Python ALProxy.getPostureFamily方法代码示例

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import getPostureFamily [as 别名]
class ReactionModule(ALModule):
	""" A basic module to test events """
	
	def __init__(self, name):
		ALModule.__init__(self, name)
		self.name = name
		self.tts = ALProxy("ALTextToSpeech")
		self.posture = ALProxy("ALRobotPosture")
		self.memory = ALProxy("ALMemory")
		self.memory.subscribeToEvent("HandDetectedEvent", name, "handleDetection")
		
        
	def handleDetection(self, key, value, message):
		""" A method that handles detection of the ball. """
		self.memory.unsubscribeToEvent("HandDetectedEvent", self.name)
		if value == 0 and self.posture.getPostureFamily() != "Sitting":
			self.posture.goToPosture("Sit", 1.0)
		elif value == 1 and self.posture.getPostureFamily() != "Standing":
			self.posture.goToPosture("Stand", 1.0)
		self.memory.subscribeToEvent("HandDetectedEvent", self.name, "handleDetection")
		
	def disconnect(self):
		try:
			self.memory.unsubscribeToEvent("HandDetectedEvent", self.getName())
		except BaseException, err:
			print "Error while disconnecting from gesture reaction module: " + str(err)

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import getPostureFamily [as 别名]
def main(robotIP, PORT=9559):
    # tts = ALProxy("ALTextToSpeech", robotIP, PORT)
    # tts.post.say("看，我要坐下了.")
    # alBehaviorManager = ALProxy("ALBehaviorManager", robotIP, PORT)
    # alBehaviorManager.getRunningBehaviors ()
    # alBehaviorManager.stopAllBehaviors ()
    postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    postureProxy.post.goToPosture("Sit", 0.8)
    # postureProxy.post.goToPosture("SitRelax", 0.8)
    print postureProxy.getPostureFamily()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import getPostureFamily [as 别名]
def main(robotIP, PORT=9559):
    # 连环动作
    postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    postureProxy.goToPosture("StandInit", 0.8)
    postureProxy.goToPosture("SitRelax", 0.8)
    postureProxy.goToPosture("StandZero", 0.8)
    postureProxy.goToPosture("LyingBelly", 0.8)
    postureProxy.goToPosture("LyingBack", 0.8)
    postureProxy.goToPosture("Stand", 0.8)
    postureProxy.goToPosture("Crouch", 0.8)
    postureProxy.goToPosture("Sit", 0.8)

    print postureProxy.getPostureFamily()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import getPostureFamily [as 别名]
def main(IP, PORT=9559):
    
    # Declare the proxies we will be using
    atts = ALProxy("ALAnimatedSpeech", IP, PORT)
    motion = ALProxy("ALMotion", IP, PORT)
    proxyPosture = ALProxy("ALRobotPosture", IP, PORT)
    # Wake up the robot to make it able to move (enable the motors)
    motion.wakeUp()
    # Configure the body language
    configuration = {"bodyLanguageMode":"contextual"}
    # Text to be read
    atts.say("Bonjour, je vais te raconter l'histoire du vieux grand-père.\\pau=1500\\")
    atts.say("\\rspd=90\\Il était une fois un pauvre homme bien vieux, \\pau=200\\qui avait les yeux trouble, \\pau=200\\"\
            "l’oreille dure et les genoux tremblants. \\pau=600\\Quand il était à table,\\pau=200\\ il pouvait à peine tenir "\
            "sa cui yère ;\\pau=450\\ il reaipandait de la soupe sur la nappe,\\pau=200\\ et quelquefois mème en laissait échapper "\
            "de sa bouche.\\pau=600\\ La femme de son fils,\\pau=200\\ et son fils lui-mème en avaient pris un grand \\rspd=85\\daigoût, \\pau=200\\"\
            "\\rspd=100\\et à la fin ils le reléguaire dans un coin derrière le poil, \\pau=200\\ où ils lui donnaient à manger une "\
            "chaitive pitance dans une vieille écuelle de terre.\\pau=600\\ Le vieillard avaient souvent les larmes aux yeux,\\pau=200\\ "\
            "et regardait tristement du coter de la table...\\pau=800\\", configuration)
    atts.say("\\rspd=90\\Un jour, \\pau=200\\ l'écuelle,\\pau=200\\ que tenaient mal ses mains tremblantes,\\pau=200\\ tomba À terre et se brisa."\
            "\\pau=600\\La jeune femme s'emporta en reproches:\\pau=400\\ il n'osa rien répondre et baissa la tête en soupirant.\\pau=600\\"\
            "On lui \\rspd=90\\acheuta \\rspd=100\\ pour deux liards une écuelle de bois dans laquelle désormais on lui donnait à manger."\
            "\\pau=800\\", configuration)
    atts.say("\\rspd=90\\Quelques jours après,\\pau=200\\ son fils et sa belle-fille virent leur enfant qui avait quatre ans,\\pau=200\\ occupé \\pau=120\\"\
            "à assembler par terre de petites planchettes.\\pau=600\\ \\rspd=95\\ \\vct=70\\Que fais-tu là ?\\vct=100\\ \\rspd=100\\ Demanda "\
            "son père.\\pau=600\\ \\vct=150\\C'est un auget, \\pau=200\\ \\vct=100\\ répondit l'enfant,\\pau=200\\ \\vct=150\\pour donner À manger "\
            "à papa et \\rspd=85\\maman quand ils seront vieux.\\vct=100\\ \\pau=800\\", configuration)
    atts.say("\\rspd=90\\Le mari et la femme se regardère un instant sans rien dire,\\pau=200\\ puis ils se mirent à pleurer, \\pau=200\\ reprirent le "\
            "vieux grand-père à table,\\pau=200\\ et désormais le firent toujours manger à table avec eux,\\pau=200\\ sans plus jamais le rudoyer.", configuration)
    # Get the current posture of the robot
    posture = proxyPosture.getPostureFamily()
    # Set the robot to a 'Standard posture'
    if posture == "Standing":
            proxyPosture.goToPosture("Stand", 0.5)
    else:
            proxyPosture.goToPosture("Sit", 0.5)
    # Make it rest (disable the motors)
    motion.rest()

