def default(self):
if core.UPDATING:
updating = 'true'
else:
updating = 'false'
doc = dominate.document(title='Watcher')
with doc.head:
meta(name='enable_notifs', content='false')
meta(name='updating', content=updating)
Head.insert()
link(rel='stylesheet',
href=core.URL_BASE + '/static/css/update.css?v=01.16')
link(rel='stylesheet',
href=core.URL_BASE +
'/static/css/{}/update.css?v=01.16'.format(
core.CONFIG['Server']['theme']))
script(type='text/javascript',
src=core.URL_BASE + '/static/js/update/main.js?v=01.01')
with doc:
with div(id='content'):
div(id='thinker')
span(u'Updating', cls='msg')
return doc.render()
def default(self):
doc = dominate.document(title='Watcher')
doc.attributes['lang'] = 'en'
with doc.head:
Head.insert()
link(rel='stylesheet',
href=core.URL_BASE + '/static/css/status.css')
link(rel='stylesheet',
href=core.URL_BASE +
'/static/css/{}/status.css'.format(core.THEME))
link(rel='stylesheet',
href=core.URL_BASE + '/static/css/movie_status_popup.css')
link(rel='stylesheet',
href=core.URL_BASE +
'/static/css/{}/movie_status_popup.css'.format(core.THEME))
script(type='text/javascript',
src=core.URL_BASE + '/static/js/status/main.js?v=12.27')
with doc:
Header.insert_header(current="status")
with div(id='content'):
self.movie_list()
div(id='overlay')
div(id='status_pop_up')
return doc.render()
def __init__(self, simulation=True):
"""Initializes various aspects of the Fetch.
TODOs: get things working, also use `simulation` flag to change ROS
topic names if necessary (especially for the cameras!). UPDATE: actually
I don't think this is necessary now, they have the same topic names.
"""
rospy.init_node("fetch")
self.arm = Arm()
self.arm_joints = ArmJoints()
self.base = Base()
self.camera = RGBD()
self.head = Head()
self.gripper = Gripper(self.camera)
self.torso = Torso()
self.joint_reader = JointStateReader()
# Tucked arm starting joint angle configuration
self.names = ArmJoints().names()
self.tucked = [1.3200, 1.3999, -0.1998, 1.7199, 0.0, 1.6600, 0.0]
self.tucked_list = [(x, y) for (x, y) in zip(self.names, self.tucked)]
# Initial (x,y,yaw) position of the robot wrt map origin. We keep this
# fixed so that we can reset to this position as needed. The HSR's
# `omni_base.pose` (i.e., the start pose) returns (x,y,yaw) where yaw is
# the rotation about that axis (intuitively, the z axis). For the base,
# `base.odom` supplies both `position` and `orientation` attributes.
start = copy.deepcopy(self.base.odom.position)
yaw = Base._yaw_from_quaternion(self.base.odom.orientation)
self.start_pose = np.array([start.x, start.y, yaw])
self.TURN_SPEED = 0.3
self.num_restarts = 0
def default(self):
doc = dominate.document(title='Watcher')
with doc.head:
Head.insert()
link(rel='stylesheet', href=core.URL_BASE + '/static/css/add_movie.css')
link(rel='stylesheet', href=core.URL_BASE + '/static/css/{}/add_movie.css'.format(core.THEME))
link(rel='stylesheet', href=core.URL_BASE + '/static/css/movie_info_popup.css')
link(rel='stylesheet', href=core.URL_BASE + '/static/css/{}/movie_info_popup.css'.format(core.THEME))
script(type='text/javascript', src=core.URL_BASE + '/static/js/add_movie/main.js?v=01.03')
with doc:
Header.insert_header(current="add_movie")
with div(id='search_box'):
input(id='search_input', type="text", placeholder="Search...", name="search_term")
with button(id="search_button"):
i(cls='fa fa-search')
div(id='thinker')
with div(id="database_results"):
ul(id='movie_list')
div(id='overlay')
div(id='info_pop_up')
return doc.render()
def __init__(self, simulation=True):
"""Initializes various aspects of the Fetch."""
rospy.init_node("fetch")
rospy.loginfo("initializing the Fetch...")
self.arm = Arm()
self.arm_joints = ArmJoints()
self.base = Base()
self.camera = RGBD()
self.head = Head()
self.gripper = Gripper(self.camera)
self.torso = Torso()
self.joint_reader = JointStateReader()
# Tucked arm starting joint angle configuration
self.names = ArmJoints().names()
self.tucked = [1.3200, 1.3999, -0.1998, 1.7199, 0.0, 1.6600, 0.0]
self.tucked_list = [(x,y) for (x,y) in zip(self.names, self.tucked)]
# Initial (x,y,yaw) position of the robot wrt map origin. We keep this
# fixed so that we can reset to this position as needed. The HSR's
# `omni_base.pose` (i.e., the start pose) returns (x,y,yaw) where yaw is
# the rotation about that axis (intuitively, the z axis). For the base,
# `base.odom` supplies both `position` and `orientation` attributes.
start = copy.deepcopy(self.base.odom.position)
yaw = Base._yaw_from_quaternion(self.base.odom.orientation)
self.start_pose = np.array([start.x, start.y, yaw])
rospy.loginfo("...finished initialization!")
