode setting.

• tracking_mode (str) – Tracking mode setting.

__init__(value, stimulus_detection=None, engagement_mode=None, tracking_mode=None)

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoqiAutonomousActuator(*args, **kwargs)

Bases: SICActuator

Actuator managing NAOqi autonomous abilities.

Provides an interface for enabling or disabling autonomous features like blinking, awareness, and background movements, as well as wakeUp and rest actions.

Variables:

session (qi.Session) – Connection to the NAOqi framework.

__init__(*args, **kwargs)

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(message)

Execute the given autonomous ability request.

Parameters:

message (SICRequest) – Request specifying which autonomous ability to adjust.

Returns:

Acknowledgement message after execution.

Return type:

SICMessage

Raises:

Exception – If a requested service or mode is invalid.

stop(*args)

Stop the actuator and close the NAOqi session.

class sic_framework.devices.common_naoqi.naoqi_autonomous.NaoqiAutonomous(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiAutonomousActuator

Common NAOqi Motion

class sic_framework.devices.common_naoqi.common_naoqi_motion.NaoqiMotionTools(qi_session)

Bases: object

Provides utility functions for handling NAOqi robot motion models.

Variables:

robot_type (str) – Type of robot, either ‘nao’ or ‘pepper’.

__init__(qi_session)

Initialize the motion tools by determining the robot type.

Parameters:

qi_session (qi.Session) – A qi.Session() instance used to determine robot type.

Raises:

NotImplementedError – If the robot type is not supported.

generate_joint_list(joint_chains)

Generate a flat list of valid joints for a given robot based on input joint chains.

Parameters:

joint_chains (list[str]) – List of joint chains or individual joints to resolve.

Returns:

A flat list of valid joint names for the current robot.

Return type:

list[str]

Raises:

ValueError – If a provided joint or chain is not recognized.

property body_model

Retrieve the mapping of joint chains to their respective joints for the current robot.

For more information, see robot documentation: - Nao: http://doc.aldebaran.com/2-8/family/nao_technical/bodyparts_naov6.html#nao-chains - Pepper: http://doc.aldebaran.com/2-8/family/pepper_technical/bodyparts_pep.html

Returns:

Dictionary of joint chains and their associated joints.

Return type:

dict[str, list[str]]

property all_joints

Retrieve all joints available for the current robot.

Returns:

List of all joint names.

Return type:

list[str]

Motion Affect Transformation

class sic_framework.devices.common_naoqi.motion_affect_transformation.MotionAffectTransformation

Bases: object

Apply affect-based transformations to NAOqi motion dictionaries.

The methods adjust amplitude, timing, posture, and enforce joint limits based on valence/arousal or emotion labels.

transform_values(motion, valence, arousal)

Transform a motion by applying flow, time, and weight changes based on valence and arousal.

Parameters:

• motion (dict) – Motion dictionary with the shape { “motion”: { joint_name: {“angles”: list[float], “times”: list[float]} } }.

• valence (float) – Valence value in [-1, 1] influencing amplitude and posture.

• arousal (float) – Arousal value in [-1, 1] influencing repetition and speed.

Returns:

The transformed motion dictionary.

Return type:

dict

transform_label(motion, emotion_label)

Transform a motion by first mapping an emotion label to valence/arousal values.

Parameters:

• motion (dict) – Motion dictionary to transform.

• emotion_label (str) – Discrete emotion label (e.g., “happy”, “sad”, “angry”).

Returns:

The transformed motion dictionary.

Return type:

dict

angle_limit(motion)

Clamp joint angles to the robot’s physical limits.

Parameters:

motion (dict) – Motion dictionary to validate and clamp.

Returns:

The motion dictionary with angles limited to valid ranges.

Return type:

dict

modify_flow_parameters(motion, valence)

Adjust motion amplitudes and blend towards a linear trajectory based on valence.

Parameters:

• motion (dict) – Motion dictionary to modify.

• valence (float) – Valence value affecting amplitude (positive increases, negative slightly decreases).

Returns:

The updated motion dictionary.

Return type:

dict

modify_time_parameters(motion, arousal)

Adjust repetition (implicit via angle scaling) and speed (time scaling) based on arousal.

Parameters:

• motion (dict) – Motion dictionary to modify.

• arousal (float) – Arousal value affecting repetition and speed.

Returns:

The updated motion dictionary.

Return type:

dict

modify_weight_parameters(motion, valence, arousal)

Add or adjust posture-related joints (e.g., head pitch) based on valence and arousal.

Parameters:

• motion (dict) – Motion dictionary to modify.

• valence (float) – Valence value influencing posture.

• arousal (float) – Arousal value influencing posture and added joints.

Returns:

The updated motion dictionary.

Return type:

dict

static pivot_states(motion, ignore_joints)

Collect unique time points across joints, excluding specified joints.

Parameters:

• motion (dict) – Motion dictionary containing joint time arrays.

• ignore_joints (list[str]) – Joint names to ignore when collecting time points.

