本文整理汇总了Python中naoqi.ALProxy.setState方法的典型用法代码示例。如果您正苦于以下问题：Python ALProxy.setState方法的具体用法？Python ALProxy.setState怎么用？Python ALProxy.setState使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类naoqi.ALProxy的用法示例。
在下文中一共展示了ALProxy.setState方法的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: main
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
def main(robot_IP, robot_PORT=9559):
# ----------> Connect to robot <----------
global tts, motion, autonomous
tts = ALProxy("ALTextToSpeech", robot_IP, robot_PORT)
motion = ALProxy("ALMotion", robot_IP, robot_PORT)
autonomous = ALProxy("ALAutonomousLife", robot_IP, robot_PORT)
autonomous.setState("disabled") # turn ALAutonomousLife off
# ----------> <----------
record()
reappear()示例2: __init__
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class NaoMonkey:
PART = {
'LShoulder': ['LShoulderPitch', 'LShoulderRoll'],
'RShoulder': ['RShoulderPitch', 'RShoulderRoll'],
'LElbow': ['LElbowYaw', 'LElbowRoll'],
'RElbow': ['RElbowYaw', 'RElbowRoll'],
'Head': ['HeadYaw', 'HeadPitch'],
}
LIMITS = {
'Head': [[-2.0, 2.0], [-0.67, 0.51]],
'LShoulder': [[-2.0, 2.0], [-0.31, 1.32]],
'RShoulder': [[-2.0, 2.0], [-1.32, 0.31]],
'LElbow': [[-2.0, 2.0], [-1.54, -0.03]],
'RElbow': [[-2.0, 2.0], [0.03, 1.54]],
}
def __init__(self):
rospy.init_node('nao_mykinect', anonymous=True)
self.listener = rospy.Subscriber('nao', NaoCoords, self.move)
ip = rospy.get_param('~ip', '10.104.16.141')
port = int(rospy.get_param('~port', '9559'))
self.al = ALProxy("ALAutonomousLife", ip, port)
self.postureProxy = ALProxy("ALRobotPosture", ip, port)
self.motionProxy = ALProxy("ALMotion", ip, port)
self.al.setState("disabled")
for part in ["Head", "LArm", "RArm"]:
self.motionProxy.setStiffnesses(part, 1.0)
rospy.loginfo(self.motionProxy.getSummary())
def move(self, coords):
part = coords.Part.data
angles1 = coords.Angles1
angles2 = coords.Angles2
angles = [float(angles1.data), float(angles2.data)]
speed = 1.0
if part not in NaoMonkey.PART:
error_msg = 'Wat? I Do not have ' + str(part)
rospy.loginfo(error_msg)
return
if len(NaoMonkey.PART[part]) != len(angles):
error_msg = 'Wat? What shall i do with rest joint?'
rospy.loginfo(error_msg)
return
angles = map(lambda x: float(x)*math.pi/180.0, angles)
for limit, angle in zip(NaoMonkey.LIMITS[part], angles):
if angle < limit[0] or angle > limit[1]:
error_msg = 'Wat? Limits man!'
rospy.loginfo(error_msg)
self.motionProxy.setAngles(NaoMonkey.PART[part], angles, speed);示例3: exe
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
def exe(self, args=None, addr=None):
# get proxies
life = ALProxy("ALAutonomousLife", Settings.naoHostName, Settings.naoPort)
# set life state
if len(args) > 0:
try:
if str(args[0]) not in life.getState():
life.setState( str(args[0]) )
except:
print "can not set life state " + str(args[0]) + ". Set disabled instead."
life.setState( 'disabled')示例4: __init__
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class InitPose:
def __init__(self):
ip = rospy.get_param('~ip', '10.104.16.141')
port = int(rospy.get_param('~port', '9559'))
self.al = ALProxy("ALAutonomousLife", ip, port)
self.postureProxy = ALProxy("ALRobotPosture", ip, port)
self.motionProxy = ALProxy("ALMotion", ip, port)
self.al.setState("disabled")
self.postureProxy.goToPosture("StandInit", 0.5)
for part in ["Head", "LArm", "RArm"]:
self.motionProxy.setStiffnesses(part, 1.0)
self.init_kinnect_pose()
def init_kinnect_pose(self):
self.motionProxy.setAngles(['LShoulderRoll', 'RShoulderRoll'], self.to_rad([57.9, -57.9]), 1.0);
self.motionProxy.setAngles(['LShoulderPitch', 'RShoulderPitch'], self.to_rad([-94.1, -94.1]), 1.0);
self.motionProxy.setAngles(['LElbowYaw', 'RElbowYaw'], self.to_rad([-11.5, 11.5]), 1.0);
self.motionProxy.setAngles(['LElbowRoll', 'RElbowRoll'], self.to_rad([-61.3, 61.3]), 1.0);
self.motionProxy.setAngles(['LWristYaw', 'RWristYaw'], self.to_rad([7.0, -7.0]), 1.0);
self.motionProxy.setAngles(['LHand', 'RHand'], self.to_rad([0.99, 0.99]), 1.0);
def to_rad(self, angles):
return map(lambda x: float(x)*math.pi/180.0, angles)示例5: Tracker
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class Tracker():
def __init__(self):
rospy.init_node('tracker_mykinect', anonymous=True)
self.myFrame = 'kinect_link'
self.r = rospy.Rate(20) #rospy.Rate(1) = 1Hz
#Skeleton Listener
self.tf = tf.TransformListener()
#Nao init and connect
self.nao_init()
self.startXPosition = 0.0;
self.startYPosition = 0.0;
self.naoXPosition = self.startXPosition
self.naoYPosition = self.startYPosition
rospy.loginfo("Start tracking for 3s...")