def default(self):
doc = dominate.document(title='Watcher')
doc.attributes['lang'] = 'en'
with doc.head:
Head.insert()
link(rel='stylesheet',
href=core.URL_BASE + '/static/css/status.css?v=02.22')
link(rel='stylesheet',
href=core.URL_BASE +
'/static/css/{}status.css?v=02.22'.format(
core.CONFIG['Server']['theme']))
link(rel='stylesheet',
href=core.URL_BASE +
'/static/css/movie_status_popup.css?v=02.22')
link(rel='stylesheet',
href=core.URL_BASE +
'/static/css/{}movie_status_popup.css?v=02.22'.format(
core.CONFIG['Server']['theme']))
script(type='text/javascript',
src=core.URL_BASE + '/static/js/status/main.js?v=02.17')
with doc:
Header.insert_header(current="status")
with div(id='content'):
with div(id='view_config'):
span('Display: ')
with select(id='list_style'):
options = ['Posters', 'List', 'Compact']
for opt in options:
option(opt, value=opt.lower())
span('Order By: ')
with select(id='list_sort'):
options = ['Status', 'Title', 'Year']
option('Title', value='title')
option('Year', value='year')
option('Status', value='status_sort')
with div(id='key'):
span(cls='wanted')
span('Wanted')
span(cls='found')
span('Found')
span(cls='snatched')
span('Snatched')
span(cls='finished')
span('Finished')
self.movie_list()
with div(id='import'):
with a(href=u'{}/import_library'.format(core.URL_BASE)):
i(cls='fa fa-hdd-o', id='import_library')
span('Import existing library.')
div(id='overlay')
div(id='status_pop_up')
return doc.render()
def init(self):
PlayState.TICK_LENGTH = 0.1
self.tick_time = 0
self.head = Head(PlayState.GRID_SIZE)
self.body = []
for i in range(PlayState.INITIAL_BODY_SIZE):
self.__add_body__()
self.food = Food(PlayState.GRID_SIZE, self.head.pos)
self.hud = HUD()
pass
def handle_new_player_msg(self, msg):
self.his_id = int(msg[1])
if self.his_id == 0:
self.his_head = Head(self.his_id, self.game_path.p0path,
self.width, self.height, self.my_head)
elif self.his_id == 1:
self.his_head = Head(self.his_id, self.game_path.p1path,
self.width, self.height, self.my_head)
self.my_head.stranger = self.his_head
self.head_group.add(self.his_head)
def webControl(x, y):
x = int(x)
y = int(y)
usrMsgLogger = DataLogger()
evobot = EvoBot("/dev/tty.usbmodemfa131", usrMsgLogger)
head = Head(evobot)
syringe = Syringe(evobot, 9)
syringe.plungerSetConversion(1)
evobot.home()
head.move(x, y)
class Redirect(BaseAction):
"""
Returns a 303 See Other status code along with a `location` header back
to the client.
:param loc: The location to which the client should be redirect to
:type loc: str
"""
def __init__(self, loc):
self.head = Head("303 SEE OTHER")
self.head.add_header("Location", loc)
def webControl(x,y):
x=int(x)
y=int(y)
usrMsgLogger = DataLogger()
evobot = EvoBot("/dev/tty.usbmodemfa131", usrMsgLogger)
head = Head( evobot )
syringe = Syringe( evobot, 9)
syringe.plungerSetConversion( 1 )
evobot.home()
head.move(x,y)
def handle_id_msg(self, msg):
self.id = int(msg[1])
if self.id == 0:
self.my_head = Head(self.id, self.game_path.p0path, self.width,
self.height, self.his_head)
elif self.id == 1:
self.my_head = Head(self.id, self.game_path.p1path, self.width,
self.height, self.his_head)
self.head_group.add(self.my_head)
msg_out = ('balls ' + ' '.join(
str(self.my_head.ball_list[i])
for i in range(len(self.my_head.ball_list))) + '\n')
self.send_msg(msg_out)
def default(self):
doc = dominate.document(title='Watcher')
doc.attributes['lang'] = 'en'
with doc.head:
Head.insert()
link(rel='stylesheet',
href=core.URL_BASE + '/static/css/import_library.css?v=04.04')
link(rel='stylesheet',
href=core.URL_BASE +
'/static/css/{}import_library.css?v=04.04'.format(
core.CONFIG['Server']['theme']))
script(type='text/javascript',
src=core.URL_BASE +
'/static/js/import_library/main.js?v=04.07')
with doc:
Header.insert_header(current=None)
with div(id='content'):
h1('Import Library')
with div(id='import_sources'):
with div():
with a(href=core.URL_BASE +
'/import_library/couchpotato'):
img(src=core.URL_BASE +
'/static/images/couchpotato.png',
alt='CouchPotato',
cls='import_source_icon')
br()
span('CouchPotato')
with div():
with a(href=core.URL_BASE + '/import_library/kodi'):
img(src=core.URL_BASE + '/static/images/kodi.png',
alt='Kodi',
cls='import_source_icon')
br()
span('Kodi')
with div():
with a(href=core.URL_BASE + '/import_library/plex'):
img(src=core.URL_BASE + '/static/images/plex.png',
alt='Plex',
cls='import_source_icon')
br()
span('Plex')
with div():
with a(href=core.URL_BASE +
'/import_library/directory'):
i(cls='fa fa-folder import_source_icon')
br()
span('Directory')
return doc.render()
def index(self):
doc = dominate.document(title='Watcher')
with doc.head:
Head.insert()
link(rel='stylesheet', href=core.URL_BASE + '/static/css/shutdown.css')
script(type='text/javascript', src=core.URL_BASE + '/static/js/shutdown/main.js?v=12.27')
with doc:
with div(id='content'):
div(id='thinker')
span('Shutting Down', cls='msg')
return doc.render()
def testParseBytesToInt(self):
parser = Parser(INT_ENCODED)
parser_test_function(self,
parser=parser,
code="D",
dtype="I",
length=2,
payload=257,
remaining=256)
head = Head(code=parser.code,
dtype=parser.dtype,
length=parser.length,
remaining=parser.remaining)
head_test_function(self,
head=head,
code="D",
dtype="I",
length=2,
remaining=256)
payload = Payload(data=parser.payload,
dtype=parser.dtype,
length=parser.length)
payload_test_function(self,
payload=payload,
data=257,
dtype="I",
length=2)
def default(self):
doc = dominate.document(title='Watcher')
with doc.head:
meta(name='enable_notifs', content='false')
Head.insert()
link(rel='stylesheet', href=core.URL_BASE + '/static/css/shutdown.css?v=01.16')
