Movement API

Declare the interface you need on your skill class. Motion calls block by default and stop cleanly on cancel.

from innate import Head, Manipulation, Mobility, Skill

class MySkill(Skill):
    mobility: Mobility
    manipulation: Manipulation
    head: Head

Mobility

self.mobility.rotate(math.pi / 2)                         # turn 90°, blocking
self.mobility.send_cmd_vel(linear_x=0.1, duration=2.0)    # drive forward 2 s

Method	Description
`rotate(angle_radians)`	Turn in place using Nav2. Blocks.
`send_cmd_vel(linear_x, angular_z, duration)`	Send a velocity for `duration` seconds. Open loop, doesn’t block.
`rotate_in_place(angular_speed, duration)`	Spin at a fixed speed for `duration` seconds.
`drive(get_xyt, dist)`	Drive `dist` meters straight, corrected by odometry. Negative drives backward.
`rotate_by(get_xyt, angle)`	Turn `angle` radians, corrected by odometry. Positive is counter-clockwise.
`odom_xyt(odom)`	Turn an `Odometry` feed into the `(x, y, theta)` tuple that `drive` and `rotate_by` need.
`stop()`	Stop the base. Rarely needed, since runs brake on exit.

drive and rotate_by return True on arrival and False on timeout or lost odometry. They never raise:

odom: Odometry

arrived = self.mobility.drive(lambda: self.mobility.odom_xyt(self.odom), 0.25)

To drive to a place on the map, call the shipped navigate_to_position skill instead of writing your own.

Manipulation

Units are meters and radians, relative to base_link. Motions block, verify that the arm arrived, and raise on failure:

Exception	Meaning
`ArmFailed`	The command was impossible, for example an unreachable pose.
`ArmUnhealthy`	The arm didn’t get there, even after an automatic servo reboot and retry.

If you don’t catch them, the skill fails with their message.

self.manipulation.gripper_open()
self.manipulation.move_to(0.30, 0.0, 0.06, pitch=1.45, duration=2.0)
self.manipulation.gripper_close(0.4)   # grip with 0.4 rad of preload
self.manipulation.rest()               # fold away, still holding

Method	Description
`move_to(x, y, z, roll=0, pitch=0, yaw=0, duration=1.5)`	Move the gripper to a pose. Returns the settled pose. Pass `tolerance_z=None` when you expect contact, such as touching the floor.
`move_by(dx=0, dy=0, dz=0, duration=0.5)`	Nudge from the measured pose. Good for visual servoing.
`follow([Waypoint(...), ...])`	Sweep through poses in one smooth motion.
`move_joints(joints, duration=3.0)`	Move to joint angles. Give 5 values to keep the grip, or 6 to set the gripper too.
`rest(duration=3.0)`	Fold the arm, keeping the grip.
`gripper_open(percent=100)`	Open the gripper.
`gripper_close(strength=0)`	Close the gripper. `strength` is preload in radians, up to 0.6. Later moves keep this grip.
`pose`	The live gripper pose: `.position`, `.rpy`, `.pitch`, `.gripper`.
`clamp_reach(x, y)`	Pull a floor target into the reachable area.
`wait()`	Wait for a motion started with `block=False`. Raises if it failed.
`recover()`	Reboot the servos and re-enable torque.
`torque_on()`, `torque_off()`	Hold position, or go limp for moving the arm by hand.

To drive while the arm moves, pass block=False, then call wait(). The motion isn’t verified until you do.

self.manipulation.move_to(0.30, 0.0, 0.25, block=False)
while self.manipulation.moving:
    self.mobility.send_cmd_vel(linear_x=0.05, duration=0.3)
    self.sleep(0.1)
self.manipulation.wait()

Migrating from the OS 0.6 arm API

The old methods still work but log a warning. The new ones raise instead of returning False, and they block by default.

Old	New
`move_to_cartesian_pose()`	`move_to()`
`move_to_joint_positions()`	`move_joints()`
`move_cartesian_trajectory()`	`follow()`
`open_gripper()`, `close_gripper()`	`gripper_open()`, `gripper_close()`
`get_current_end_effector_pose()`, `get_current_orientation_rpy()`	`pose`
`solve_ik()`	`clamp_reach()` plus `move_to()`

Head

Method	Description
`set_position(angle)`	Tilt the head, in degrees from -25 (floor) to +15 (faces and shelves). 0 looks straight ahead.

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Mobility

Manipulation

Head

​Mobility

​Manipulation

​Head

Mobility

Manipulation

Head