rospy.sleep(3.0)
rospy.loginfo("Tracking started!")
self.hoh = 0.86 #Nao Hight in meters
for i in range(1, 4):
#Get all nessecery joins. (Right side = Left side if you stand front to sensor)
try:
self.j_head = "{0}_{1}".format(rospy.get_param('~target_joint', '/head'), i)
self.j_l_hand = "{0}_{1}".format(rospy.get_param('~target_joint', '/left_hand'), i)
self.j_r_hand = "{0}_{1}".format(rospy.get_param('~target_joint', '/right_hand'), i)
self.j_l_shoul = "{0}_{1}".format(rospy.get_param('~target_joint', '/left_shoulder'), i)
self.j_torso = "{0}_{1}".format(rospy.get_param('~target_joint', '/torso'), i)
self.j_l_ehand = "{0}_{1}".format(rospy.get_param('~target_joint', '/left_elbow'), i)
self.j_r_ehand = "{0}_{1}".format(rospy.get_param('~target_joint', '/right_elbow'), i)
break
except:
pass
def toRAD(self,angle):
return angle*almath.TO_RAD
def nao_init(self):
#NAO CONNECT AND INIT
# PORT AND IP NAO ROBOT
ip = rospy.get_param('~ip', '127.0.0.1')
port = int(rospy.get_param('~port', '51888'))
#ip = rospy.get_param('~ip', '10.104.16.53')
#port = int(rospy.get_param('~port', '9559'))
self.al = ALProxy("ALAutonomousLife", ip, port)
self.postureProxy = ALProxy("ALRobotPosture", ip, port)
self.tts = ALProxy("ALTextToSpeech", ip, port)
self.motionProxy = ALProxy("ALMotion", ip, port)
self.mistake = almath.Pose2D(self.motionProxy.getRobotPosition(False))
#self.audioProxy = ALProxy("ALSpeechRecognition",ip,port)
#self.audioProxy.setLanguage("English")
#vocabulary = ["go"]
#self.audioProxy.setVocabulary(vocabulary, False)
self.al.setState("disabled")
self.postureProxy.goToPosture("StandInit", 0.5)
#ALProxy("ALBasicAwareness", ip, port).stopAwareness()
#self.motionProxy.setFallManagerEnabled(False)
self.motionProxy.setExternalCollisionProtectionEnabled("All",False)
def nao_hello(self):
#Nao hello module
self.postureProxy.goToPosture("Standing",1.0)
self.motionProxy.setAngles('RShoulderPitch',self.toRAD(-97.3),1.0)
self.motionProxy.setAngles('RShoulderRoll',self.toRAD(-39.2),1.0)
self.motionProxy.setAngles('RElbowRoll',self.toRAD(50.8),1.0)
self.motionProxy.setAngles('RElbowYaw',self.toRAD(8.5),1.0)
self.motionProxy.setAngles('RWristYaw',self.toRAD(-13.4),1.0)
self.motionProxy.openHand('RHand')
thread.start_new_thread((lambda:self.tts.say("Hello my friend")),())
for i in range(0,2):
self.motionProxy.angleInterpolation("RShoulderRoll",self.toRAD(-12.2),0.3,True)
self.motionProxy.angleInterpolation("RShoulderRoll",self.toRAD(39.2),0.3,True)
self.motionProxy.angleInterpolation("RShoulderRoll",self.toRAD(-50.4),0.3,True)
self.postureProxy.goToPosture("Standing",1.0)
def nao_sensei(self):
#Nao hello(sensei) module
self.postureProxy.goToPosture("Standing",1.0)
self.motionProxy.setAngles(['RShoulderPitch','LShoulderPitch'],[self.toRAD(52.7),self.toRAD(49.1)],1.0)
self.motionProxy.setAngles(['RShoulderRoll','LShoulderRoll'],[self.toRAD(13.3),self.toRAD(-8.9)],1.0)
self.motionProxy.setAngles(['RElbowRoll','LElbowRoll'],[self.toRAD(88.3),self.toRAD(-87.6)],1.0)
self.motionProxy.setAngles(['RElbowYaw','LElbowYaw'],[self.toRAD(68.1),self.toRAD(-60.9)],1.0)
self.motionProxy.setAngles(['RWristYaw','LWristYaw'],[self.toRAD(-10.3),self.toRAD(11.0)],1.0)
self.motionProxy.setAngles(['RHand','LHand'],[self.toRAD(-10.3),self.toRAD(11.0)],1.0)
self.motionProxy.openHand('RHand')
self.motionProxy.openHand('LHand')
#sequence head
self.tts.say("Domo Arigato")
#self.motionProxy.angleInterpolation("HeadPitch",0.0,1.0,True)
self.motionProxy.angleInterpolation("HeadPitch",self.toRAD(26.5),1.0,True)
self.motionProxy.angleInterpolation("HeadPitch",0.0,1.0,True)
self.postureProxy.goToPosture("Standing",1)
def hello_process(self):
#HELLO module
self.count = 0
#.........这里部分代码省略.........