link(rel='stylesheet', href=core.URL_BASE + '/static/css/{}/shutdown.css?v=01.16'.format(core.CONFIG['Server']['theme']))
script(type='text/javascript', src=core.URL_BASE + '/static/js/shutdown/main.js?v=12.27')
with doc:
with div(id='content'):
div(id='thinker')
span(u'Shutting Down', cls='msg')
return doc.render()
def testParseHandshakeToBytes(self):
parser = Parser(HANDSHAKE_ENCODED)
parser_test_function(self,
parser=parser,
code="H",
dtype="B",
length=0,
payload=b"",
remaining=0)
head = Head(code=parser.code,
dtype=parser.dtype,
length=parser.length,
remaining=parser.remaining)
head_test_function(self,
head=head,
code="H",
dtype="B",
length=0,
remaining=0)
payload = Payload(data=parser.payload,
dtype=parser.dtype,
length=parser.length)
payload_test_function(self,
payload=payload,
data=b"",
dtype="B",
length=0)
def reset():
global data, score, snakeHead, isPlaying, isApple
score = 0
for i in range(48):
data[i] = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
isApple = False
snakeHead = Head((0, 149, 238),(mapWidth/2, mapHeight/2), pps)
def testParseBytesToBytes(self):
# b'DB\x04\x00\x00\x00\x00\x00\x00\x00ABCD1997'
parser = Parser(BYTES_ENCODED)
parser_test_function(self,
parser=parser,
code="D",
dtype="B",
length=4,
payload=b'ABCD',
remaining=0)
head = Head(code=parser.code,
dtype=parser.dtype,
length=parser.length,
remaining=parser.remaining)
head_test_function(self,
head=head,
code="D",
dtype="B",
length=4,
remaining=0)
payload = Payload(data=parser.payload,
dtype=parser.dtype,
length=parser.length)
payload_test_function(self,
payload=payload,
data=b'ABCD',
dtype="B",
length=4)
def testParseBytesToStr(self):
# b'DS\x04\x00\x00\x00\x00\x00\x00\x00ABCD1997'
parser = Parser(data=STR_ENCODED)
parser_test_function(self,
parser=parser,
code="D",
dtype="S",
length=4,
payload="ABCD",
remaining=0)
head = Head(code=parser.code,
dtype=parser.dtype,
length=parser.length,
remaining=parser.remaining)
head_test_function(self,
head=head,
code="D",
dtype="S",
length=4,
remaining=0)
payload = Payload(data=parser.payload,
dtype=parser.dtype,
length=parser.length)
payload_test_function(self,
payload=payload,
data="ABCD",
dtype="S",
length=4)
def __init__(self, color=colors.skins_snake, name=0):
''' Создает новую змею в случайном месте, длиной 50 шариков.
Координатой змеи считаются координаты центра головы. '''
'''
Не готово:
1) Имя змеи
'''
if color == colors.skins_snake:
self.colors = random.choice(colors.skins_snake)
else:
self.colors = color
self.num = len(self.colors)
self.name = name
self.energy = 0
self.x = 500
self.y = 500
self.coords = Vector2d(self.x, self.y)
self.r = 5
config.snake_radius = self.r
self.length = 0
self.life = 1
self.balls = []
head = Head(color=self.colors[0], x=self.x, y=self.y)
self.balls += [head]
self.length += 1
for i in range(9):
color = self.colors[(i + 1) % self.num]
new_ball = Ball(x=self.x, y=self.y, color=color, r=5)
self.balls += [new_ball]
self.length += 1
self.energy = self.length
self.speed_timer = 0
def __init__(self, config):
self.replica_count = config.replica_count
self.head = Head(config.init_object)
self.tail = Tail(config.init_object)
# create inner_replicas with chains
inner_replicas = [Replica(config.init_object) * self.replica_count]
self.replicas = [head] + inner_replicas + [tail]
pass
def default(self):
doc = dominate.document(title='Watcher')
doc.attributes['lang'] = 'en'
with doc.head:
Head.insert()
link(rel='stylesheet',
href=core.URL_BASE + '/static/css/import_library.css?v=02.17')
link(rel='stylesheet',
href=core.URL_BASE +
'/static/css/{}/import_library.css?v=02.17'.format(
core.CONFIG['Server']['theme']))
script(type='text/javascript',
src=core.URL_BASE +
'/static/js/import_library/main.js?v=02.17')
with doc:
Header.insert_header(current=None)
with div(id='content'):
h1('Import Library')
with div(id='scan_dir'):
with div(id='directory_info'):
span('Library directory: ')
input(id='directory',
type='text',
placeholder=' /movies')
br()
span('Minimum file size to import: ')
input(id='minsize', type='number', value='500')
span('MB.')
br()
i(cls='fa fa-check-square checkbox',
id='recursive',
value='True')
span('Scan recursively.')
with div():
with span(id='start_scan'):
i(cls='fa fa-binoculars', id='start_scan')
span('Start scan')
with div(id='wait'):
span('Scanning library for new movies.')
br()
span('This may take several minutes.')
div(id='thinker')
return doc.render()
def __init__(self, N, M, in_size, out_size, batch_size, lstm=False):
super(NTM, self).__init__()
if lstm:
self.controller = LSTMController(in_size, out_size, M, batch_size)
else:
self.controller = FeedForwardController(in_size, out_size, M, batch_size)
self.read_head = Head(batch_size, N, M)
self.write_head = Head(batch_size, N, M)
self.batch_size = batch_size
self.N = N
self.M = M
self.eps = 1e-8
self.memory = None
self.register_parameter('memory_bias',
nn.Parameter(torch.randn(1, N, M) / math.sqrt(N)))
def instantiate_objects():
"""After connection has been made, instatiate the various robot objects
"""
global perm_dir_path
global dir_path
logger.debug('instantiate_objects called')
#get default json file
def_start_protocol = FileIO.get_dict_from_json(
os.path.join(dir_path, 'data/default_startup_protocol.json'))
#FileIO.get_dict_from_json('/home/pi/PythonProject/default_startup_protocol.json')
#instantiate the head
head = Head(def_start_protocol['head'], publisher, perm_dir_path)
logger.debug('head string: ')
logger.debug(str(head))
logger.debug('head representation: ')
logger.debug(repr(head))
#use the head data to configure the head
head_data = {}
head_data = prot_dict['head'] #extract the head section from prot_dict
logger.debug("Head configured!")
