def stop(self, run_time):
s = SomaState()
s.magnitude = 0
s.ease_in.secs = 0
s.ease_in.nsecs = 0
s.name = self.data['soma']
self.runner.topics['soma_state'].publish(s)
def stop(self, run_time):
s = SomaState()
s.magnitude = 0
s.ease_in.secs = 0
s.ease_in.nsecs = 0
s.name = self.data['soma']
self.runner.topics['soma_state'].publish(s)
def soma(self, name, magnitude, rate, ease_in):
""" Sets the robot's background facial expressions
:param str name: the id of the soma state, this can be one of 'normal', 'breathing', 'normal-saccades' and 'sleep'
:param float magnitude: the magnitude of the soma facial expression from 0.0 to 1.0
:param float rate:
:param float ease_in:
:return: None
Examples:
ctrl = ActionCtrl()
ctrl.soma('sleep', 1, 1, 3) # Sleep
ctrl.soma('normal', 0.1, 1, 3) # Wake up
"""
msg = SomaState()
msg.name = name
msg.magnitude = magnitude
msg.rate = rate
msg.ease_in.secs = int(ease_in)
msg.ease_in.nsecs = 1000000000 * (ease_in - int(ease_in))
self.soma_pub.publish(msg)
rospy.logdebug("publish soma(name={}, magnitude={}, rate={}, ease_in={})".format(name, magnitude, rate,
ease_in))
def _get_soma(name, magnitude):
""" Speech"""
s = SomaState()
s.name = name
s.ease_in.secs = 0
s.ease_in.nsecs = 0.1 * 1000000000
s.magnitude = magnitude
s.rate = 1
return s
def _get_soma(name, magnitude):
""" Speech"""
s = SomaState()
s.name = name
s.ease_in.secs = 0
s.ease_in.nsecs = 0.1 * 1000000000
s.magnitude = magnitude
s.rate = 1
return s
def soma_state(self, name, intensity, rate, ease_in=0.0):
if 'noop' == name or (not self.control_mode & self.C_SOMA):
return
# Create the message
soma = SomaState()
soma.name = name
soma.magnitude = intensity
soma.rate = rate
soma.ease_in.secs = int(ease_in)
soma.ease_in.nsecs = 1000000000 * (ease_in - int(ease_in))
self.soma_pub.publish(soma)
print "Publish soma state:", soma.name, "intensity:", intensity
def soma_state(self, name, intensity, rate, ease_in=0.0): if 'noop' == name or (not self.control_mode & self.C_SOMA): return # Create the message soma = SomaState() soma.name = name soma.magnitude = intensity soma.rate = rate soma.ease_in.secs = int(ease_in) soma.ease_in.nsecs = 1000000000 * (ease_in - int(ease_in)) self.soma_pub.publish(soma) print "Publish soma state:", soma.name, "intensity:", intensity
def soma_cancel(self, name):
msg = SomaState()
msg.name = name
msg.ease_in.secs = 0
msg.ease_in.nsecs = 0.1 * 1000000000
msg.magnitude = 0.0
msg.rate = 1
self.soma_pub.publish(msg)
rospy.logdebug("publish soma(name={}, magnitude={}, rate={}, ease_in={})".format(name, msg.magnitude, msg.rate,
msg.ease_in.secs))
rospy.logdebug("soma_cancel: {}".format(name))
