def setUpClass(self):
self.session = qi.Session()
self.session.connect('tcp://192.168.1.101:9559')
self.motion = self.session.service('ALMotion')
self.posture = self.session.service("ALRobotPosture")
self.animation_player = AnimationPlayer(self.session,
motion=self.motion)
self.motion.setCollisionProtectionEnabled('Arms', False)
self.motion.setExternalCollisionProtectionEnabled('All', False)
rest_position(session=self.session)
def point_to_position(self, x, y):
if y == 2:
self.motion_service.setStiffnesses("RHand", 1.0)
self.motion_service.setStiffnesses("RArm", 1.0)
self.motion_service.closeHand("RHand")
self.motion_service.setAngles("RHand", 0.0, self.fractionMaxSpeed)
self.motion_service.setAngles(self.namesR, self.angles[x][y],
self.fractionMaxSpeed)
self.motion_service.setAngles("RHand", 1.0, self.fractionMaxSpeed)
time.sleep(3.0)
self.motion_service.setAngles("RHand", 0.0, self.fractionMaxSpeed)
else:
self.motion_service.setStiffnesses("LHand", 1.0)
self.motion_service.setStiffnesses("LArm", 1.0)
self.motion_service.setAngles("LHand", 0.0, self.fractionMaxSpeed)
self.motion_service.setAngles(self.namesL, self.angles[x][y],
self.fractionMaxSpeed)
self.motion_service.setAngles("LHand", 1.0, self.fractionMaxSpeed)
time.sleep(3.0)
self.motion_service.setAngles("LHand", 0.0, self.fractionMaxSpeed)
rest_position(self.session)
def test_point_to_upper_right(self):
print 'pointing to upper left'
self.move_motors.point_to_position(0, 2)
rest_position(self.session)
def test_point_to_middle_left(self):
print 'pointing to middle left'
self.move_motors.point_to_position(1, 0)
rest_position(self.session)
def test_point_to_lower_left(self):
print 'pointing to lower left'
self.move_motors.point_to_position(2, 0)
rest_position(self.session)
def test_sleep_position(self):
rest_position(self.session)
def reaction_draw(self):
self.animation_service.run(self.animation_path +
'Gestures/IDontKnow_1')
rest_position(session=self.session)
return True
def reaction_lost(self):
self.animation_service.run(self.animation_path +
'Emotions/Neutral/Embarrassed_1')
rest_position(session=self.session)
return True
def reaction_won(self):
self.animation_service.run(self.animation_path +
'Emotions/Positive/Happy_4')
rest_position(session=self.session)
return True
def __init__(self, session):
self.session = session
self.motion_service = session.service("ALMotion")
self.namesL = [
"LShoulderRoll", "LShoulderPitch", "LElbowYaw", "LElbowRoll",
"LHand"
]
self.namesR = [
"RShoulderRoll", "RShoulderPitch", "RElbowYaw", "RElbowRoll",
"RHand"
]
hand_closed = 0.0
shoulder_safe_distance = 40 * almath.TO_RAD
height_top_row = -52 * almath.TO_RAD
height_middle_row = -45 * almath.TO_RAD
height_bottom_row = -30 * almath.TO_RAD
width_yaw = 8 * almath.TO_RAD
width_left = -58 * almath.TO_RAD
width_middle = -88 * almath.TO_RAD
width_right = 58 * almath.TO_RAD
angles_top = [[
shoulder_safe_distance, height_top_row, width_yaw, width_left,
hand_closed
],
[
shoulder_safe_distance, height_top_row, width_yaw,
width_middle, hand_closed
],
[
-shoulder_safe_distance,
height_top_row + 15 * almath.TO_RAD, width_yaw,
width_right, hand_closed
]]
angles_middle = [[
shoulder_safe_distance, height_middle_row, width_yaw, width_left,
hand_closed
],
[
shoulder_safe_distance, height_middle_row,
width_yaw, width_middle, hand_closed
],
[
-shoulder_safe_distance,
height_middle_row + 15 * almath.TO_RAD, width_yaw,
width_right, hand_closed
]]
angles_bottom = [[
shoulder_safe_distance, height_bottom_row, width_yaw, width_left,
hand_closed
],
[
shoulder_safe_distance, height_bottom_row,
width_yaw, width_middle, hand_closed
],
[
-shoulder_safe_distance,
height_bottom_row + 15 * almath.TO_RAD, width_yaw,
width_right, hand_closed
]]
self.angles = [angles_top, angles_middle, angles_bottom]
self.return_angle = [
40 * almath.TO_RAD, 90 * almath.TO_RAD, 8 * almath.TO_RAD,
-58 * almath.TO_RAD, hand_closed
]
self.return_angleR = [
-40 * almath.TO_RAD, 90 * almath.TO_RAD, 8 * almath.TO_RAD,
58 * almath.TO_RAD, hand_closed
]
self.fractionMaxSpeed = 0.2
rest_position(self.session)