#instantiate the script keeper (sk)
#instantiate the deck
deck = Deck(def_start_protocol['deck'], publisher, perm_dir_path)
logger.debug('deck string: ')
logger.debug(str(deck))
logger.debug('deck representation: ')
logger.debug(repr(deck))
runner = ProtocolRunner(head, publisher)
#use the deck data to configure the deck
deck_data = {}
deck_data = prot_dict['deck'] #extract the deck section from prot_dict
# deck = RobotLib.Deck({}) #instantiate an empty deck
deck.configure_deck(deck_data) #configure the deck from prot_dict data
logger.debug("Deck configured!")
#do something with the Ingredient data
ingr_data = {}
ingr_data = prot_dict[
'ingredients'] #extract the ingredient section from prot_dict
ingr = Ingredients({})
ingr.configure_ingredients(
ingr_data) #configure the ingredienets from prot_dict data
logger.debug('Ingredients imported!')
publisher.set_head(head)
publisher.set_runner(runner)
subscriber.set_deck(deck)
subscriber.set_head(head)
subscriber.set_runner(runner)
def init(self):
self.tray = Tray(self)
self.head = Head(self)
self.agenda = Agenda(self)
self.set = Set(self)
# qss
with open('style.QSS', 'r') as fp:
self.setStyleSheet(fp.read())
fp.close()
def heads(self):
"""
A list of ``Head`` objects representing the branch heads in
this repo
Returns
``git.Head[]``
"""
return Head.find_all(self)
def index():
doc = dominate.document(title='Watcher')
with doc.head:
Head.insert()
link(rel='stylesheet',
href=core.URL_BASE + '/static/css/fourohfour.css')
style
with doc:
with div(id='content'):
with span(cls='msg'):
span('404')
br()
span('Page Not Found')
return doc.render()
def default(self):
doc = dominate.document(title='Watcher')
with doc.head:
meta(name='enable_notifs', content='false')
Head.insert()
link(rel='stylesheet', href=core.URL_BASE + '/static/css/restart.css?v=01.16')
link(rel='stylesheet', href=core.URL_BASE + '/static/css/{}/restart.css?v=01.16'.format(core.CONFIG['Server']['theme']))
script(type='text/javascript', src=core.URL_BASE + '/static/js/restart/main.js?v=12.27')
with doc:
with div(id='content'):
div(id='thinker')
span(u'Restarting', cls='msg')
with span(u'Timeout Exceeded.', cls='error'):
p(u'Watcher is taking too long to restart, please check your logs and restart manually.')
return doc.render()
def page_template(self):
config = core.CONFIG
doc = dominate.document(title='Watcher')
with doc.head:
meta(name='git_url', content=core.GIT_URL)
Head.insert()
link(rel='stylesheet', href=core.URL_BASE + '/static/css/settings.css?v=01.23')
link(rel='stylesheet', href=core.URL_BASE + '/static/css/{}/settings.css?v=01.23'.format(core.CONFIG['Server']['theme']))
script(type='text/javascript', src=core.URL_BASE + '/static/js/settings/main.js?v=01.23')
script(type='text/javascript', src=core.URL_BASE + '/static/js/settings/save_settings.js?v=01.23')
with doc:
Header.insert_header(current="settings")
with div(id="content", cls=page.__name__):
page(self, config)
return doc.render()
def heads(self):
"""
A list of ``Head`` objects representing the branch heads in
this repo
Returns
``git.Head[]``
"""
return Head.find_all(self)
def index(self):
doc = dominate.document(title='Watcher')
with doc.head:
Head.insert()
link(rel='stylesheet',
href=core.URL_BASE + '/static/css/restart.css')
script(type='text/javascript',
src=core.URL_BASE + '/static/js/restart/main.js?v=12.27')
with doc:
with div(id='content'):
div(id='thinker')
span('Restarting', cls='msg')
with span('Timeout Exceeded.', cls='error'):
p('Watcher is taking too long to restart, please check your logs and restart manually.'