Returns:

Sorted unique list of time points.

Return type:

list[float]

static amplitude(valence)

Map valence to an amplitude scaling factor.

Parameters:

valence (float) – Valence value in [-1, 1].

Returns:

Amplitude multiplier (>0).

Return type:

float

static repetition(arousal)

Map arousal to a repetition factor.

Positive arousal increases the factor; non-positive returns 1.

Parameters:

arousal (float) – Arousal value in [-1, 1].

Returns:

Repetition multiplier (>=1).

Return type:

float

static speed(arousal)

Map arousal to a speed scaling factor for time values.

Parameters:

arousal (float) – Arousal value in [-1, 1].

Returns:

Speed multiplier (>0).

Return type:

float

static head_pose(valence, arousal, up=0.506145, down=0.349066)

Compute a head pitch offset based on valence and arousal.

Parameters:

• valence (float) – Valence value.

• arousal (float) – Arousal value.

• up (float) – Maximum upward pitch in radians.

• down (float) – Maximum downward pitch in radians.

Returns:

Head pitch offset in radians.

Return type:

float

property leg_joints

Retrieve the list of leg joint names.

Returns:

List of leg joint identifiers.

Return type:

list[str]

property hand_joints

Retrieve the list of hand joint names.

Returns:

List of hand joint identifiers.

Return type:

list[str]

property upright

Retrieve a posture dictionary for an upright (expanded) stance.

Returns:

Mapping from joint name to target angle in radians.

Return type:

dict[str, float]

property neutral

Retrieve a posture dictionary for a neutral stance.

Returns:

Mapping from joint name to target angle in radians.

Return type:

dict[str, float]

property bend

Retrieve a posture dictionary for a bent (shrunk) stance.

Returns:

Mapping from joint name to target angle in radians.

Return type:

dict[str, float]

static limit_check(joint)

Look up the minimum and maximum allowed angles for a given joint.

Parameters:

joint (str) – Joint name to query.

Returns:

Tuple of (minimum, maximum) allowed angles in radians.

Return type:

tuple[float, float]

static values_from_emotion(emotion_label)

Map an emotion label to its (valence, arousal) pair.

Parameters:

emotion_label (str) – Emotion label key (e.g., “happy”, “sad”).

Returns:

Tuple containing (valence, arousal).

Return type:

tuple[float, float]

NAO-Specific Components

NAO Motion Streamer

class sic_framework.devices.common_naoqi.nao_motion_streamer.StartStreaming(joints)

Bases: SICRequest

Request to start streaming joint positions for specified joints.

__init__(joints)

Start streaming the positions of the selected joints. For more information see robot documentation: For nao: http://doc.aldebaran.com/2-8/family/nao_technical/bodyparts_naov6.html#nao-chains For pepper: http://doc.aldebaran.com/2-8/family/pepper_technical/bodyparts_pep.html

Parameters:

joints (list[str]) – One of the robot’s “Joint chains” such as [“Body”] or [“LArm”, “HeadYaw”]

class sic_framework.devices.common_naoqi.nao_motion_streamer.StopStreaming(request_id=None)

Bases: SICRequest

class sic_framework.devices.common_naoqi.nao_motion_streamer.NaoJointAngles(joints, angles)

Bases: SICMessage

Message carrying joint names and their corresponding angles in radians.

__init__(joints, angles)

Create a joint-angle message.

Parameters:

• joints (list[str]) – Joint names in the order of the angles.

• angles (list[float]) – Joint angles in radians.

class sic_framework.devices.common_naoqi.nao_motion_streamer.NaoMotionStreamerConf(stiffness=0.6, speed=0.75, stream_stiffness=0, use_sensors=False, samples_per_second=20)

Bases: SICConfMessage

Configuration for the NAOqi motion streaming service.

__init__(stiffness=0.6, speed=0.75, stream_stiffness=0, use_sensors=False, samples_per_second=20)

Initialize configuration options for motion streaming.

Parameters:

• stiffness (float) – Control how much power the robot should use to reach the given joint angles

• speed (float) – Set the fraction of the maximum speed used to reach the target position.

• stream_stiffness (float) – Control the stiffness of the robot when streaming its joint positions.

Note: Use stiffness, not stream_stiffness, to control the stiffness of the robot when consuming a stream of joint postions. :param bool use_sensors: If true, sensor angles will be returned, otherwise command angles are used. :param int samples_per_second: How many times per second the joint positions are sampled.

class sic_framework.devices.common_naoqi.nao_motion_streamer.NaoqiMotionStreamerService(*args, **kwargs)

Bases: SICComponent, NaoqiMotionTools

Stream NAOqi joint angles and process control requests.

This component connects to a local NAOqi session, exposes start/stop streaming requests, and publishes NaoJointAngles messages at the requested rate.

__init__(*args, **kwargs)

Set up the NAOqi session, motion service, and streaming thread.

Parameters:

• args (Any) – Positional arguments passed to the component base.

