Beispiel #1
0
 def onRun( self ):         
     # Setup subscribers.
     sensorsTactileButtonTopic = rospy.get_param( 'sensorsTopic', '/nao_sensors_tactile_button' );
     sensorsTactileButtonSubscriber = rospy.Subscriber( sensorsTactileButtonTopic, nao_sensors.msg.TactileButton, self.onTactileButtonPressed );         
     
     speechMessage = 'Hi, I am Naomi. Touch my head to start the experiment.';
     lastSpeechTime = rospy.Time.now() - self.SPEECH_INTERVAL; # So that Naomi will immediatly start talking, instead of X seconds later.
     
     # Sit down.
     Utils.getInstance().enableBodyStiffness();
     Utils.getInstance().setBodyPose( 'sit' );
     Utils.getInstance().disableBodyStiffness();
     
     while( self.isRunning() ):
         while( self.isPaused() ):
             rospy.sleep( self.SLEEP_TIME );
             
         # Say the message.
         if( ( lastSpeechTime + self.SPEECH_INTERVAL ) < rospy.Time.now() ):
             Utils.getInstance().say( speechMessage );
             rospy.loginfo( 'Said: {speechMessage}'.format( speechMessage = speechMessage ) );
             
             lastSpeechTime = rospy.Time.now();
         
         # Check if the head has been touched.
         if( self.__headHasBeenTouched ):
             break;
         
         rospy.sleep( self.SLEEP_TIME );
         
     # Clean up.
     sensorsTactileButtonSubscriber.unregister();
         
     self.finished.emit();
 def onRun( self ):
     Utils.enableBodyStiffness();
     Utils.getInstance().setBodyPose( 'headInitial' );
     Utils.disableBodyStiffness();
     
     # Sleep if paused.
     while( self.isPaused() ):
         rospy.sleep( self.SLEEP_TIME );
             
     # Say the message.
     Utils.getInstance().say( 'Introduction.' );
     
     rospy.sleep( 3 * self.SLEEP_TIME );
     
     self.finished.emit();
Beispiel #3
0
 def onRun( self ):
     Utils.getInstance().enableBodyStiffness();
     
     Utils.getInstance().setBodyPose( 'headInitial' );
     Utils.getInstance().say( 'Thank you for the experiment.' );
     
     Utils.getInstance().disableBodyStiffness();
     
     self.finished.emit();
        def onRun( self ):
            # Pick NUMBER_OF_PIECES pieces.
            collectablePieces = random.sample( self.getModel().getPieces(), self.NUMBER_OF_COLLECTABLE_PIECES );
            currentCollectablePiece = None;
            
            lastActionTime = None;
                    
            Utils.getInstance().enableBodyStiffness();
            
            while( self.isRunning() ):
                while( self.isPaused() ):
                    rospy.sleep( self.SLEEP_TIME );
                    
                # Check if we are done.
                if( len( collectablePieces ) == 0 and 
                    currentCollectablePiece is None ):
                    break;
                
                # Select a new piece, if there is none.
                if( currentCollectablePiece is None ):
                    currentCollectablePiece = collectablePieces.pop();
                    #rospy.loginfo( 'Piece X has to be collected.' );
                
                # Handle the piece.
                if( lastActionTime is None ):
                    currentCollectablePiece.changeStatus( Piece.NONE, Piece.HANDLING );
                    
                    # Look down at the pieces.
                    #Utils.getInstance().enableBodyStiffness();
                    Utils.getInstance().setBodyPose( 'headDown' );
                    #Utils.getInstance().disableBodyStiffness();
                    
                    # Tell the user to pick up the piece and point towards it.
                    rospy.loginfo( 'Telling the user to pick up piece X.' );
                    
                    # Determine to where to point.
                    # This is really fugly, but for now sufficient.
                    laneWidth = self.getModel().getImage().width() / 5;
                    x = currentCollectablePiece.x();
                    
                    bodyPose = None;
                    
                    if( x < laneWidth ):
                        bodyPose = 'laneOne';
                    elif( x < 2 * laneWidth ):
                        bodyPose = 'laneTwo';
                    elif( x < 3 * laneWidth ):
                        bodyPose = 'laneThree';
                    elif( x < 4 * laneWidth ):
                        bodyPose = 'laneFour';
                    else:
                        bodyPose = 'laneFive';
                    
                    # Point.
                    Utils.getInstance().setBodyPose( bodyPose );
                    Utils.getInstance().say( 'Pick up the piece.' );
                    rospy.sleep( 3 * self.SLEEP_TIME );
                    
                    # Move back to the original position.
                    Utils.getInstance().setBodyPose( 'sitWithHeadDown' );
                    rospy.sleep( 3 * self.SLEEP_TIME );
                    
                    lastActionTime = rospy.Time.now();
                    
                elif( ( lastActionTime + self.ACTION_INTERVAL ) < rospy.Time.now() ):
                    rospy.loginfo( 'The user failed to grab the object with N seconds.' );
                    Utils.getInstance().say( 'You did not pick the correct piece.' );
                    
                    rospy.sleep( 5 * self.SLEEP_TIME );
                else:
                    # Check if the user has take the object.
                    if( not( currentCollectablePiece.getStatus() & Piece.DETECTED ) ):
                        rospy.loginfo( 'Piece X has been collected.' );
                        Utils.getInstance().say( 'Well done.' );
                        
                        currentCollectablePiece.changeStatus( Piece.HANDLING, Piece.HANDLED );
                        currentCollectablePiece = None;
                        lastActionTime = None;
                        
                        rospy.sleep( 2 * self.SLEEP_TIME );

            Utils.getInstance().disableBodyStiffness();
    
            self.finished.emit();
 def onRun( self ):
     Utils.getInstance().enableBodyStiffness();
     
     Utils.getInstance().setBodyPose( 'headInitial' );
     Utils.getInstance().say( 'Make something you think I would like out of the pieces you just picked.' );
     
     rospy.sleep( 2 * self.SLEEP_TIME );
     
     Utils.getInstance().setBodyPose( 'headDown' );
     
     rospy.sleep( 8 * self.SLEEP_TIME );
     
     Utils.getInstance().say( 'Lets see what you have made.' );
     
     rospy.sleep( 4 * self.SLEEP_TIME );
     
     Utils.getInstance().setBodyPose( 'headInitial' );
     Utils.getInstance().say( 'It looks interesting, but I think you can do better.' );
     
     Utils.getInstance().disableBodyStiffness();
     
     self.finished.emit();