示例6: main
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
def main():
# ----------> 命令行解析 <----------
global ROBOT_IP
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=ROBOT_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# 如果运行前指定ip参数，则更新ROBOT_IP全局变量;
# 其他模块会用到ROBOT_IP变量;
ROBOT_IP = pip
# ----------> 创建python broker <----------
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# ----------> 创建Robot ALProxy Module<----------
global tts, motion, memory, battery, autonomous, posture, sonar
global leds # leds.py中的全局变量;
tts = ALProxy("ALTextToSpeech")
# 默认为英语语言包
tts.setLanguage("English")
motion = ALProxy("ALMotion")
posture = ALProxy("ALRobotPosture")
memory = ALProxy("ALMemory")
battery = ALProxy("ALBattery")
sonar = ALProxy("ALSonar")
leds = ALProxy("ALLeds")
# turn ALAutonomousLife off
autonomous = ALProxy("ALAutonomousLife")
autonomous.setState("disabled")
# ----------> 自己实现的类 <----------
global avoid
avoid = avoidance(ROBOT_IP, ROBOT_PORT) # 超声波避障类
global mp3player
mp3player = MP3player(ROBOT_IP, ROBOT_PORT) # 音乐播放器模块
global touch
touch = touchPasswd("touch") # 触摸登录模块
touch.setPassword('132312')
global video
video = VideoSend(ROBOT_IP, ROBOT_PORT)
# TopCamera:0 / BottomCamera:1
# XtionCamera: 2 (optional)
# video.addXtionCamera()
video.setCamera(0)
video.setFPS(30)
video.start() # 开启视频传输服务器
global chatrobot
chatrobot = ChatRobot() # Chat robot
# chatrobot.setRobot('SIMSIMI')
chatrobot.setRobot('TULING')
# 跳过验证, 便于调试程序
touch.skipVerify()
# ----------> 开启socket服务器监听端口 <----------
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.bind((ROBOT_IP, LISTEN_PORT))
sock.listen(10)
# 目前只开放监听端口，但是不接受客户端连接，只有通过系统验证模块以后，才会接受socket连接;
global connection
global CONNECT_FLAG
try:
while True: # 死循环
if touch.isVerify() == True: # 通过验证则开始接受socket连接
setEarFlushFlag(False)
setFaceFlushFlag(False)
time.sleep(2)
thread.start_new_thread(LED_face_SwitchColor, (leds, 'green', 2))
# 等待客户端连接，单线程监听单一客户端;
connection,address = sock.accept()
tts.say("OK, socket connected")
print "socket connected, waitting for command"
# 开始发送视频;
video.setSendFlag(True)
#.........这里部分代码省略.........
示例7: len
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
#!/usr/bin/env python
#-*- coding: utf-8 -*-
from naoqi import ALProxy
import sys
PORT = 9559
if len(sys.argv) > 1:
IP = sys.argv[1]
else:
print "Usage: python nao_kill.py nao_ip"
exit()
autolife=ALProxy("ALAutonomousLife", IP, PORT)
autolife.setState("disabled")
示例8: emotional_demo_module
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class emotional_demo_module(ALModule):
""" A simple module to change the eye LEDs colour to represent emotions.
"""
def __init__(self, name):
ALModule.__init__(self, name)
# Create proxies for the instance.
global memory
memory = ALProxy("ALMemory")
self.tts = ALProxy("ALTextToSpeech")
self.leds = ALProxy("ALLeds")
self.motion = ALProxy("ALMotion")
# Write empty valence and arousal values to memory.
valence = 0
arousal = 0
param1 = 'null'
current_emotion = [(valence, arousal), ("valence_mood", "arousal_mood"), ("personality"), (param1, "param2")]
memory.insertData("Emotion/Current", current_emotion)
# Disable ALAutonomousLife to better demonstrate emotional actions.
self.autonomous_life = ALProxy("ALAutonomousLife")
if (self.autonomous_life.getState() != "disabled"):
self.autonomous_life.setState("disabled")
time.sleep(1.0)
self.motion.wakeUp()
# Run behaviour when a tactile touched.
memory.subscribeToEvent("VAChanged", self.getName(), "express_current_emotion")
def express_current_emotion(self, *_args):
""" Expresses the current emotion from the current valence and arousal values in ALMemory.
"""
# SETUP
# Events.
memory.unsubscribeToEvent("VAChanged", self.getName())
# Motion.
motion_names = list()
motion_times = list()
motion_keys = list()
# Eyes.
eye_colour_lookup_table = [[(0xF82C35),(0xF82C35),(0xD55528),(0xD55528),(0xFF622B),(0xFF622B),(0xFFB047),(0xFFB047),(0xFFB047),(0xFFB047),(0xFFB047)],
[(0xF82C35),(0xF82C35),(0xD5542A),(0xD5542A),(0xE96A37),(0xFF8232),(0xFF8232),(0xFEB340),(0xFEB340),(0xFEB340),(0xFFFF00)],
[(0xF62D35),(0xF62D35),(0xF62D35),(0xE96A37),(0xE96A37),(0xFF984D),(0xFF8232),(0xFDC147),(0xFFB144),(0xFFFF00),(0xFFFF00)],
[(0xF72C32),(0xF72C32),(0xFF4048),(0xFE5761),(0xED8659),(0xFEB278),(0xFECE6A),(0xFECE6A),(0xFEE566),(0xFFFF00),(0xFFFF00)],
[(0xF6255C),(0xF6255C),(0xF9386F),(0xFD585E),(0xF78C84),(0xFFB379),(0xFEDEA1),(0xFEE67C),(0xFFE564),(0xFFFF00),(0xFFFF00)],
[(0xF6255C),(0xF93871),(0xF93871),(0xFE9EB9),(0xFE9EB9),(0xFFFFFF),(0xD0E7B3),(0xA5D277),(0x85B957),(0x6EAB34),(0x6EAB34)],
[(0xA82C72),(0xA82C72),(0xC03381),(0xDB5CA1),(0xE8A1C3),(0xD1E5F0),(0xCFDADE),(0x73B8B3),(0x87B958),(0x6EAB34),(0x6EAB34)],
[(0xA82C72),(0xA82C72),(0xC03381),(0x9C3F74),(0xB36893),(0xD1E4F2),(0x91C3E6),(0x91C3E6),(0x219A95),(0x00948E),(0x6BAC34)],
[(0xA82C72),(0xA82C72),(0x86305D),(0x86305D),(0x94C8D6),(0x93C8D8),(0x92C2E6),(0x3196CE),(0x009591),(0x009591),(0x009591)],
[(0xA62D72),(0x692850),(0x692850),(0x692850),(0x2D9DB1),(0x2C9FB2),(0x2F96CE),(0x0085BE),(0x00968D),(0x00968D),(0x00968D)],
[(0x692850),(0x692850),(0x692850),(0x692850),(0x037F9B),(0x037F9B),(0x0085BE),(0x0085BE),(0x0085BE),(0x0085BE),(0x0085BE)]
]