• kwargs (Any) – Keyword arguments passed to the component base.

static get_conf()

Return the default configuration for this component.

Returns:

Default configuration instance.

Return type:

NaoMotionStreamerConf

static get_inputs()

List the message and request types accepted by this component.

Returns:

Supported inputs.

Return type:

list[type]

on_request(request)

Handle start/stop streaming requests.

Parameters:

request (SICRequest) – Incoming request instance.

Returns:

Acknowledgement message.

Return type:

SICMessage

on_message(message)

Apply stiffness if needed and forward desired joint angles to the robot.

Parameters:

message (NaoJointAngles) – Message containing joint names and desired angles.

static get_output()

Declare the message type produced by this component.

Returns:

Output message class.

Return type:

type

stream_joints()

Background loop: sample joint angles and publish them at the configured rate.

The loop respects do_streaming and component stop signals.

Raises:

Exception – Logged and triggers stop() on unexpected errors.

stop(*args)

Stop the motion streamer, closing the NAOqi session and the component.

Returns:

None

Return type:

None

class sic_framework.devices.common_naoqi.nao_motion_streamer.NaoqiMotionStreamer(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

Connector binding to NaoqiMotionStreamerService.

component_class

alias of NaoqiMotionStreamerService

Pepper-Specific Components

Pepper Motion Streamer

class sic_framework.devices.common_naoqi.pepper_motion_streamer.StartStreaming(joints)

Bases: SICRequest

Request to start streaming joint positions for specified joints.

__init__(joints)

Initialize a request to start streaming positions for selected joints.

For more information on joint chains, see robot documentation: - Nao: http://doc.aldebaran.com/2-8/family/nao_technical/bodyparts_naov6.html#nao-chains - Pepper: http://doc.aldebaran.com/2-8/family/pepper_technical/bodyparts_pep.html

Parameters:

joints (list[str]) – One or more joint chains or individual joints (e.g., [“Body”] or [“LArm”, “HeadYaw”]).

class sic_framework.devices.common_naoqi.pepper_motion_streamer.StopStreaming(request_id=None)

Bases: SICRequest

class sic_framework.devices.common_naoqi.pepper_motion_streamer.PepperMotionStream(joints, angles, velocity)

Bases: SICMessage

__init__(joints, angles, velocity)

Parameters:

• joints (list[str]) – Joint names in the order of the angles.

• angles (list[float]) – Joint angles in radians.

:param velocity

class sic_framework.devices.common_naoqi.pepper_motion_streamer.PepperMotionStreamerConf(stiffness=0.6, speed=0.75, stream_stiffness=0, use_sensors=False, samples_per_second=20)

Bases: SICConfMessage

Configuration for the Pepper motion streaming service.

__init__(stiffness=0.6, speed=0.75, stream_stiffness=0, use_sensors=False, samples_per_second=20)

Note: Use stiffness, not stream_stiffness, to control the stiffness of the robot when consuming a stream of joint postions.

Parameters:

• stiffness (float) – Control how much power the robot should use to reach the given joint angles

• speed (float) – Set the fraction of the maximum speed used to reach the target position.

• stream_stiffness – Control the stiffness of the robot when streaming its joint positions.

• use_sensors (bool) – If true, sensor angles will be returned, otherwise command angles are used.

• samples_per_second (int) – How many times per second the joint positions are sampled.

class sic_framework.devices.common_naoqi.pepper_motion_streamer.PepperMotionStreamerService(*args, **kwargs)

Bases: SICComponent, NaoqiMotionTools

__init__(*args, **kwargs)

Initialize the motion tools by determining the robot type.

Parameters:

qi_session (qi.Session) – A qi.Session() instance used to determine robot type.

Raises:

NotImplementedError – If the robot type is not supported.

static get_conf()

Return the default configuration for this component.

Returns:

Default configuration instance.

Return type:

PepperMotionStreamerConf

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

on_request(request)

Define the handler for Component specific requests. Must return a SICMessage as a reply to the request.

Parameters:

request (SICRequest) – The request for this component.

Returns:

The reply

Return type:

SICMessage

on_message(message)

Move the joints and base of the robot according to PepperMotionStream message

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

stream_motion()

stop(*args)

Stop the Pepper motion streamer.

class sic_framework.devices.common_naoqi.pepper_motion_streamer.PepperMotionStreamer(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of PepperMotionStreamerService

Pepper Tablet

class sic_framework.devices.common_naoqi.pepper_tablet.UrlMessage(url)

Bases: SICMessage

__init__(url)

class sic_framework.devices.common_naoqi.pepper_tablet.NaoqiTabletComponent(*args, **kwargs)

Bases: SICComponent

__init__(*args, **kwargs)

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Define the handler for input messages.

Parameters:

message (SICMessage) – The message to handle.

