def run():
args = util.parse_command_args()
flask_helpers.run_flask(app,
host_ip="0.0.0.0",
host_port=5000,
open_page=False)
def main():
args = parse_command_args()
with AsyncRobot(args.serial, enable_face_detection=True) as vector:
vector.behavior.say_text("I am ready for the next customer.")
connection = Salesforce(username=os.environ['SF_USERNAME'],
password=os.environ['SF_PASSWORD'],
security_token=os.environ['SF_TOKEN'])
result = connection.apexecute('nextcustomer', method='GET', data=None)
def run():
args = util.parse_command_args()
with anki_vector.AsyncRobot(args.serial, enable_camera_feed=True) as robot:
flask_app.remote_control_vector = RemoteControlVector(robot)
robot.behavior.drive_off_charger()
flask_helpers.run_flask(flask_app)
def run():
args = util.parse_command_args()
print(
"Server running on http://localhost:%d - open this page in your favourite webbrowser!"
% PORT)
flask_helpers.run_flask(app,
host_ip="0.0.0.0",
host_port=PORT,
open_page=False)
def parse_command_args():
"""Parses command line args"""
parser = argparse.ArgumentParser()
parser.add_argument("--train", action="store_true")
parser.add_argument("--predict", action="store_true")
parser.add_argument("--dataset_root_folder", nargs='?', default=None)
parser.add_argument("--model_config", nargs='?', default=None)
parser.add_argument("--model_weights", nargs='?', default=None)
return util.parse_command_args(parser)
def run():
args = util.parse_command_args()
#when audio is read, add this below - ", enable_audio_feed=True"
with anki_vector.AsyncRobot(args.serial, enable_camera_feed=True) as robot:
robot.vision.enable_display_camera_feed_on_face()
robot.vision.enable_face_detection(detect_faces=True,
estimate_expression=True)
flask_app.remote_control_vector = RemoteControlVector(robot)
#robot.behavior.drive_off_charger()
flask_helpers.run_flask(flask_app)
def run():
args = util.parse_command_args()
with anki_vector.AsyncRobot(args.serial, enable_face_detection=True, enable_custom_object_detection=True) as robot:
flask_app.remote_control_vector = RemoteControlVector(robot)
flask_app.display_debug_annotations = DebugAnnotations.ENABLED_ALL.value
robot.camera.init_camera_feed()
robot.behavior.drive_off_charger()
robot.camera.image_annotator.add_annotator('robotState', RobotStateDisplay)
flask_helpers.run_flask(flask_app)
def run():
args = util.parse_command_args()
global robot
with anki_vector.Robot(args.serial, enable_custom_object_detection=True, enable_face_detection=True) as robot:
global animation_list
global active_viewer
global os_info
os_info = robot.conn.name + ',' + robot.conn.host + ',' + robot.get_version_state().os_version
animation_list = init_animate(robot) # list of animations
active_viewer = activate_viewer_if_enabled(robot) # camera and keyboard controls
monitor(robot, q) # event monitor
activate_controls(robot) # game controller
start_server()
def run():
# flask_socket_helpers.run_flask(socketio, app)
args = util.parse_command_args()
with anki_vector.Robot(args.serial,
enable_camera_feed=True,
enable_custom_object_detection=True,
enable_face_detection=True) as robot:
global animation_list
global active_viewer
animation_list = init_animate(robot) # list of animations
active_viewer = activate_viewer_if_enabled(
robot) # camera and keyboard controls
monitor(robot, q) # event monitor
activate_controls(robot) # game controller
start_server()
def run():
args = util.parse_command_args()
with anki_vector.AsyncRobot(
args.serial, # this is None or False, whatever, just not used
enable_face_detection=False, # if you want it, but I dont
enable_custom_object_detection=True, # for my own wall pieces
show_3d_viewer=False # kinda laggy
) as robot:
object_helper.create_all_objects(robot)
flask_app.remote_control_vector = RemoteControlVector(robot)
flask_app.display_debug_annotations = DebugAnnotations.ENABLED_VISION.value
robot.camera.init_camera_feed()
# robot.behavior.drive_off_charger()
robot.camera.image_annotator.add_annotator('robotState', RobotStateDisplay)
flask_helpers.run_flask(flask_app)
def main():
args = parse_command_args()
with AsyncRobot(args.serial, enable_face_detection=True) as vector:
vector_setup(vector)
face_to_follow = None
turn_future = None
while True:
if face_to_follow:
turn_future = vector.behavior.turn_towards_face(face_to_follow)
if not (face_to_follow and face_to_follow.is_visible):
face_to_follow = get_named_face(vector.world.visible_faces)
time.sleep(0.1)
if turn_future != None:
turn_future.result()
provide_customer_support(vector, face_to_follow)
time.sleep(0.1)