)
return doc.render()
def __init__ (self):
rospy.Subscriber("/head_camera/rgb/image_raw",Image,self.RGBImageCallback)
rospy.Subscriber("/head_camera/depth_registered/image_raw",Image,self.DepthImageCallback)
rospy.Subscriber("/ar_pose_marker",AlvarMarkers,self.GetArPosesCallBack)
self.bridge = CvBridge()
self.Arm = Arm()
self.Gripper = Gripper()
self.Head = Head()
self.PoseProcessing = PoseProcessing()
def __init__(self, torso_center, lower_body_flag):
self._body_center = torso_center
self._lower_body_flag = lower_body_flag
self.head = Head(Point(torso_center.x, torso_center.y+15, torso_center.z))
self.torso = Torso(Point(torso_center.x, torso_center.y, torso_center.z))
self.left_arm = Arm(Point(torso_center.x+6.6, torso_center.y+8, torso_center.z))
self.right_arm = Arm(Point(torso_center.x-6.6, torso_center.y+8, torso_center.z))
self.right_arm.set_slocal_rotate_angle(180, 0, 0)
if self._lower_body_flag:
self.left_leg = Leg(Point(torso_center.x+4, torso_center.y-10.6, torso_center.z))
self.right_leg = Leg(Point(torso_center.x-4, torso_center.y-10.6, torso_center.z))
self.right_leg.set_hlocal_rotate_angle(180, 0, 0)
def __init__(self, head, structure, morphology={}):
self.parent = None
self.head = Head(head, structure["head"])
self.components = copy.deepcopy(structure["components"])
if self.components is None:
self.components = {}
self.order = ["head"]
else:
self.order = copy.deepcopy(structure["order"])
if "agreement" in structure:
self.agreement = copy.deepcopy(structure["agreement"])
else:
self.agreement = {}
if "governance" in structure:
self.governance = copy.deepcopy(structure["governance"])
else:
self.governance = {}
self.morphology = copy.deepcopy(morphology)
class Phrase:
def __init__(self, head, structure, morphology={}):
self.parent = None
self.head = Head(head, structure["head"])
self.components = copy.deepcopy(structure["components"])
if self.components is None:
self.components = {}
self.order = ["head"]
else:
self.order = copy.deepcopy(structure["order"])
if "agreement" in structure:
self.agreement = copy.deepcopy(structure["agreement"])
else:
self.agreement = {}
if "governance" in structure:
self.governance = copy.deepcopy(structure["governance"])
else:
self.governance = {}
self.morphology = copy.deepcopy(morphology)
def resolve_agreement(self):
forms = {}
for key in self.agreement:
if key == "parent":
morphology = self.parent.morphology
elif key.startswith("parent->"):
key_p = key[8:]
morphology = self.parent.components[key_p].morphology
else:
morphology = self.components[key].morphology
for agreement_type in self.agreement[key]:
forms[agreement_type] = morphology[agreement_type]
return forms
def to_string(self, received_governance = {}):
self.morphology.update(received_governance)
string_representation = ""
for item in self.order:
if item == "head":
head_word = self.head.get_form(self.morphology, self.resolve_agreement())
string_representation = string_representation + " " + head_word
else:
phrase = self.components[item]
if type(phrase) is str or type(phrase) is unicode:
#Data not set
pass
else:
phrase.parent = self
governance = {}
if item in self.governance:
governance = self.governance[item]
string_representation = string_representation + " " + phrase.to_string(governance)
return string_representation.strip()
def __str__(self):
text = self.to_string()
#remove multiple spaces
text = re.sub("\s\s+", " ", text)
#remove spaces before punctuation
text = self.__remove_spaces_punct__(text)
return text.strip()
def __remove_spaces_punct__(self, text):
puncts = ".,;:?!"
for punct in puncts:
if " "+punct in text:
text = text.replace(" " + punct, punct)
return text
def __init__(self, loc):
self.head = Head("303 SEE OTHER")
self.head.add_header("Location", loc)
def __init__(self, context):
super(WaterPulse, self).__init__(context)
self.setObjectName('WaterPulse')
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
l_traj_contoller_name = None
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory '
+ 'action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
large_box = QtGui.QVBoxLayout()
# Textbox to enter words for PR2 to say
sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") # Default Text
sound_textbox.setFixedWidth(450)
self.marker_publisher = rospy.Publisher('visualization_marker', Marker)
# Set a handler on the textbox to retrieve the text when button clicked
self.sound_textbox = sound_textbox
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(15,20))
button_box.addWidget(self.create_button('Speak', self.command_cb))
button_box.addWidget(sound_textbox)
button_box.addStretch(1)
large_box.addLayout(button_box)
# 'Trick or Treat' & 'Thank You' Buttons
halloween_box = QtGui.QHBoxLayout()
halloween_box.addItem(QtGui.QSpacerItem(15,20))
halloween_box.addWidget(self.create_button('Trick or Treat', self.command_cb))
halloween_box.addWidget(self.create_button('Thank You', self.command_cb))
halloween_box.addStretch(1)
large_box.addLayout(halloween_box)
# Buttons to move the PR2's head
up_head = Head(Head.UP, self)
head_box = QtGui.QVBoxLayout()
up_head_box = QtGui.QHBoxLayout()
up_head_button = self.create_button('^', up_head.create_closure())
down_head = Head(Head.DOWN, self)
down_head_box = QtGui.QHBoxLayout()
down_head_button = self.create_button('v', down_head.create_closure())
right_head = Head(Head.RIGHT, self)
right_head_button = self.create_button('>', right_head.create_closure())
left_head = Head(Head.LEFT, self)
left_head_button = self.create_button('<', left_head.create_closure())
left_right_head_box = QtGui.QHBoxLayout()
head_speed_sld = QtGui.QSlider(QtCore.Qt.Horizontal)
head_speed_sld.setFocusPolicy(QtCore.Qt.NoFocus)
head_speed_sld.setMinimum(1)
head_speed_sld.setMaximum(5)
head_speed_sld.valueChanged[int].connect(Head.set_speed)
up_head_box.addItem(QtGui.QSpacerItem(235,20))
up_head_box.addWidget(up_head_button)
up_head_box.addItem(QtGui.QSpacerItem(275,20))
left_right_head_box.addItem(QtGui.QSpacerItem(160,20))