Returns:

The reply

Return type:

SICMessage

stop(*args)

Stop the Pepper tablet component.

class sic_framework.devices.common_naoqi.pepper_tablet.NaoqiTablet(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoqiTabletComponent

Pepper Top Tactile Sensor

class sic_framework.devices.common_naoqi.pepper_top_tactile_sensor.PepperTactileSensorMessage(value)

Bases: SICMessage

__init__(value)

Contains a value of 1, indicating tactile was touched. http://doc.aldebaran.com/2-5/naoqi/sensors/altouch-api.html?highlight=middletactiltouched#MiddleTactilTouched

class sic_framework.devices.common_naoqi.pepper_top_tactile_sensor.PepperTopTactileSensor(*args, **kwargs)

Bases: SICComponent

PepperTopTactileSensor is a sensor that reads the robot’s physical button and touch values from the ALMemory module.

__init__(*args, **kwargs)

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

onTouchChanged(value)

start()

Start the component. This method registers a request handler, signals the component is ready, and logs that the component has started.

Subclasses should call this method from their overridden start() method to get the framework’s default startup behavior.

stop(*args)

Stop the Pepper top tactile sensor.

class sic_framework.devices.common_naoqi.pepper_top_tactile_sensor.PepperTopTactile(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of PepperTopTactileSensor

Desktop Components

Components for desktop/PC-based devices.

Camera

class sic_framework.devices.common_desktop.desktop_camera.DesktopCameraConf(fx=1.0, fy=1.0, flip=None, device_id=0, flip_rgb=False)

Bases: SICConfMessage

__init__(fx=1.0, fy=1.0, flip=None, device_id=0, flip_rgb=False)

Sets desktop camera configuration parameters.

See https://docs.opencv.org/4.x/da/d54/group__imgproc__transform.html#ga47a974309e9102f5f08231edc7e7529d :param fx: rescaling factor along x-axis (float) :param fy: rescaling factor along y-axis (float) :param device_id: The device ID of the camera for OpenCV to use. Default: 0

See https://docs.opencv.org/3.4/d2/de8/group__core__array.html#gaca7be533e3dac7feb70fc60635adf441 :param flip: flip code for vertical (0), horizontal (>0), or both (<0) flipping. Default is None (no flipping)

class sic_framework.devices.common_desktop.desktop_camera.DesktopCameraSensor(*args, **kwargs)

Bases: SICSensor

__init__(*args, **kwargs)

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute()

Main function of the sensor.

Must be implemented by the subclass.

Returns:

A SICMessage

Return type:

SICMessage

stop(*args)

Set the stop event to signal the component to stop.

Awaits for the component to stop and checks that the _stopped event is set.

class sic_framework.devices.common_desktop.desktop_camera.DesktopCamera(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of DesktopCameraSensor

Microphone

class sic_framework.devices.common_desktop.desktop_microphone.MicrophoneConf(channels=1, sample_rate=44100, device_index=None)

Bases: SICConfMessage

__init__(channels=1, sample_rate=44100, device_index=None)

class sic_framework.devices.common_desktop.desktop_microphone.DesktopMicrophoneSensor(*args, **kwargs)

Bases: SICSensor

__init__(*args, **kwargs)

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute()

Main function of the sensor.

Must be implemented by the subclass.

Returns:

A SICMessage

Return type:

SICMessage

stop(*args)

Set the stop event to signal the component to stop.

Awaits for the component to stop and checks that the _stopped event is set.

class sic_framework.devices.common_desktop.desktop_microphone.DesktopMicrophone(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of DesktopMicrophoneSensor

Speakers

class sic_framework.devices.common_desktop.desktop_speakers.SpeakersConf(sample_rate=44100, channels=1)

Bases: SICConfMessage

Parameters for speakers go here.

__init__(sample_rate=44100, channels=1)

class sic_framework.devices.common_desktop.desktop_speakers.DesktopSpeakersActuator(*args, **kwargs)

Bases: SICActuator

__init__(*args, **kwargs)

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_request(request)

Handle a request from the client. Calls the execute method.

Parameters:

request (SICRequest) – input messages

Return type:

SICMessage

on_message(message)

Define the handler for input messages.

Parameters:

message (SICMessage) – The message to handle.

Returns:

The reply

Return type:

SICMessage

stop(*args)

Set the stop event to signal the component to stop.

Awaits for the component to stop and checks that the _stopped event is set.

class sic_framework.devices.common_desktop.desktop_speakers.DesktopSpeakers(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of DesktopSpeakersActuator

Text-to-Speech

class sic_framework.devices.common_desktop.desktop_text_to_speech.TextToSpeechConf(amplitude=100, pitch=50, speed=175, gap=0, voice='en')

Bases: SICConfMessage

Parameters for espeak.

__init__(amplitude=100, pitch=50, speed=175, gap=0, voice='en')

Initialize espeak configuration.

Parameters:

• amplitude – Volume (0-200), default 100

• pitch – Pitch adjustment (0-99), default 50

• speed – Speed in words per minute, default 175

• gap – Word gap in 10ms units, default 0

• voice – Voice to use (e.g., ‘en’, ‘en-us’, ‘en+f3’), default ‘en’

class sic_framework.devices.common_desktop.desktop_text_to_speech.DesktopTextToSpeechActuator(*args, **kwargs)

Bases: SICActuator

Desktop text to speech actuator.

