def setup(cls, robot):
robot._primitive_manager._filter = partial(numpy.sum, axis=0)
#cls._name = "cherry" # Doesn't work, i have to find why
name = "cherry"
if False:
cls.vrep_hack(robot)
for m in robot.motors:
m.compliant_behavior = 'dummy'
m.goto_behavior = 'minjerk'
m.moving_speed = 70
for m in robot.motors:
m.compliant = False
m.goal_position = 0
for m in robot.head:
m.compliant = True
try:
attach_primitives(robot)
except:
print "Cannot add primitives"
try:
robot.test_gtts.start()
except:
print "Something goes wrong with gTTS"
try:
robot.send_ip.start(name)
except:
print "Unable to send ip to the server"
def setup(self):
""" Initialisation de Cherry.
Attachements des primitives, initialisation de la camera si besoin
"""
robot = self.robot
for m in robot.motors:
m.compliant_behavior = 'safe'
m.goto_behavior = 'minjerk'
attach_primitives(self, self.isCamera)
def setup(self):
""" Initialisation de Cherry.
Attachements des primitives, initialisation de la camera si besoin
"""
robot = self.robot
for m in robot.motors:
m.compliant_behavior = 'safe'
m.goto_behavior = 'minjerk'
attach_primitives(self, self.isCamera)
def setup(cls, config):
print "Robot setup started :"
try:
robot = from_json(config)
except:
print "Unable to configure the robot"
else:
print "Robot configuration successful !"
print "Starting motors configuration"
for m in robot.motors:
m.compliant_behavior = 'dummy'
m.goto_behavior = 'minjerk'
m.moving_speed = 70
for m in robot.motors:
m.compliant = False
m.goal_position = 0
print m
for m in robot.head:
m.compliant = True
try:
attach_primitives(robot)
except:
print "Primitives not attached "
else:
print "Primitives attached successfully"
try:
robot.test_gtts.start()
except:
print "Something goes wrong with gTTS"
else:
print "gTTS OP"
return robot
def setup(self):
robot = self.robot
for m in robot.motors:
m.compliant_behavior = 'safe'
m.goto_behavior = 'minjerk'
#Attach your primitive here
# robot.attach_primitive(UpperBodyIdleMotion(robot, 50), 'upper_body_idle')
# robot.attach_primitive(HeadIdleMotion(robot, 50), "head_idle")
# robot.attach_primitive(YesBehave(robot, 50), "yes_behave")
# robot.attach_primitive(WaveBehave(robot, 50), "wave_behave")
# robot.attach_primitive(NoBehave(robot, 50), "no_behave")
# robot.attach_primitive(CrossArmsBehave(robot), "cross_arms_behave")
# robot.attach_primitive(CrossHandsBehave(robot), "cross_hands_behave")
# robot.attach_primitive(ShowLeftBehave(robot), "show_left_behave")
# robot.attach_primitive(ShowRightBehave(robot), "show_right_behave")
# robot.attach_primitive(ShowFrontBehave(robot), "show_front_behave")
# robot.attach_primitive(TakeHeadBehave(robot), "take_head_behave")
# robot.attach_primitive(TakeLeftEarBehave(robot), "take_left_ear_behave")
# robot.attach_primitive(TakeRightEarBehave(robot), "take_right_ear_behave")
# robot.attach_primitive(RightHandMouvBehave(robot, 50), "right_hand_mouv_behave")
# robot.attach_primitive(ComeMouvBehave(robot, 50), "come_mouv_behave")
# robot.attach_primitive(KeepFrontMouvBehave(robot, 50), "keep_front_mouv_behave")
# robot.attach_primitive(NormalBehave(robot), "normal_behave")
# robot.attach_primitive(SaluteBehave(robot), "salute_behave")
# robot.attach_primitive(ThinkBehave(robot), "think_behave")
# robot.attach_primitive(CopyArmBehave(robot, 50), "copy_arm_behave")
# robot.attach_primitive(BowBehave(robot), "bow_behave")
# robot.attach_primitive(TalkOneBehave(robot), "talk_one_behave")
# robot.attach_primitive(TalkTwoBehave(robot), "talk_two_behave")