# Speech.
# Speech parameter lookup table. Format (pitch modifier, volume modifier)
speech_parameter_lookup_table = [((1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00)),
((1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00),(1.00,1.00)),
((1.00,0.75),(0.81,0.75),(0.00,0.00),(0.00,0.00),(-0.25,0.00),(0.50,1.00),(0.62,0.50),(0.75,),(0.75,),(0.75,0.75),(1.00,0.75)),
((1.00,0.50),(0.63,0.50),(-0.20,-0.50),(-1.00,-1.00),(-0.25,-0.50),(0.25,0.50),(0.25,0.50),(0.50,),(0.50,0.50),(0.50,0.50),(0.00,0.50)),
((1.00,0.25),(0.44,0.25),(0.40,-0.50),(0.30,-0.50),(0.25,-0.50),(0.25,0.00),(0.25,0.00),(0.25,0.25),(0.25,0.25),(0.25,0.25),(0.00,0.25)),
((1.00,0.00),(0.25,0.00),(0.10,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.10,0.00),(0.10,0.00),(0.10,0.00),(0.00,0.00)),
((0.25,-0.25),(0.06,-0.25),(-0.10,-0.25),(-0.20,0.00),(-0.20,0.00),(-0.10,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00)),
((-0.25,-0.50),(-0.13,-0.50),(-0.35,-0.50),(-0.20,-0.25),(-0.10,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00)),
((-0.25,-0.75),(-0.31,-0.75),(-0.35,-0.75),(-0.10,-0.50),(-0.10,-0.25),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00)),
((-0.50,-1.00),(-0.50,-1.00),(-0.40,-1.00),(-0.20,-0.75),(-0.10,-0.50),(0.00,-0.25),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00)),
((-0.50,-1.00),(-0.50,-1.00),(-0.50,-1.00),(-0.25,-0.75),(0.00,-0.50),(0.00,-0.25),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00),(0.00,0.00))]
# CALCULATIONS
# Get current emotional values and generic calcs.
current_emotion = memory.getData("Emotion/Current")
print "current_emotion (module): ", current_emotion
valence = current_emotion[0][0]
arousal = current_emotion[0][1]
emotion_name = current_emotion[3][0]
# Valence and arousal are normalised between -1 and 1, with an axis intersection at (0, 0). Convert axis intersection
# to index.
valence_index = (int(valence * 5) + 5)
arousal_index = 10 - (int(arousal * 5) + 5)
# Speech.
# The pitch and volume modifier values need scaled, final value to be determined. e.g. a value of 4 will divide the parameter by 4 to give a +/- of 25% of the default value
speech_parameter_scaling_value = 4
string_to_say = "I am feeling " + emotion_name
scaled_pitch_modifier = 1 + (speech_parameter_lookup_table[arousal_index][valence_index][0] / speech_parameter_scaling_value)
# NAO can only increase pitch! So need to check if a pitch reduction required and negate it. Range 1.0 - 4.0.
if scaled_pitch_modifier < 1.0:
scaled_pitch_modifier = 1.0
# NAO volume (gain) range 0.0 - 1.0.
scaled_volume_modifier = 0.5 + (speech_parameter_lookup_table[arousal_index][valence_index][1] / speech_parameter_scaling_value)
self.tts.setParameter("pitchShift", scaled_pitch_modifier)
self.tts.setVolume(scaled_volume_modifier)
# Eyes.
#.........这里部分代码省略.........
示例9: __init__
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class NaoBehavior:
def __init__(self,robotIP):
# Create proxy to ALBehaviorManager
self.managerProxy = ALProxy("ALBehaviorManager", robotIP, 9559)
self.motionProxy = ALProxy("ALMotion", robotIP, 9559)
self.animatedSpeechProxy = ALProxy("ALAnimatedSpeech", robotIP, 9559)
rospy.Subscriber("/nao_behavior/run_behavior", String, self.run_callback)
rospy.Subscriber("/nao_behavior/stop_behavior", String, self.stop)
self.wakeup()
self.auto = ALProxy("ALAutonomousLife", robotIP, 9559)
self.activeBehavior = 0
self.behaviorCount =0
self.nextBehavior = 1
self.autostate()
def disableAuto(self):
self.auto.stopAll()
def autostate(self):
self.auto.setState('solitary')
def run_callback(self,data):
self.auto.setState('disabled')
self.say(data.data)
self.autostate()
return
if data.data == 'wakeup':
self.wakeup()
return
if data.data == 'rest':
self.rest()
return
if data.data == "help":
self.getBehaviors()
# self.Action(data.data)
return
self.launchBehavior(data.data)
def say(self,data):
# set the local configuration
configuration = {"bodyLanguageMode": "contextual"}
# say the text with the local configuration
self.animatedSpeechProxy.say(data, configuration)
def launchBehavior(self, behaviorName):
''' Launch and stop a behavior, if possible. '''
self.behaviorCount = self.behaviorCount +1
behaviorNumber = self.behaviorCount
while True:
if self.activeBehavior ==0 and self.nextBehavior == behaviorNumber:
self.activeBehavior =1
# Check that the behavior exists.
if (self.managerProxy.isBehaviorInstalled(behaviorName)):
# Check that it is not already running.
if (not self.managerProxy.isBehaviorRunning(behaviorName)):
# Launch behavior. This is a blocking call, use post if you do not
# want to wait for the behavior to finish.
rospy.loginfo("Running Behavior")
self.managerProxy.post.runBehavior(behaviorName)
while( self.managerProxy.isBehaviorRunning(behaviorName) == True):
time.sleep(0.2)
else:
rospy.loginfo( "Behavior is already running.")
else:
rospy.loginfo( "Behavior not found.")
self.nextBehavior = behaviorNumber +1
self.activeBehavior =0
return
elif self.activeBehavior ==1:
print( str(behaviorNumber) +'queud')
def stop(self,behaviorName):
# Stop the behavior.
if (self.managerProxy.isBehaviorRunning(behaviorName.data)):
self.managerProxy.stopBehavior(behaviorName.data)
rospy.loginfo("Behavior stopped.")
time.sleep(1.0)
else:
rospy.loginfo("Behavior is already stopped.")
def wakeup(self):
self.motionProxy.wakeUp()
def rest(self):
self.motionProxy.rest()
#.........这里部分代码省略.........
示例10: toRAD
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class Monkey:
CALIBRATION_LIMIT = 50
GAIN = 400
PART = {
"LShoulder": ["LShoulderPitch", "LShoulderRoll"],
"RShoulder": ["RShoulderPitch", "RShoulderRoll"],
"LElbow": ["LElbowYaw", "LElbowRoll"],
"RElbow": ["RElbowYaw", "RElbowRoll"],
"Head": ["HeadYaw", "HeadPitch"],
}
LIMITS = {
"Head": [[-2.0, 2.0], [-0.67, 0.51]],
"LShoulder": [[-2.0, 2.0], [-0.31, 1.32]],
"RShoulder": [[-2.0, 2.0], [-1.32, 0.31]],
"LElbow": [[-2.0, 2.0], [-1.54, -0.03]],
"RElbow": [[-2.0, 2.0], [0.03, 1.54]],
}
def toRAD(self, angle):
return angle * almath.TO_RAD
def __init__(self):
self.calibration = True
self.vector = None
self.rot = None
self.msg_count = 0
rospy.init_node("imitate_mykinect", anonymous=True)
self.myFrame = "imitate_nao"
# Skeleton Listener
self.tf = tf.TransformListener()
self.nao_init()
self.r = rospy.Rate(20) # rospy.Rate(1) = 1Hz
rospy.loginfo("Start tracking for 3s...")
rospy.sleep(3.0)
rospy.loginfo("Tracking started!")
for i in range(1, 4):
# Get all nessecery joins. (Right side = Left side if you stand front to sensor)
try:
self.j_head = "{0}_{1}".format(rospy.get_param("~target_joint", "/head"), i)
self.j_l_hand = "{0}_{1}".format(rospy.get_param("~target_joint", "/left_hand"), i)
self.j_r_hand = "{0}_{1}".format(rospy.get_param("~target_joint", "/right_hand"), i)
self.j_l_shoul = "{0}_{1}".format(rospy.get_param("~target_joint", "/left_shoulder"), i)
self.j_r_shoul = "{0}_{1}".format(rospy.get_param("~target_joint", "/right_shoulder"), i)
self.j_l_ehand = "{0}_{1}".format(rospy.get_param("~target_joint", "/left_elbow"), i)
self.j_r_ehand = "{0}_{1}".format(rospy.get_param("~target_joint", "/right_elbow"), i)
self.j_torso = "{0}_{1}".format(rospy.get_param("~target_joint", "/torso"), i)
break
except:
pass
def nao_init(self):
# NAO CONNECT AND INIT
# PORT AND IP NAO ROBOT
ip = rospy.get_param("~ip", "127.0.0.1")
port = int(rospy.get_param("~port", "35137"))
# ip = rospy.get_param('~ip', '10.104.16.53')
# port = int(rospy.get_param('~port', '9559'))
self.al = ALProxy("ALAutonomousLife", ip, port)
self.postureProxy = ALProxy("ALRobotPosture", ip, port)
self.tts = ALProxy("ALTextToSpeech", ip, port)
self.motionProxy = ALProxy("ALMotion", ip, port)
self.al.setState("disabled")
self.postureProxy.goToPosture("StandInit", 0.5)
def nao_imitate(self):
while not rospy.is_shutdown():
trans_hand, rot_hand = self.tf.lookupTransform("/openni_depth_frame", self.j_l_hand, rospy.Duration())
vec_hand = Vector3(*trans_hand)
trans_torso, rot = self.tf.lookupTransform("/openni_depth_frame", self.j_torso, rospy.Duration())
vec_torso = Vector3(*trans_torso)
trans_handR, rot_handR = self.tf.lookupTransform("/openni_depth_frame", self.j_r_hand, rospy.Duration())
vec_handR = Vector3(*trans_handR)
x = vec_torso.x - vec_hand.x
y = vec_torso.y - vec_hand.y
z = (vec_torso.z - vec_hand.z) * (-1)
x = (int)(1000 * x / 2.5)
y = (int)(-1000 * y / 2.5)
z = (int)(1000 * (z) / 2.5)
xr = vec_torso.x - vec_handR.x
yr = vec_torso.y - vec_handR.y
zr = (vec_torso.z - vec_handR.z) * (-1)
xr = (int)(1000 * xr / 2.5)
yr = (int)(-1000 * yr / 2.5)
zr = (int)(1000 * (zr) / 2.5)
# print(x)
# print(y)
# print(z)
# print("-----------------")
try:
(w1, w2, w3, w4) = self.nao_imitate_with_kinematic_right_hand(
self.get_transform_matrix((xr, yr, zr), (rot_handR[0], rot_handR[1], rot_handR[2]))
)
self.motionProxy.setAngles(["RShoulderRoll", "RShoulderPitch"], [w2, w1], 0.1)
self.motionProxy.setAngles(["RElbowRoll", "RElbowYaw"], [w4, w3], 0.1)
#.........这里部分代码省略.........