Requires espeak to be installed.

__init__(*args, **kwargs)

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

_speak(text)

Use espeak subprocess to speak the text.

on_request(request)

Handle a request from the client. Calls the execute method.

Parameters:

request (SICRequest) – input messages

Return type:

SICMessage

on_message(message)

Define the handler for input messages.

Parameters:

message (SICMessage) – The message to handle.

Returns:

The reply

Return type:

SICMessage

stop(*args)

Set the stop event to signal the component to stop.

Awaits for the component to stop and checks that the _stopped event is set.

class sic_framework.devices.common_desktop.desktop_text_to_speech.DesktopTextToSpeech(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of DesktopTextToSpeechActuator

SpaceMouse

class sic_framework.devices.common_desktop.desktop_spacemouse.SpaceMouseStates(t, x, y, z, roll, pitch, yaw, buttons)

Bases: SICMessage

__init__(t, x, y, z, roll, pitch, yaw, buttons)

State objects returned from read() have 7 attributes: [t,x,y,z,roll,pitch,yaw,button]. :param t: timestamp in seconds since the script started. :param x: x translation in the range [-1.0, 1.0] :param y: y translation in the range [-1.0, 1.0] :param z: z translation in the range [-1.0, 1.0] :param roll: roll rotation in the range [-1.0, 1.0]. :param pitch: pitch rotations in the range [-1.0, 1.0]. :param yaw: yaw rotation in the range [-1.0, 1.0]. :param buttons: list of button states (0 or 1), in order specified in the device specifier

class sic_framework.devices.common_desktop.desktop_spacemouse.DesktopSpaceMouseSensor(*args, **kwargs)

Bases: SICSensor

__init__(*args, **kwargs)

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute()

Main function of the sensor.

Must be implemented by the subclass.

Returns:

A SICMessage

Return type:

SICMessage

stop(*args)

Set the stop event to signal the component to stop.

Awaits for the component to stop and checks that the _stopped event is set.

class sic_framework.devices.common_desktop.desktop_spacemouse.DesktopSpaceMouse(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of DesktopSpaceMouseSensor

AlphaMini Components

Components for the Ubtech AlphaMini robot.

Connector

Microphone

class sic_framework.devices.common_mini.mini_microphone.MiniMicrophoneSensor(*args, **kwargs)

Bases: SICSensor

A SICSensor component that acts as a TCP server to receive raw audio data from the external Android micarraytest application (https://github.com/Social-AI-VU/alphamini_android), and streams it as mono audio messages for downstream processing (e.g., Dialogflow or other ASR systems). At the time of writing, this component is running on the AlphaMini robot to stay consistent with the current structure. If performance limitations or lag become more significant in the future, consider running it locally.

This component: - Listens on a specified TCP port for incoming stereo audio data. - Buffers the incoming audio data and converts it from stereo to mono. - Sends mono audio data encapsulated in an AudioMessage. - Attempts to (re)launch the external Android micarraytest app if disconnected

for more than 5 seconds.

sample_rate

Audio sample rate in Hz (default: 44000).

Type:

int

channels

Number of audio channels (2 for stereo).

Type:

int

bytes_per_sample

Bytes per audio sample (2 for 16-bit).

Type:

int

frame_size

Number of bytes per chunk received over the socket.

Type:

int

buffer_time_ms

Duration (in ms) of audio data to buffer before sending.

Type:

int

buffer_size

Computed buffer size in bytes for the target duration.

Type:

int

buffer_accumulator

Accumulates raw audio data until the buffer is full.

Type:

bytes

host

IP address the server listens on (default: “0.0.0.0”, which means it accepts connections from any network interface).

Type:

str

port

TCP port the server listens on (default: 5000).

Type:

int

server_socket

The main server socket.

Type:

socket.socket

client_conn

Active client connection, if any.

Type:

socket.socket

last_connection_time

Timestamp of the last successful connection.

Type:

float

COMPONENT_STARTUP_TIMEOUT = 10

Timeout in seconds for component startup.

This controls how long a SICConnector should wait when requesting a component to start. Increase this value for components that need more time to initialize (e.g., robots that need to stand up or models that need to load to GPU).

__init__(*args, **kwargs)

start_app(package_name, activity_name)

execute()

Main function of the sensor.

Must be implemented by the subclass.

Returns:

A SICMessage

Return type:

SICMessage

stop(*args)

Set the stop event to signal the component to stop.

Awaits for the component to stop and checks that the _stopped event is set.

class sic_framework.devices.common_mini.mini_microphone.MiniMicrophone(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of MiniMicrophoneSensor

Speaker

class sic_framework.devices.common_mini.mini_speaker.MiniSpeakersConf(sample_rate=44100, channels=1)

Bases: SICConfMessage

__init__(sample_rate=44100, channels=1)

class sic_framework.devices.common_mini.mini_speaker.MiniSpeakerComponent(*args, **kwargs)

Bases: SICComponent

COMPONENT_STARTUP_TIMEOUT = 5

Timeout in seconds for component startup.