left_right_head_box.addWidget(left_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(60,20))
left_right_head_box.addWidget(right_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(225,20))
down_head_box.addItem(QtGui.QSpacerItem(235,20))
down_head_box.addWidget(down_head_button)
down_head_box.addItem(QtGui.QSpacerItem(275,20))
head_sld_box = QtGui.QHBoxLayout()
head_sld_box.addItem(QtGui.QSpacerItem(225,20))
head_sld_box.addWidget(head_speed_sld)
head_sld_box.addItem(QtGui.QSpacerItem(225,20))
head_box.addLayout(up_head_box)
head_box.addLayout(left_right_head_box)
head_box.addLayout(down_head_box)
head_box.addLayout(head_sld_box)
large_box.addLayout(head_box)
# Buttons to move the grippers
gripper = Gripper(Gripper.RIGHT, Gripper.OPEN, self)
right_gripper = self.create_button('Right gripper',
gripper.create_closure())
gripper = Gripper(Gripper.LEFT, Gripper.OPEN, self)
left_gripper = self.create_button('Left gripper', gripper.create_closure())
knock_button = self.create_button('Knock', self.knock)
large_box.addItem(QtGui.QSpacerItem(100,250))
gripper_box = QtGui.QHBoxLayout()
gripper_box.addItem(QtGui.QSpacerItem(75,20))
gripper_box.addWidget(left_gripper)
gripper_box.addWidget(knock_button)
gripper_box.addItem(QtGui.QSpacerItem(450,20))
gripper_box.addWidget(right_gripper)
gripper_box.addItem(QtGui.QSpacerItem(75,20))
large_box.addLayout(gripper_box)
# Buttons to move the base
base_box = QtGui.QVBoxLayout()
large_box.addItem(QtGui.QSpacerItem(100,100))
forward_base_box = QtGui.QHBoxLayout()
forward_base = Base(Base.FORWARD, self)
forward_base_button = self.create_button('move forward', forward_base.create_closure())
forward_base_box.addItem(QtGui.QSpacerItem(400,20))
forward_base_box.addWidget(forward_base_button)
forward_base_box.addItem(QtGui.QSpacerItem(400,20))
base_box.addLayout(forward_base_box)
left_right_base_box = QtGui.QHBoxLayout()
left_base= Base(Base.LEFT, self)
left_base_button = self.create_button('move left',
left_base.create_closure())
right_base= Base(Base.RIGHT, self)
right_base_button= self.create_button('move right',
right_base.create_closure())
left_right_base_box.addItem(QtGui.QSpacerItem(300,20))
left_right_base_box.addWidget(left_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(50,20))
left_right_base_box.addWidget(right_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(300,20))
base_box.addLayout(left_right_base_box)
backward_base_box = QtGui.QHBoxLayout()
backward_base= Base(Base.BACKWARD, self)
backward_base_button = self.create_button('move backward',
backward_base.create_closure())
backward_base_box.addItem(QtGui.QSpacerItem(400,20))
backward_base_box.addWidget(backward_base_button)
backward_base_box.addItem(QtGui.QSpacerItem(400,20))
base_box.addLayout(backward_base_box)
large_box.addLayout(base_box)
turn_base_box = QtGui.QHBoxLayout()
counter_base= Base(Base.COUNTER, self)
counter_base_button = self.create_button('\\\n -->',
counter_base.create_closure())
clockwise_base= Base(Base.CLOCKWISE, self)
clockwise_base_button = self.create_button(' /\n<--',
clockwise_base.create_closure())
turn_base_box.addItem(QtGui.QSpacerItem(75,20))
turn_base_box.addWidget(counter_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(225,20))
turn_base_box.addWidget(clockwise_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(100,20))
large_box.addLayout(turn_base_box)
self._widget.setObjectName('WaterPulse')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet("QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../rosie_background.jpg"))
def __init__(self, context):
super(SimpleGUI, self).__init__(context)
self.setObjectName('SimpleGUI')
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
large_box = QtGui.QVBoxLayout()
#Sound textbox
sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") #Default Text
sound_textbox.setFixedWidth(450)
#Set a handle on the textbox to retrieve the text when button clicked
self.sound_textbox = sound_textbox
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(15,20))
button_box.addWidget(self.create_button('Speak', self.command_cb))
button_box.addWidget(sound_textbox)
button_box.addStretch(1)
large_box.addLayout(button_box)
speech_box = QtGui.QHBoxLayout()
speech_box.addItem(QtGui.QSpacerItem(15, 20))
self.speech_label = QtGui.QLabel('Robot has not spoken yet.')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground,QtCore.Qt.blue)
self.speech_label.setPalette(palette)
speech_box.addWidget(self.speech_label)
large_box.addLayout(speech_box)
large_box.addStretch(1)
#large_box.addItem(QtGui.QSpacerItem(50,20))
up_head = Head(Head.UP)
head_box = QtGui.QVBoxLayout()
up_head_box = QtGui.QHBoxLayout()
up_head_button = self.create_button('^', up_head.create_closure())
#large_box.addWidget(up_head_button)
down_head = Head(Head.DOWN)
down_head_box = QtGui.QHBoxLayout()
down_head_button = self.create_button('v', down_head.create_closure())
#large_box.addWidget(down_head_button)
right_head = Head(Head.RIGHT)
right_head_button = self.create_button('>', right_head.create_closure())
#large_box.addWidget(right_head_button)
left_head = Head(Head.LEFT)
left_head_button = self.create_button('<', left_head.create_closure())
left_right_head_box = QtGui.QHBoxLayout()
up_head_box.addItem(QtGui.QSpacerItem(235,20))
up_head_box.addWidget(up_head_button)
up_head_box.addItem(QtGui.QSpacerItem(275,20))
left_right_head_box.addItem(QtGui.QSpacerItem(160,20))
left_right_head_box.addWidget(left_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(60,20))
left_right_head_box.addWidget(right_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(225,20))
down_head_box.addItem(QtGui.QSpacerItem(235,20))
down_head_box.addWidget(down_head_button)
down_head_box.addItem(QtGui.QSpacerItem(275,20))
head_box.addLayout(up_head_box)
head_box.addLayout(left_right_head_box)
head_box.addLayout(down_head_box)
large_box.addLayout(head_box)
#large_box.addItem(QtGui.QSpacerItem(500,20))
#large_box.addWidget(left_head_button)