nav_direction = nav_point_delta.normalized
# Convert the nav_direction into a turn angle relative to the robot's current facing.
robot_forward = Vector3(*robot.pose.rotation.to_matrix().forward_xyz).normalized
turn_angle = acos(nav_direction.dot(robot_forward))
if nav_direction.cross(robot_forward).z > 0:
turn_angle = -turn_angle
# Turn toward the nav point, and drive to it.
robot.behavior.turn_in_place(angle=radians(turn_angle), speed=degrees(EXPLORE_TURN_SPEED_DPS))
robot.behavior.drive_straight(distance=distance_mm(nav_distance), speed=speed_mmps(EXPLORE_DRIVE_SPEED_MMPS))
if PROXIMITY_EXPLORATION_SHUTDOWN_DELAY_S == 0.0:
while True:
await asyncio.sleep(1.0)
else:
print('finished exploring - waiting an additional {0} seconds, then shutting down'.format(PROXIMITY_EXPLORATION_SHUTDOWN_DELAY_S))
await asyncio.sleep(PROXIMITY_EXPLORATION_SHUTDOWN_DELAY_S)
if __name__ == '__main__':
# Connect to the robot
args = parse_command_args()
with anki_vector.Robot(args.serial,
show_viewer=True,
enable_nav_map_feed=False) as robotInstance:
robotInstance.viewer_3d.show(False)
robotInstance.behavior.drive_off_charger()
loop = asyncio.get_event_loop()
loop.run_until_complete(map_explorer(robotInstance))
def control():
args = util.parse_command_args()
robot = anki_vector.AsyncRobot(args.serial, enable_camera_feed=True)
robot.connect()
robot.behavior.drive_off_charger()
flask_app.remote_control_vector = RemoteControlVector(robot)
return """
<html>
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta name="theme-color" content="#222D32">
<link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0/css/bootstrap.min.css" integrity="sha384-Gn5384xqQ1aoWXA+058RXPxPg6fy4IWvTNh0E263XmFcJlSAwiGgFAW/dAiS6JXm" crossorigin="anonymous">
<link href='https://fonts.googleapis.com/css?family=Ubuntu' rel='stylesheet'>
<link rel="stylesheet" type="text/css" href="static/css/main.css">
<title>VectorCloud - Remote Control</title>
</head>
<body>
<header class="site-header">
<nav class="navbar navbar-expand-md navbar-dark bg-steel fixed-top">
<div class="container">
<a class="navbar-brand mr-4" href="/home"><img src="static/icons/vectorcloud.svg" width="35" height="35" class="text-center align-top" data-toggle="tooltip" data-placement="auto" title="Home" alt=""></a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarToggle" aria-controls="navbarToggle" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbarToggle">
<div class="navbar-nav mr-auto">
</div>
<!-- Navbar Right Side -->
<div class="navbar-nav">
</div>
</div>
</div>
</nav>
</header>
<table>
<tr>
<td valign = top>
<div id="vectorImageMicrosoftWarning" style="display: none;color: #ff9900; text-align: center;">Video feed performance is better in Chrome or Firefox due to mjpeg limitations in this browser</div>
<img src="vectorImage" id="vectorImageId" width=640 height=480>
<div id="DebugInfoId"></div>
</td>
<td width=30></td>
<td valign=top>
<h2>Controls:</h2>
<h3>Driving:</h3>
<b>W A S D</b> : Drive Forwards / Left / Back / Right<br><br>
<b>Q</b> : Toggle Mouse Look: <button id="mouseLookId" onClick=onMouseLookButtonClicked(this) style="font-size: 14px">Default</button><br>
<b>Mouse</b> : Move in browser window to aim<br>
(steer and head angle)<br>
(similar to an FPS game)<br>
<h3>Head:</h3>
<b>T</b> : Move Head Up<br>
<b>G</b> : Move Head Down<br>
<h3>Lift:</h3>
<b>R</b> : Move Lift Up<br>
<b>F</b>: Move Lift Down<br>
<h3>General:</h3>
<b>Shift</b> : Hold to Move Faster (Driving, Head and Lift)<br>
<b>Alt</b> : Hold to Move Slower (Driving, Head and Lift)<br>
<b>P</b> : Toggle Free Play mode: <button id="freeplayId" onClick=onFreeplayButtonClicked(this) style="font-size: 14px">Default</button><br>
<h3>Play Animations</h3>
<b>0 .. 9</b> : Play Animation mapped to that key<br>
<h3>Talk</h3>
<b>Space</b> : Say <input type="text" name="sayText" id="sayTextId" value=""" " + flask_app.remote_control_vector.text_to_say + " """ onchange=handleTextInput(this)>
</td>
<td width=30></td>
<td valign=top>
<h2>Animation key mappings:</h2>
""" + get_anim_sel_drop_downs() + """<br>
</td>
</tr>
</table>
<script type="text/javascript">
var gLastClientX = -1
var gLastClientY = -1
var gIsMouseLookEnabled = """ + to_js_bool_string(
_is_mouse_look_enabled_by_default) + """
def hold_control():
args = util.parse_command_args()
with behavior.ReserveBehaviorControl(args.serial):
input("Vector behavior control reserved for SDK. Hit 'Enter' to release control.")