This controls how long a SICConnector should wait when requesting a component to start. Increase this value for components that need more time to initialize (e.g., robots that need to stand up or models that need to load to GPU).

__init__(*args, **kwargs)

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Define the handler for input messages.

Parameters:

message (SICMessage) – The message to handle.

Returns:

The reply

Return type:

SICMessage

on_request(request)

Define the handler for Component specific requests. Must return a SICMessage as a reply to the request.

Parameters:

request (SICRequest) – The request for this component.

Returns:

The reply

Return type:

SICMessage

stop(*args)

Set the stop event to signal the component to stop.

Awaits for the component to stop and checks that the _stopped event is set.

class sic_framework.devices.common_mini.mini_speaker.MiniSpeaker(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of MiniSpeakerComponent

Animation

Franka Components

Components for the Franka Emika robot arm.

Motion

class sic_framework.devices.common_franka.franka_motion.FrankaPoseRequest(stream=False)

Bases: SICRequest

A request for obtaining the current end-effector (EE) pose relative to the robot base frame.

__init__(stream=False)

class sic_framework.devices.common_franka.franka_motion.FrankaPose(position, orientation)

Bases: SICMessage

A SICMessage containing end-effector (EE) position and orientation in robot base frame

Parameters:

• position – end-effector position in robot base frame

• orientation – end-effector orientation (quaternion) in robot base frame

__init__(position, orientation)

class sic_framework.devices.common_franka.franka_motion.FrankaGripperGraspRequest(width, speed=0.1, force=5, epsilon_inner=0.005, epsilon_outer=0.005)

Bases: SICRequest

A SICRequest to command the gripper to grasp an object with a force-controlled command.

see the api documentation for more details: https://jeanelsner.github.io/panda-py/panda_py.libfranka.html#panda_py.libfranka.Gripper.grasp

Parameters:

• width – The distance between the fingers in meters. The width must be between 0.0 and 0.085 m.

• speed – The speed of the gripper in meters per second. The speed must be between 0 and 0.1 m/s.

• force – The gripping force in Newton. The force must be between 5 and 70 N.

• epsilon_inner – The inner tolerance for the grasp width in meters.

• epsilon_outer – The outer tolerance for the grasp width in meters.

__init__(width, speed=0.1, force=5, epsilon_inner=0.005, epsilon_outer=0.005)

class sic_framework.devices.common_franka.franka_motion.FrankaGripperMoveRequest(width, speed=0.1)

Bases: SICRequest

A SICRequest to command the gripper to move to a specific width.

see the api documentation for more details: https://jeanelsner.github.io/panda-py/panda_py.libfranka.html#panda_py.libfranka.Gripper.move

Parameters:

• width – The distance between the fingers in meters. The width must be between 0.0 and 0.085 m.

• speed – The speed of the gripper in meters per second. The speed must be between 0 and 0.1 m/s.

__init__(width, speed=0.1)

class sic_framework.devices.common_franka.franka_motion.FrankaMotionActuator(*args, **kwargs)

Bases: SICActuator

__init__(*args, **kwargs)

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Define the handler for input messages.

Parameters:

message (SICMessage) – The message to handle.

Returns:

The reply

Return type:

SICMessage

execute(request)

Main function of the Actuator. Must return a SICMessage as a reply to the user.

Must be implemented by the subclass.

Parameters:

request (SICRequest) – input messages

Return type:

SICMessage

get_pose()

class sic_framework.devices.common_franka.franka_motion.FrankaMotion(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of FrankaMotionActuator

Motion Recorder

class sic_framework.devices.common_franka.franka_motion_recorder.StartTeachingRequest(request_id=None)

Bases: SICRequest

A request to start teaching mode

class sic_framework.devices.common_franka.franka_motion_recorder.StopTeachingRequest(request_id=None)

Bases: SICRequest

A request to stop teaching mode

class sic_framework.devices.common_franka.franka_motion_recorder.StartRecordingRequest(frequency=1000)

Bases: SICRequest

Record motion of the joints, For more information see documentation https://github.com/JeanElsner/panda-py

Parameters:

frequency – Number of data points recorded per second. Higher values capture finer motion detail

__init__(frequency=1000)

class sic_framework.devices.common_franka.franka_motion_recorder.StopRecordingRequest(request_id=None)

Bases: SICRequest

A request to stop recording joint motion.

class sic_framework.devices.common_franka.franka_motion_recorder.GoHomeRequest(request_id=None)

Bases: SICRequest

A request to move the robot to its home position.

class sic_framework.devices.common_franka.franka_motion_recorder.PlayRecordingRequest(joint_recording, frequency=1000)

Bases: SICRequest

Play recorded joint positions and joint velocities.