gripper = Gripper(Gripper.RIGHT, Gripper.OPEN)
right_gripper = self.create_button('Right gripper!', gripper.create_closure())
gripper = Gripper(Gripper.LEFT, Gripper.OPEN)
left_gripper = self.create_button('Left gripper!', gripper.create_closure())
large_box.addItem(QtGui.QSpacerItem(100,250))
gripper_box = QtGui.QHBoxLayout()
gripper_box.addItem(QtGui.QSpacerItem(75,20))
gripper_box.addWidget(left_gripper)
gripper_box.addItem(QtGui.QSpacerItem(450,20))
gripper_box.addWidget(right_gripper)
gripper_box.addItem(QtGui.QSpacerItem(75,20))
large_box.addLayout(gripper_box)
base_box = QtGui.QVBoxLayout()
large_box.addItem(QtGui.QSpacerItem(100,100))
#forward
forward_base_box = QtGui.QHBoxLayout()
forward_base = Base(Base.FORWARD)
forward_base_button = self.create_button('move forward', forward_base.create_closure())
forward_base_box.addItem(QtGui.QSpacerItem(400,20))
forward_base_box.addWidget(forward_base_button)
forward_base_box.addItem(QtGui.QSpacerItem(400,20))
base_box.addLayout(forward_base_box)
#large_box.addWidget(forward_base_button)
#left
left_right_base_box = QtGui.QHBoxLayout()
left_base= Base(Base.LEFT)
left_base_button = self.create_button('move left', left_base.create_closure())
#large_box.addWidget(left_base_button)
#right
right_base= Base(Base.RIGHT)
right_base_button= self.create_button('move right', right_base.create_closure())
left_right_base_box.addItem(QtGui.QSpacerItem(300,20))
left_right_base_box.addWidget(left_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(50,20))
left_right_base_box.addWidget(right_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(300,20))
base_box.addLayout(left_right_base_box)
#large_box.addWidget(right_base_button)
#backward
backward_base_box = QtGui.QHBoxLayout()
backward_base= Base(Base.BACKWARD)
backward_base_button = self.create_button('move backward', backward_base.create_closure())
backward_base_box.addItem(QtGui.QSpacerItem(400,20))
backward_base_box.addWidget(backward_base_button)
backward_base_box.addItem(QtGui.QSpacerItem(400,20))
base_box.addLayout(backward_base_box)
#large_box.addWidget(backward_base_button)
large_box.addLayout(base_box)
turn_base_box = QtGui.QHBoxLayout()
#turn left
turnleft_base= Base(Base.TURNLEFT)
turnleft_base_button = self.create_button(' /\n<--', turnleft_base.create_closure())
#large_box.addWidget(turnleft_base_button)
#turn right
turnright_base= Base(Base.TURNRIGHT)
turnright_base_button = self.create_button('\\\n -->', turnright_base.create_closure())
turn_base_box.addItem(QtGui.QSpacerItem(75,20))
turn_base_box.addWidget(turnright_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(225,20))
turn_base_box.addWidget(turnleft_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(100,20))
large_box.addLayout(turn_base_box)
#large_box.addWidget(turnright_base_button)
self._widget.setObjectName('SimpleGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet("QWidget { image: url(%s) }" % "/home/vjampala/catkin_ws/src/cse481/hw1/rqt_simplegui/rosie_background.jpg")
def __init__(self, context):
super(SimpleGUI, self).__init__(context)
self.setObjectName('SimpleGUI')
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
large_box = QtGui.QVBoxLayout()
# Textbox to enter words for PR2 to say
sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") # Default Text
sound_textbox.setFixedWidth(450)
self.marker_publisher = rospy.Publisher('visualization_marker', Marker)
# Set a handler on the textbox to retrieve the text when button clicked
self.sound_textbox = sound_textbox
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(15,20))
button_box.addWidget(self.create_button('Speak', self.command_cb))
button_box.addWidget(sound_textbox)
button_box.addStretch(1)
large_box.addLayout(button_box)
speech_box = QtGui.QHBoxLayout()
speech_box.addItem(QtGui.QSpacerItem(15, 20))
self.speech_label = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground,QtCore.Qt.blue)
self.speech_label.setPalette(palette)
speech_box.addWidget(self.speech_label)
large_box.addLayout(speech_box)
large_box.addStretch(1)
#large_box.addItem(QtGui.QSpacerItem(50,20))
# Buttons to move the PR2's head
up_head = Head(Head.UP, self)
head_box = QtGui.QVBoxLayout()
up_head_box = QtGui.QHBoxLayout()
up_head_button = self.create_button('^', up_head.create_closure())
down_head = Head(Head.DOWN, self)
down_head_box = QtGui.QHBoxLayout()
down_head_button = self.create_button('v', down_head.create_closure())
right_head = Head(Head.RIGHT, self)
right_head_button = self.create_button('>', right_head.create_closure())
left_head = Head(Head.LEFT, self)
left_head_button = self.create_button('<', left_head.create_closure())
left_right_head_box = QtGui.QHBoxLayout()
up_head_box.addItem(QtGui.QSpacerItem(235,20))
up_head_box.addWidget(up_head_button)
up_head_box.addItem(QtGui.QSpacerItem(275,20))
left_right_head_box.addItem(QtGui.QSpacerItem(160,20))
left_right_head_box.addWidget(left_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(60,20))
left_right_head_box.addWidget(right_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(225,20))
down_head_box.addItem(QtGui.QSpacerItem(235,20))
down_head_box.addWidget(down_head_button)
down_head_box.addItem(QtGui.QSpacerItem(275,20))
head_box.addLayout(up_head_box)
head_box.addLayout(left_right_head_box)
head_box.addLayout(down_head_box)
large_box.addLayout(head_box)
# Buttons to move the grippers
gripper = Gripper(Gripper.RIGHT, Gripper.OPEN, self)
right_gripper = self.create_button('Right gripper',
gripper.create_closure())
gripper = Gripper(Gripper.LEFT, Gripper.OPEN, self)
left_gripper = self.create_button('Left gripper', gripper.create_closure())
large_box.addItem(QtGui.QSpacerItem(100,250))
gripper_box = QtGui.QHBoxLayout()
gripper_box.addItem(QtGui.QSpacerItem(75,20))
gripper_box.addWidget(left_gripper)
gripper_box.addItem(QtGui.QSpacerItem(450,20))
gripper_box.addWidget(right_gripper)
gripper_box.addItem(QtGui.QSpacerItem(75,20))
large_box.addLayout(gripper_box)