示例11: __init__
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class action_manager:
""" A simple module to change the eye LEDs colour to represent emotions.
"""
def __init__(self):
self.tts = ALProxy("ALTextToSpeech")
self.leds = ALProxy("ALLeds")
self.motion = ALProxy("ALMotion")
self.posture = ALProxy("ALRobotPosture")
self.state_activity = " "
self.activity = " "
self.do_it_once = True
self.motion.setStiffnesses("Body", 0.5)
# Get the ~private namespace parameters from command line or launch file.
topic = rospy.get_param("~topic", "current_emotion")
rospy.loginfo("I will subscribe to the topic %s", topic)
rospy.Subscriber(topic, PointStamped, self.current_emotion_callback)
rospy.Subscriber("state_activity", String, self.current_state_callback) # listen for when to stop
rospy.Subscriber("activity", String, self.activity_callback)
rospy.Subscriber("stop_learning", Empty, self.stop_request_callback)
# Disable ALAutonomousLife to better demonstrate emotional actions.
self.autonomous_life = ALProxy("ALAutonomousLife")
if self.autonomous_life.getState() != "disabled":
self.autonomous_life.setState("disabled")
time.sleep(1.0)
# self.motion.wakeUp()
# Wait for messages on topic, go to callback function when new messages arrive.
rospy.spin()
# TODO: Run current emotion when a tactile is touch
# Create a callback function for the subscriber.
def current_emotion_callback(self, data, *_args):
"""
Expresses the current emotion from the current valence and arousal values in ALMemory.
"""
# Motion
motion_names = list()
motion_times = list()
motion_keys = list()
# Eyes.
eye_colour_lookup_table = [
[
(0xF82C35),
(0xF82C35),
(0xD55528),
(0xD55528),
(0xFF622B),
(0xFF622B),
(0xFFB047),
(0xFFB047),
(0xFFB047),
(0x56C427),
(0x56C427),
],
[
(0xF82C35),
(0xF82C35),
(0xD5542A),
(0xD5542A),
(0xE96A37),
(0xFF8232),
(0xFF8232),
(0xFEB340),
(0xFEB340),
(0x56C427),
(0x56C427),
],
[
(0xF62D35),
(0xF62D35),
(0xF62D35),
(0xE96A37),
(0xE96A37),
(0xFF984D),
(0xFF8232),
(0xFDC147),
(0xFFB144),
(0x56C427),
(0x56C427),
],
[
(0xF72C32),
(0xF72C32),
(0xFF4048),
(0xFE5761),
(0xED8659),
(0xFEB278),
(0xFECE6A),
(0xFECE6A),
(0xFEE566),
(0x56C427),
#.........这里部分代码省略.........