Parameters:

• joint_recording – Object contains PandaJointsRecording.

• frequency – Number of data points recorded per second. This frequency should match how the initial trajectory was recorded/collected

__init__(joint_recording, frequency=1000)

class sic_framework.devices.common_franka.franka_motion_recorder.PandaJointsRecording(recorded_joints_pos, recorded_joints_vel)

Bases: SICMessage

A SICMessage containing recorded joint positions and velocities.

Parameters:

• recorded_joints_pos – List of 7-element arrays representing recorded joint positions.

• recorded_joints_vel – List of 7-element arrays representing recorded joint velocities.

__init__(recorded_joints_pos, recorded_joints_vel)

save(filename)

Save the recorded joint positions and velocities to a file.

Parameters:

filename – The name of the file to save. In demo, it ends with “.motion”.

classmethod load(filename)

Load recorded joint positions and velocities from a “.motion”.

Parameters:

filename – The name of the file to load.

Returns:

An instance of PandaJointsRecording containing joint positions and velocities data.

class sic_framework.devices.common_franka.franka_motion_recorder.FrankaMotionRecorderActuator(*args, **kwargs)

Bases: SICActuator

__init__(*args, **kwargs)

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

record_motion()

Record joint motion when recording event is set.

reset_recording_variables(request)

Reset recorded joint positions and velocities and set the recording frequency.

Parameters:

request – The StartRecordingRequest containing the desired recording frequency.

replay_recording(request)

Replay recorded joint positions and velocities.

Parameters:

request – The PlayRecordingRequest containing recorded joint positions and velocities.

execute(request)

Main function of the Actuator. Must return a SICMessage as a reply to the user.

Must be implemented by the subclass.

Parameters:

request (SICRequest) – input messages

Return type:

SICMessage

class sic_framework.devices.common_franka.franka_motion_recorder.FrankaMotionRecorder(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of FrankaMotionRecorderActuator

NAO Stub Components

Stub components for NAO robot testing and simulation.

NAO stub components - provides the same interface as the real NAO robot but uses Desktop sensors/actuators where possible. NAO-specific actuators are stubbed with logging.

class sic_framework.devices.common_nao_stub.NaoStubMotion(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubMotionActuator

class sic_framework.devices.common_nao_stub.NaoStubMotionRecorder(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubMotionRecorderActuator

class sic_framework.devices.common_nao_stub.NaoStubTTS(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubTTSActuator

class sic_framework.devices.common_nao_stub.NaoStubStiffness(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubStiffnessActuator

class sic_framework.devices.common_nao_stub.NaoStubAutonomous(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubAutonomousActuator

class sic_framework.devices.common_nao_stub.NaoStubLEDs(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubLEDsActuator

class sic_framework.devices.common_nao_stub.NaoStubButtons(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubButtonsSensor

register_callback(callback)

Stub callback registration for buttons.

class sic_framework.devices.common_nao_stub.NaoStubTracker(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubTrackerActuator

class sic_framework.devices.common_nao_stub.NaoStubLookAt(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubLookAtActuator

class sic_framework.devices.common_nao_stub.NaoStubMotionActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO motion actuator - logs actions instead of executing them.

execute(request)

Log the motion request instead of executing it.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Log incoming messages.

class sic_framework.devices.common_nao_stub.NaoStubMotionRecorderActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO motion recorder - logs actions instead of executing them.

execute(request)

Log the motion recorder request instead of executing it.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Log incoming messages.

stop()

Stop the Motion recorder actuator.

class sic_framework.devices.common_nao_stub.NaoStubTTSActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO TTS - logs what would be said instead of actually speaking.

execute(request)

Log what would be spoken.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Handle incoming text messages.

stop()

Stop the TTS actuator.

class sic_framework.devices.common_nao_stub.NaoStubStiffnessActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO stiffness actuator - logs actions instead of executing them.

execute(request)

Log the stiffness request instead of executing it.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Log incoming messages.

stop()

Stop the Stiffness actuator.

class sic_framework.devices.common_nao_stub.NaoStubAutonomousActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO autonomous behavior - logs actions instead of executing them.

execute(request)

Log the autonomous request instead of executing it.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Log incoming messages.

stop()

Stop the Autonomous actuator.

class sic_framework.devices.common_nao_stub.NaoStubLEDsActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO LED actuator - logs actions instead of executing them.

execute(request)

Log the LED request instead of executing it.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Log incoming messages.

stop()

Stop the LEDs actuator.

class sic_framework.devices.common_nao_stub.NaoStubButtonsSensor(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICSensor

Stub for NAO button sensor - logs but doesn’t generate events.

execute()

Buttons don’t continuously produce data, so return None.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

stop()

Stop the Buttons sensor.

class sic_framework.devices.common_nao_stub.NaoStubTrackerActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO tracker actuator - logs actions instead of executing them.

execute(request)

Log the tracker request instead of executing it.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Log incoming messages.

stop()

Stop the Tracker actuator.

class sic_framework.devices.common_nao_stub.NaoStubLookAtActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO look-at actuator - logs actions instead of executing them.

execute(request)

Log the look-at request instead of executing it.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

on_message(message)

Log incoming messages.

stop()

Stop the LookAt actuator.

