def __init__(self):
self.recipe = Loader.Recipe_Loader()
self.left_arm = Arms.LeftArm("Left", "I")
self.right_arm = Arms.RightArm("Right", "I")
self.both_arms = Arms.Arms("Both", "S")
self.left_stepper = Steppers.LeftStepper('L', '+', 0)
self.right_stepper = Steppers.RightStepper('R', '+', 0)
self.both_stepper = Steppers.Stepper('B', '+', 0)
self.initArms()
self.initSteppers()
def __init__(self):
self.database = db.Database()
self.left_arm = Arms.LeftArm("Left", "I")
self.right_arm = Arms.RightArm("Right", "I")
self.both_arms = Arms.Arms("Both", "S")
self.left_stepper = Steppers.LeftStepper('L', '+', 0)
self.right_stepper = Steppers.RightStepper('R', '+', 0)
self.both_stepper = Steppers.Stepper('B', '+', 0)
self.initArms()
self.initSteppers()
def __init__(self):
self._servos = LX16AServos()
self._servoManager = SmartServoManager(lX16AServos=self._servos,
ramp=0,
maxSpeed=1)
self._arms = Arms(self._servoManager)
self._neck = Neck(self._servoManager)
self._servoManager.Start()
self._neck.SetLeftRight(0)
self._neck.SetUpDown(0)
self._bodyLeds = RgbLeds([
my_path + '/../Gfx/Body/hearth2.gif',
my_path + '/../../RoobertGifs/e8nZC.gif',
my_path + '/../../RoobertGifs/U9LwW86.gif',
my_path + '/../../RoobertGifs/Spin_Toad.gif',
my_path + '/../../RoobertGifs/haleye.gif',
my_path + '/../../RoobertGifs/Yoshi_render.gif'
])
def __init__(self):
self.arms = Arms()
self.world = World()
self.session = Session(object_list=self.world.get_frame_list(),
is_debug=True)
self._viz_publisher = rospy.Publisher('visualization_marker_array',
MarkerArray)
rospy.Subscriber('recognized_command', Command, self.speech_command_cb)
rospy.Subscriber('gui_command', GuiCommand, self.gui_command_cb)
self._undo_function = None
self.responses = {
Command.TEST_MICROPHONE: Response(Interaction.empty_response,
[RobotSpeech.TEST_RESPONSE, GazeGoal.NOD]),
Command.NEW_DEMONSTRATION: Response(self.create_action, None),
Command.TAKE_TOOL: Response(self.take_tool, 0),
Command.RELEASE_TOOL: Response(self.open_hand, 0),
Command.DETECT_SURFACE: Response(self.record_object_pose, None),
Command.START_RECORDING: Response(self.start_recording, None),
Command.STOP_RECORDING: Response(self.stop_recording, None),
Command.REPLAY_DEMONSTRATION: Response(self.execute_action, None),
Command.SAVE_ARM_POSE: Response(self.save_arm_pose, None)
}
rospy.loginfo('Will wait until arms ready to respond.')
while ((self.arms.get_ee_state(0) is None) or
(self.arms.get_ee_state(1) is None)):
time.sleep(0.1)
rospy.loginfo('Starting to move to the initial pose.')
self._move_to_arm_pose('initial', 0)
self._move_to_arm_pose('initial', 1)
rospy.loginfo('Interaction initialized.')