class Vector:
"""
An interface to abstract the anki_vector sdk to
further simplify implementation.
"""
args = parse_command_args()
robot = Robot(args.serial)
def __init__(self):
self.connect()
#self.robot.world.connect_cube()
self.robot.behavior.drive_off_charger()
def connect(self):
self.robot.connect()
def disconnect(self):
self.robot.disconnect()
def connect_cube(self) -> bool:
if not self.robot.world.connected_light_cube:
self.robot.world.connect_cube()
return self.robot.world.connected_light_cube
@staticmethod
def percentage_value(percentage: int, min_value: int,
max_value: int) -> int:
range_value = max_value - min_value
percentage = 0 if percentage < 0 else 100 if percentage > 100 else percentage
return min_value + percentage * range_value // 100
def wheels_drive(self, distance: float, speed_percentage: int):
#Parameter Speed range = 0-100
min_speed = 1
max_speed = 220
self.robot.behavior.drive_straight(
distance_mm(distance),
speed_mmps(
self.percentage_value(percentage=speed_percentage,
min_value=min_speed,
max_value=max_speed)))
def wheels_turn(self, angle: float):
self.robot.behavior.turn_in_place(degrees(angle))
def head_angle(self, angle_percentage: int):
#Parameter angle range 0-100
min_angle = -22
max_angle = 45
self.robot.behavior.set_head_angle(
degrees(
self.percentage_value(percentage=angle_percentage,
min_value=min_angle,
max_value=max_angle)))
def lift_height(self, height_percentage: int):
#Parameter height_percentage range 0-100
height = height_percentage / 100
self.robot.behavior.set_lift_height(height)
def speak_text(self, text: str):
self.robot.behavior.say_text(text)
def play_animation(self, animation: str):
self.robot.anim.play_animation_trigger(animation)
def look_around(self):
self.robot.behavior.look_around_in_place()
def drive_to_cube(self):
if self.robot.world.connected_light_cube and self.robot.world.light_cube.is_visible:
self.robot.behavior.go_to_object(
target_object=self.robot.world.connected_light_cube,
distance_from_object=distance_mm(70))
def dock_with_cube(self):
if self.robot.world.connected_light_cube and self.robot.world.light_cube.is_visible:
r = self.robot.behavior.dock_with_cube(
target_object=self.robot.world.connected_light_cube,
num_retries=3)
print(r)
def pickup_cube(self):
self.connect_cube()
self.observe_cube()
self.pickup_object()
def pickup_object(self):
if self.robot.world.connected_light_cube and self.robot.world.light_cube.is_visible:
self.robot.behavior.pickup_object(
target_object=self.robot.world.connected_light_cube,
num_retries=3)
def put_down_cube(self):
if self.robot.status.is_carrying_block:
self.robot.behavior.place_object_on_ground_here()
def observe_cube(self) -> bool:
count = 7
while not self.robot.world.light_cube.is_visible and count:
print('cube seen: {}, attemps left: {}'.format(
self.robot.world.light_cube.is_visible, count))
self.play_animation('FindCubeTurns')
count -= 1
if self.robot.world.light_cube.is_visible:
self.play_animation('FindCubeReactToCube')
else:
self.play_animation('FetchCubeFailure')
return self.robot.world.light_cube.is_visible