Autonomous

NAO stub autonomous behavior component.

class sic_framework.devices.common_nao_stub.nao_stub_autonomous.NaoStubAutonomousActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO autonomous behavior - logs actions instead of executing them.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Log the autonomous request instead of executing it.

on_message(message)

Log incoming messages.

stop()

Stop the Autonomous actuator.

class sic_framework.devices.common_nao_stub.nao_stub_autonomous.NaoStubAutonomous(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubAutonomousActuator

Buttons

NAO stub buttons component.

class sic_framework.devices.common_nao_stub.nao_stub_buttons.NaoStubButtonsSensor(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICSensor

Stub for NAO button sensor - logs but doesn’t generate events.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute()

Buttons don’t continuously produce data, so return None.

stop()

Stop the Buttons sensor.

class sic_framework.devices.common_nao_stub.nao_stub_buttons.NaoStubButtons(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubButtonsSensor

register_callback(callback)

Stub callback registration for buttons.

LEDs

NAO stub LEDs component.

class sic_framework.devices.common_nao_stub.nao_stub_leds.NaoStubLEDsActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO LED actuator - logs actions instead of executing them.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Log the LED request instead of executing it.

on_message(message)

Log incoming messages.

stop()

Stop the LEDs actuator.

class sic_framework.devices.common_nao_stub.nao_stub_leds.NaoStubLEDs(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubLEDsActuator

Motion

NAO stub motion components.

class sic_framework.devices.common_nao_stub.nao_stub_motion.NaoStubMotionActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO motion actuator - logs actions instead of executing them.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Log the motion request instead of executing it.

on_message(message)

Log incoming messages.

class sic_framework.devices.common_nao_stub.nao_stub_motion.NaoStubMotionRecorderActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO motion recorder - logs actions instead of executing them.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Log the motion recorder request instead of executing it.

on_message(message)

Log incoming messages.

stop()

Stop the Motion recorder actuator.

class sic_framework.devices.common_nao_stub.nao_stub_motion.NaoStubMotion(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubMotionActuator

class sic_framework.devices.common_nao_stub.nao_stub_motion.NaoStubMotionRecorder(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubMotionRecorderActuator

Stiffness

NAO stub stiffness component.

class sic_framework.devices.common_nao_stub.nao_stub_stiffness.NaoStubStiffnessActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO stiffness actuator - logs actions instead of executing them.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Log the stiffness request instead of executing it.

on_message(message)

Log incoming messages.

stop()

Stop the Stiffness actuator.

class sic_framework.devices.common_nao_stub.nao_stub_stiffness.NaoStubStiffness(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubStiffnessActuator

Tracker

NAO stub tracker and look-at components.

class sic_framework.devices.common_nao_stub.nao_stub_tracker.NaoStubTrackerActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO tracker actuator - logs actions instead of executing them.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Log the tracker request instead of executing it.

on_message(message)

Log incoming messages.

stop()

Stop the Tracker actuator.

class sic_framework.devices.common_nao_stub.nao_stub_tracker.NaoStubLookAtActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO look-at actuator - logs actions instead of executing them.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Log the look-at request instead of executing it.

on_message(message)

Log incoming messages.

stop()

Stop the LookAt actuator.

class sic_framework.devices.common_nao_stub.nao_stub_tracker.NaoStubTracker(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubTrackerActuator

class sic_framework.devices.common_nao_stub.nao_stub_tracker.NaoStubLookAt(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubLookAtActuator

Text-to-Speech

NAO stub text-to-speech component.

class sic_framework.devices.common_nao_stub.nao_stub_tts.NaoStubTTSActuator(ready_event=None, stop_event=None, conf=None, input_channel=None, component_channel=None, req_reply_channel=None, client_id='', endpoint='', ip='', redis=None)

Bases: SICActuator

Stub for NAO TTS - logs what would be said instead of actually speaking.

static get_conf()

Define the expected configuration of the component using SICConfMessage.

Returns:

a SICConfMessage or None

Return type:

SICConfMessage

static get_inputs()

Define the input types the component needs as a list.

Must be implemented by the subclass.

Returns:

list of SIC messages

Return type:

List[Type[SICMessage]]

static get_output()

Define the output type of the component.

Must be implemented by the subclass.

Returns:

SIC message

Return type:

Type[SICMessage]

execute(request)

Log what would be spoken.

on_message(message)

Handle incoming text messages.

stop()

Stop the TTS actuator.

class sic_framework.devices.common_nao_stub.nao_stub_tts.NaoStubTTS(ip='localhost', conf=None, input_source=None)

Bases: SICConnector

component_class

alias of NaoStubTTSActuator