# robot.attach_primitive(TalkThreeBehave(robot), "talk_three_behave")
# robot.attach_primitive(TalkFourBehave(robot), "talk_four_behave")
# robot.attach_primitive(TrackingBehave(robot, self.camera, 50), "tracking_behave")
# robot.attach_primitive(Speak(robot), "speak")
# robot.attach_primitive(SayHello(robot), "say_hello")
# robot.attach_primitive(SayText(robot), "say_text")
# robot.attach_primitive(SadBehave(robot), "sad_behave")
# robot.attach_primitive(RunLook(robot, self.camera, 50), "run_look")
# robot.attach_primitive(Speech(robot), "speech")
# robot.attach_primitive(Bonnard1(robot), "bonnard_1")
# robot.attach_primitive(Bonnard2(robot), "bonnard_2")
# robot.attach_primitive(Bonnard3(robot), "bonnard_3")
# robot.attach_primitive(Bonnard4(robot), "bonnard_4")
# robot.attach_primitive(Bonnard5(robot), "bonnard_5")
# robot.attach_primitive(Bonnard6(robot), "bonnard_6")
# # robot.attach_primitive(Eyes(robot), "eyes")
# # robot.attach_primitive(Get_reaction(robot), "get_reaction")
# # robot.attach_primitive(Get_fond(robot), "get_fond")
# # robot.attach_primitive(Basic(robot), "basic")
# # robot.attach_primitive(Blink(robot), "blink")
# # robot.attach_primitive(Neutral2sleep(robot), "neutral2sleep")
# # robot.attach_primitive(Sleep2neutral(robot), "sleep2neutral")
# # robot.attach_primitive(Neutral2surprise(robot), "neutral2surprise")
# # robot.attach_primitive(Surprise2neutral(robot), "surprise2neutral")
# # robot.attach_primitive(Surprise(robot), "surprise")
# # robot.attach_primitive(Sleepy(robot), "sleepy")
# # robot.attach_primitive(Happy(robot), "happy")
# # robot.attach_primitive(Neutral2happy(robot), "neutral2happy")
# # robot.attach_primitive(Happy2neutral(robot), "happy2neutral")
# # robot.attach_primitive(Neutral2sad(robot), "neutral2sad")
# # robot.attach_primitive(Sad2neutral(robot), "sad2neutral")
# # robot.attach_primitive(Sad(robot), "sad")
attach_primitives(self, self.isCamera)
def setup(cls):
print "Robot setup started :"
json_data = open('./config/conf.json')
data = json.load(json_data)
json_data.close()
port = data['robot']['port']
name = data['robot']['name']
try:
cls.robot = from_json('config/torso.json')
except Exception as e:
try:
cls.robot = from_json('config/torso.json')
except Exception as e:
raise
else:
print "Robot configuration successful !"
finally:
pass
raise
else:
print "Robot configuration successful !"
# Attach Gtts
try:
cls.robot.attach_primitive(SayFR(cls.robot), 'say_fr')
cls.robot.attach_primitive(SayEN(cls.robot), 'say_en')
cls.robot.attach_primitive(SayES(cls.robot), 'say_es')
cls.robot.attach_primitive(SayDE(cls.robot), 'say_de')
except Exception as e:
print "Something goes wrong with gTTS"
raise
else:
print "gTTS attached successfully"
print "Starting motors configuration"
for m in cls.robot.motors:
m.compliant_behavior = 'dummy'
m.goto_behavior = 'minjerk'
m.moving_speed = 80
for m in cls.robot.motors:
m.compliant = False
m.goal_position = 0
print m
for m in cls.robot.head:
m.compliant = True
try:
attach_primitives(cls.robot)
except:
print "Primitives not attached "
else:
print "Primitives attached successfully"
try:
cls.robot.torso_idle_motion.start()
cls.robot.upper_body_idle_motion.start()
# cls.robot.head_idle_motion.start()
except Exception as e:
raise
else:
pass
# Voice.silent(text="Setup done",lang='en')
try:
Voice.silent(text="Bonjour, je m'appelle " + name +
", ravi de vous rencontrer.",
lang='fr')
except:
print "WARNING : no response from google tts engine : Check internet connectivity"
else:
pass
return cls.robot