    print("done \n")

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import getPostureFamily [as 别名]

#.........这里部分代码省略.........
        #self.update_battery()
       
        
    # Reads the file ip_and_name and puts in a temporay list the first line of the txt which is the ip address of the robot
    # Then according this value of the first line two conditions are checked. 
    # If the value equals to Discconeccted then a message is thrown and warns the user which action has to follow.
    # If the value is a proper IP address then imports naoqi library,creates all the modules that will be used from the robot   
    # and changes the values of some variables.
    def connection(self):

         filein = open("ip_and_name.txt", "r")
         temporary_list = filein.readlines()
         temporary_list = [lines.rstrip() for lines in temporary_list] 
         self.ip.set(temporary_list[0])
         
         #The file that has been opened for reading closes here             
         filein.close() 
         
         try:
            # Import naoqi library and creates all the relevant modules that will be used within the class
            from naoqi import ALProxy 
            self.memory = ALProxy("ALMemory", self.ip.get() , 9559)
            self.memory.ping()
            self.tts = ALProxy("ALTextToSpeech", self.ip.get() , 9559)
            self.motion = ALProxy("ALMotion", self.ip.get() , 9559)
            self.posture = ALProxy("ALRobotPosture", self.ip.get(), 9559)
            self.speechrec = ALProxy("ALSpeechRecognition", self.ip.get() , 9559)
            self.battery = ALProxy("ALBattery", self.ip.get() , 9559)


            # Sets the position of the robot variable according the value is returned from the getpostureFamily method
            # Enables both arms of the robot
            # Initializes the command origin variable by setting the value to 0 
            self.robot_position.set(self.posture.getPostureFamily())
            self.arms_status = self.motion.getWalkArmsEnabled()
            self.command_origin.set(0)  
            
            # Set the stifness of all the joints of the robot to 1.0
            # imports the words declared at the beginning of the class into the momory's vocabulary of the robot  
            self.motion.setStiffnesses("Body", 1.0) 
    
    
         except BaseException:
             
             self.turn_left_bt.config(state="disabled")
             self.turn_right_bt.config(state="disabled")
             self.move_left_bt.config(state="disabled")
             self.move_right_bt.config(state="disabled")
             self.move_back_bt.config(state = "disabled")
             self.move_forward_bt.config(state = "disabled")
             self.sit_down_bt.config(state="disabled")
             self.stand_up_bt.config(state="disabled")
             self.crouch_bt.config(state="disabled")
             self.stop_conversation_bt.config(state="disabled")
             self.start_conversation_bt.config(state="disabled")
             
             tkMessageBox.showwarning("Error - Nao is Disconnected", "       You haven't\n     connected NAO.\n\n"
             "1) Go to 'How to connect Nao' on the main panel to see a guide about how NAO has to be connected")
             
             return    
         
        
        

    # Checks initially the position of the robot and then acts according to conditions. 
    # if robot is sitting down a voice message from the robot informs the user that he is going to stand up straight away.