示例12: Tracker
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class Tracker():
def __init__(self):
rospy.init_node('control_by_keys', anonymous=True)
self.myFrame = 'control'
self.r = rospy.Rate(1) #rospy.Rate(1) = 1Hz
#Nao init and connect
self.nao_init()
rospy.loginfo("\n\nYou can control nao by keys!\n\n")
def toRAD(self,angle):
return angle*almath.TO_RAD
def nao_init(self):
#NAO CONNECT AND INIT
#PORT AND IP NAO ROBOT
#ip = rospy.get_param('~ip', '127.0.0.1')
#port = int(rospy.get_param('~port', '45404'))
ip = rospy.get_param('~ip', '10.104.16.53')
port = int(rospy.get_param('~port', '9559'))
self.al = ALProxy("ALAutonomousLife", ip, port)
self.postureProxy = ALProxy("ALRobotPosture", ip, port)
self.tts = ALProxy("ALTextToSpeech", ip, port)
self.motionProxy = ALProxy("ALMotion", ip, port)
self.al.setState("disabled")
self.postureProxy.goToPosture("StandInit", 0.5)
def getch(self): # define non-Windows version
import sys, tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
def control(self):
rospy.loginfo("\nPress key W,A,S,D to control nao. Press 'c' to close application!\n\n")
key_input = 'o'
tmp_key = 'o'
while(key_input != 'c'):
while(True):
tmp_key = self.getch()
if (tmp_key == 'a' or tmp_key == 's' or tmp_key == 'd' or tmp_key == 'w' or tmp_key == 'c'):
key_input = tmp_key
break
if(key_input == 'w'):
self.motionProxy.moveTo(0.1,0.0,0.0)
if(key_input == 'a'):
self.motionProxy.moveTo(0.0,0.0,self.toRAD(-90))
if(key_input == 's'):
self.motionProxy.moveTo(-0.1,0.0,0.0)
if(key_input == 'd'):
self.motionProxy.moveTo(0.0,0.0,self.toRAD(90))
self.r.sleep()
rospy.loginfo("\n\nExit Application!\n\n")示例13: main
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
def main():
# ----------> 命令行解析 <----------
global ROBOT_IP
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=ROBOT_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# 如果运行前指定ip参数，则更新ROBOT_IP全局变量;
# 其他模块会用到ROBOT_IP变量;
ROBOT_IP = pip
# ----------> 创建python broker <----------
myBroker = ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# ----------> 创建Robot ALProxy Module<----------
global tts, motion, autonomous
tts = ALProxy("ALTextToSpeech")
# 默认为英语语言包
tts.setLanguage("English")
motion = ALProxy("ALMotion")
# turn ALAutonomousLife off
autonomous = ALProxy("ALAutonomousLife")
autonomous.setState("disabled")
# ----------> 自己实现的类 <----------
global avoid
avoid = avoidance(ROBOT_IP, ROBOT_PORT) # 超声波避障类
global video
video = VideoImage(ROBOT_IP, ROBOT_PORT) # 拍照类
try:
video.addXtionCamera()
video.subscribeCamera()
video.setCamera(0)
# 开启线程避障
avoid.start()
video.takeRGBDimage(1000)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
avoid.stop() # 关闭避障
video.close() # 关闭视频传输模块
myBroker.shutdown() # 关闭代理Broker
sys.exit(0)示例14: CoreRobot
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class CoreRobot(object):
def __init__(self):
self.animated_speech_proxy = None
self.motion_proxy = None
self.posture_proxy = None
self.awareness_proxy = None
self.autonomous_move_proxy = None
self.autonomous_life_proxy = None
def connect(self, host, port):
"""Takes connection params and builds list of ALProxies"""
print 'Core - Connecting to robot on {0}:{1}...'.format(host, port)
try:
self.animated_speech_proxy = ALProxy("ALAnimatedSpeech", host, port)
self.motion_proxy = ALProxy("ALMotion", host, port)
self.posture_proxy = ALProxy("ALRobotPosture", host, port)
self.awareness_proxy = ALProxy("ALBasicAwareness", host, port)
self.autonomous_move_proxy = ALProxy("ALAutonomousMoves", host, port)
self.autonomous_life_proxy = ALProxy("ALAutonomousLife", host, port)
except Exception as exception: # pylint: disable=broad-except
raise Exception('Could not create proxy:{0}', format(exception))
self.set_autonomous_life(False)
def say(self, animated_speech):
self.animated_speech_proxy.say(animated_speech)
def move(self, rotation, distance):
motion = self.motion_proxy
motion.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", True]])
motion.setMotionConfig([["ENABLE_STIFFNESS_PROTECTION", True]])
motion.setCollisionProtectionEnabled('Arms', True)
motion.setExternalCollisionProtectionEnabled('All', True)
motion.moveTo(0, 0, rotation)
motion.moveTo(distance, 0, 0)
def open_hand(self, hand):
self.motion_proxy.openHand(hand)
def close_hand(self, hand):
self.motion_proxy.closeHand(hand)
def set_stiffness(self, joint, stiffness):
print 'Setting {0} to stiffness {1}...'.format(joint, stiffness)
self.motion_proxy.stiffnessInterpolation(joint, stiffness, 1.0)
def set_joint_angle(self, joint, angle_degrees, speed=0.1):
print 'Setting {0} to {1} angle in degrees...'.format(joint, angle_degrees)
self.motion_proxy.angleInterpolationWithSpeed(joint, math.radians(angle_degrees), speed)
def set_pose(self, pose):
self.posture_proxy.goToPosture(pose, 0.5)
def set_autonomous_life(self, set_on):
self.print_sub_system_update(set_on, 'Autonomous Life')
target_state = 'solitary' if set_on else 'disabled'
self.autonomous_life_proxy.setState(target_state)
def get_autonomous_life_state(self):
return self.autonomous_life_proxy.getState()
def set_autonomous_moves(self, set_on):
self.print_sub_system_update(set_on, 'Autonomous Moves')
target_state = 'backToNeutral' if set_on else 'none'
self.autonomous_move_proxy.setBackgroundStrategy(target_state)
def set_awareness(self, set_on):
self.print_sub_system_update(set_on, 'Basic Awareness')
if set_on:
self.awareness_proxy.startAwareness()
else:
self.awareness_proxy.stopAwareness()
def set_breathing(self, set_on):
self.print_sub_system_update(set_on, 'body breathing')
self.motion_proxy.setBreathEnabled('Body', set_on)
self.print_sub_system_update(set_on, 'arm breathing')
self.motion_proxy.setBreathEnabled('Arms', set_on)
def set_move_arms_enabled(self, left_arm, right_arm):
self.motion_proxy.setMoveArmsEnabled(left_arm, right_arm)
@staticmethod
def print_sub_system_update(set_on, sub_process):
on_off = ['off', 'on']
print 'Turning {0} {1}...'.format(on_off[set_on], sub_process)示例15: Tracker
# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setState [as 别名]
class Tracker():
def __init__(self):
rospy.init_node('tracker_mykinect', anonymous=True)
self.myFrame = 'kinect_link'
self.r = rospy.Rate(20) #rospy.Rate(1) = 1Hz
#Skeleton Listener
self.tf = tf.TransformListener()
#Nao init and connect
self.nao_init()
rospy.loginfo("Start tracking for 3s...")