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import getPostureFamily [as 别名]
from naoqi import ALProxy
import sys

posture = sys.argv[1]
postureProxy = ALProxy('ALRobotPosture','localhost',9559)

postureProxy.goToPosture(posture, 1.0)

print postureProxy.getPostureFamily()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import getPostureFamily [as 别名]
#-*- coding: utf-8 -*-
from naoqi import ALProxy

# ----------> Connect to robot <----------
robot_ip = "192.168.1.100"
robot_port = 9559			# default port : 9559

postureProxy = ALProxy("ALRobotPosture", robot_ip, robot_port)

# ----------> Set Posture <----------

postureProxy.goToPosture("StandInit", 1.0)
# std::string ALRobotPostureProxy::getPosture()
# Returns the name of the current predefined postures. 
# If the current posture is not in the predefined postures, it returns “Unknown”.
print "posture:", postureProxy.getPosture()

# Nao Robot H25, 支持的预设姿势
postureProxy.goToPosture("SitRelax", 1.0)
postureProxy.goToPosture("StandZero", 1.0)
postureProxy.goToPosture("LyingBelly", 1.0)
postureProxy.goToPosture("LyingBack", 1.0)
postureProxy.goToPosture("Stand", 1.0)
postureProxy.goToPosture("Crouch", 1.0)
postureProxy.goToPosture("Sit", 1.0)

print "posture list:", postureProxy.getPostureList()
print "robot posture family[now]:", postureProxy.getPostureFamily()

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import getPostureFamily [as 别名]

#.........这里部分代码省略.........
            self.memory = ALProxy("ALMemory", self.ip.get(), 9559)
            self.memory.ping()
            self.tts = ALProxy("ALTextToSpeech", self.ip.get(), 9559)
            self.motion = ALProxy("ALMotion", self.ip.get(), 9559)
            self.posture = ALProxy("ALRobotPosture", self.ip.get(), 9559)
            self.speechrec = ALProxy("ALSpeechRecognition", self.ip.get(), 9559)
            # self.stop_bt.config(state = "disabled")

        except BaseException:

            self.ip.set("Disconnected")
            self.speak_bt.config(state="disabled")
            self.stop_bt.config(state="disabled")
            tkMessageBox.showwarning(
                "Error - Nao is Disconnected",
                "       You haven't\n     connected NAO.\n\n"
                "1) Go to 'How to connect Nao' on the main panel to see a guide about how NAO has to be connected",
            )
            return

    # Opens a url address everytime is called
    def open_url(self, url):
        webbrowser.open(url)

    # When is called opens a dialog window between the user and the robot that lasts 3 seconds.During that time the robot listens
    # the words that the user says ,retrieves from memory the list of the predefined words given at the beginning and
    # with the help of the getMostConfWord method acts in a different way every time depending on the word has been received.
    # At the beggining of the dialog robot speaks to the user and informs him that is ready to accept any words want to provide.
    def start_vocabulary(self):

        # Imports the words declared at the beginning of the class into the momory's vocabulary of the robot
        self.speechrec.setVocabulary(self.vocabulary, True)

        if self.posture.getPostureFamily() == "Sitting":
            self.posture.goToPosture("Stand", 0.8)
        else:
            pass

        if (self.speech_counter) == True:
            self.tts.say("Hello everyone.My name is" + self.robot_name.get())
            self.read_text_info("intro_message.txt")
        else:
            pass

        while self.speech_counter == True:
            self.speechrec.subscribe("tts")
            print("subscribed")
            time.sleep(4)
            list = self.memory.getData("WordRecognized")
            self.getMostConfWord(list, 0.30)
            self.speechrec.unsubscribe("tts")
            print("unsubscribed")
        else:
            self.tts.say(
                "You have selected to stop the induction to the lab.Thank you very much for your time today.Anytime you want any information about the lab don't hesitate to come back.Bye bye and I will see you next time"
            )
            pass

        return

    # Selects the word with the highest level of confidentiality from a list of predefined
    # words (that has been set at initialization) when users speaks to the robot.
    def getMostConfWord(self, recogList, threshold):

        # Declaration of local variables used within the method
        i = 0