rospy.sleep(3.0)
rospy.loginfo("Tracking started!")
self.hoh = 0.86 #Nao Hight in meters
for i in range(1, 4):
#Get all nessecery joins. (Right side = Left side if you stand front to sensor)
try:
self.j_head = "{0}_{1}".format(rospy.get_param('~target_joint', '/head'), i)
self.j_l_hand = "{0}_{1}".format(rospy.get_param('~target_joint', '/left_hand'), i)
self.j_r_hand = "{0}_{1}".format(rospy.get_param('~target_joint', '/right_hand'), i)
self.j_l_shoul = "{0}_{1}".format(rospy.get_param('~target_joint', '/left_shoulder'), i)
self.j_torso = "{0}_{1}".format(rospy.get_param('~target_joint', '/torso'), i)
self.j_l_ehand = "{0}_{1}".format(rospy.get_param('~target_joint', '/left_elbow'), i)
self.j_r_ehand = "{0}_{1}".format(rospy.get_param('~target_joint', '/right_elbow'), i)
break
except:
pass
def toRAD(self,angle):
return angle*almath.TO_RAD
def nao_init(self):
#NAO CONNECT AND INIT
# PORT AND IP NAO ROBOT
ip = rospy.get_param('~ip', '10.104.16.50')
port = int(rospy.get_param('~port', '9559'))
self.al = ALProxy("ALAutonomousLife", ip, port)
self.postureProxy = ALProxy("ALRobotPosture", ip, port)
self.tts = ALProxy("ALTextToSpeech", ip, port)
self.motionProxy = ALProxy("ALMotion", ip, port)
self.al.setState("disabled")
self.postureProxy.goToPosture("StandInit", 0.5)
def nao_hello(self):
#Nao hello module
self.postureProxy.goToPosture("Standing",1.0)
self.motionProxy.setAngles('RShoulderPitch',self.toRAD(-97.3),1.0)
self.motionProxy.setAngles('RShoulderRoll',self.toRAD(-39.2),1.0)
self.motionProxy.setAngles('RElbowRoll',self.toRAD(50.8),1.0)
self.motionProxy.setAngles('RElbowYaw',self.toRAD(8.5),1.0)
self.motionProxy.setAngles('RWristYaw',self.toRAD(-13.4),1.0)
self.motionProxy.openHand('RHand')
self.tts.say("Hello my friend")
for i in range(0,2):
self.motionProxy.angleInterpolation("RShoulderRoll",self.toRAD(-12.2),0.3,True)
self.motionProxy.angleInterpolation("RShoulderRoll",self.toRAD(39.2),0.3,True)
self.motionProxy.angleInterpolation("RShoulderRoll",self.toRAD(-50.4),0.3,True)
self.postureProxy.goToPosture("Standing",1.0)
def nao_sensei(self):
#Nao hello(sensei) module
self.postureProxy.goToPosture("Standing",1.0)
self.motionProxy.setAngles(['RShoulderPitch','LShoulderPitch'],[self.toRAD(52.7),self.toRAD(49.1)],1.0)
self.motionProxy.setAngles(['RShoulderRoll','LShoulderRoll'],[self.toRAD(13.3),self.toRAD(-8.9)],1.0)
self.motionProxy.setAngles(['RElbowRoll','LElbowRoll'],[self.toRAD(88.3),self.toRAD(-87.6)],1.0)
self.motionProxy.setAngles(['RElbowYaw','LElbowYaw'],[self.toRAD(68.1),self.toRAD(-60.9)],1.0)
self.motionProxy.setAngles(['RWristYaw','LWristYaw'],[self.toRAD(-10.3),self.toRAD(11.0)],1.0)
self.motionProxy.setAngles(['RHand','LHand'],[self.toRAD(-10.3),self.toRAD(11.0)],1.0)
self.motionProxy.openHand('RHand')
self.motionProxy.openHand('LHand')
#sequence head
self.tts.say("Domo Arigato")
#self.motionProxy.angleInterpolation("HeadPitch",0.0,1.0,True)
self.motionProxy.angleInterpolation("HeadPitch",self.toRAD(26.5),1.0,True)
self.motionProxy.angleInterpolation("HeadPitch",0.0,1.0,True)
self.postureProxy.goToPosture("Standing",1)
def hello_process(self):
#HELLO module
self.count = 0
self.side = 0 #left 0 right 1
while not rospy.is_shutdown():
# Get all nessecery vectors
trans_head, rot= self.tf.lookupTransform('/openni_depth_frame', self.j_head, rospy.Duration())
vec_head = Vector3(*trans_head)
trans_hand, rot = self.tf.lookupTransform('/openni_depth_frame', self.j_l_hand, rospy.Duration())
vec_hand = Vector3(*trans_hand)
trans_shoul, rot = self.tf.lookupTransform('/openni_depth_frame', self.j_l_shoul, rospy.Duration())
vec_shoul = Vector3(*trans_shoul)
trans_torso, rot = self.tf.lookupTransform('/openni_depth_frame', self.j_torso, rospy.Duration())
vec_torso = Vector3(*trans_torso)
# IF right hand upper that torso
if (vec_hand.z > vec_torso.z):
#left side
if (not self.side):
#.........这里部分代码省略.........