# Buttons to move the base
base_box = QtGui.QVBoxLayout()
large_box.addItem(QtGui.QSpacerItem(100,100))
forward_base_box = QtGui.QHBoxLayout()
forward_base = Base(Base.FORWARD, self)
forward_base_button = self.create_button('move forward', forward_base.create_closure())
forward_base_box.addItem(QtGui.QSpacerItem(400,20))
forward_base_box.addWidget(forward_base_button)
forward_base_box.addItem(QtGui.QSpacerItem(400,20))
base_box.addLayout(forward_base_box)
left_right_base_box = QtGui.QHBoxLayout()
left_base= Base(Base.LEFT, self)
left_base_button = self.create_button('move left',
left_base.create_closure())
right_base= Base(Base.RIGHT, self)
right_base_button= self.create_button('move right',
right_base.create_closure())
left_right_base_box.addItem(QtGui.QSpacerItem(300,20))
left_right_base_box.addWidget(left_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(50,20))
left_right_base_box.addWidget(right_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(300,20))
base_box.addLayout(left_right_base_box)
backward_base_box = QtGui.QHBoxLayout()
backward_base= Base(Base.BACKWARD, self)
backward_base_button = self.create_button('move backward',
backward_base.create_closure())
backward_base_box.addItem(QtGui.QSpacerItem(400,20))
backward_base_box.addWidget(backward_base_button)
backward_base_box.addItem(QtGui.QSpacerItem(400,20))
base_box.addLayout(backward_base_box)
large_box.addLayout(base_box)
turn_base_box = QtGui.QHBoxLayout()
counter_base= Base(Base.COUNTER, self)
counter_base_button = self.create_button('\\\n -->',
counter_base.create_closure())
clockwise_base= Base(Base.CLOCKWISE, self)
clockwise_base_button = self.create_button(' /\n<--',
clockwise_base.create_closure())
turn_base_box.addItem(QtGui.QSpacerItem(75,20))
turn_base_box.addWidget(counter_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(225,20))
turn_base_box.addWidget(clockwise_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(100,20))
large_box.addLayout(turn_base_box)
self._widget.setObjectName('SimpleGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet("QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../rosie_background.jpg"))
class Body:
def __init__(self, torso_center, lower_body_flag):
self._body_center = torso_center
self._lower_body_flag = lower_body_flag
self.head = Head(Point(torso_center.x, torso_center.y+15, torso_center.z))
self.torso = Torso(Point(torso_center.x, torso_center.y, torso_center.z))
self.left_arm = Arm(Point(torso_center.x+6.6, torso_center.y+8, torso_center.z))
self.right_arm = Arm(Point(torso_center.x-6.6, torso_center.y+8, torso_center.z))
self.right_arm.set_slocal_rotate_angle(180, 0, 0)
if self._lower_body_flag:
self.left_leg = Leg(Point(torso_center.x+4, torso_center.y-10.6, torso_center.z))
self.right_leg = Leg(Point(torso_center.x-4, torso_center.y-10.6, torso_center.z))
self.right_leg.set_hlocal_rotate_angle(180, 0, 0)
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(gx, gy, gz)) # Affine matrix for horizontal movement.
self._body_center = movement * self._init_torso_center
self.head.horiz_move(x, y, z)
self.torso.horiz_move(x, y, z)
self.left_arm.horiz_move(x, y, z)
self.right_arm.horiz_move(x, y, z)
if self._lower_body_flag:
self.left_leg.horiz_move(x, y, z)
self.right_leg.horiz_move(x, y, z)
def calc_body_center(self):
return self._body_center
def get_property_list(self):
property_list = []
property_list.extend(self.head.get_property_list())
property_list.extend(self.torso.get_property_list())
property_list.extend(self.left_arm.get_property_list())
property_list.extend(self.right_arm.get_property_list())
if self._lower_body_flag:
property_list.extend(self.left_leg.get_property_list())
property_list.extend(self.right_leg.get_property_list())
return property_list
def constr_json_data(self):
# Construcat JSON data
json_data_head = self.head.constr_json_data()
json_data_torso = self.torso.constr_json_data()
json_data_left_arm = self.left_arm.constr_json_data()
json_data_right_arm = self.right_arm.constr_json_data()
if self._lower_body_flag:
json_data_left_leg = self.left_leg.constr_json_data()
json_data_right_leg= self.right_leg.constr_json_data()
json_data = {
'joint_angle': {
'left_shoulder': json_data_left_arm['joint_angle']['shoulder'],
'left_elbow': json_data_left_arm['joint_angle']['elbow'],
'right_shoulder': json_data_right_arm['joint_angle']['shoulder'],
'right_elbow': json_data_right_arm['joint_angle']['elbow']
},
'true_position': {
'head': json_data_head['true_position']['head'],
'torso': json_data_torso['true_position']['torso'],
'left_shouler': json_data_left_arm['true_position']['shoulder'],
'left_elbow': json_data_left_arm['true_position']['elbow'],
'left_hand': json_data_left_arm['true_position']['hand'],
'right_shoulder': json_data_right_arm['true_position']['shoulder'],
'right_elbow': json_data_right_arm['true_position']['elbow'],
'right_hand': json_data_right_arm['true_position']['hand']
}
}
if self._lower_body_flag:
json_data['joint_angle']['left_hip'] = json_data_left_leg['joint_angle']['hip']
json_data['joint_angle']['left_knee'] = json_data_left_leg['joint_angle']['knee']
json_data['joint_angle']['right_hip'] = json_data_right_leg['joint_angle']['hip']
json_data['joint_angle']['right_knee'] = json_data_right_leg['joint_angle']['knee']
json_data['true_position']['left_hip'] = json_data_left_leg['true_position']['hip']
json_data['true_position']['left_knee'] = json_data_left_leg['true_position']['knee']
json_data['true_position']['left_foot'] = json_data_left_leg['true_position']['foot']
json_data['true_position']['right_hip'] = json_data_right_leg['true_position']['hip']
json_data['true_position']['right_knee'] = json_data_right_leg['true_position']['knee']
json_data['true_position']['right_foot'] = json_data_right_leg['true_position']['foot']
return json_data
def set_from_json_data(self, json_data):
# Set angle parameters from json data (not json file!)
self.left_arm.set_from_json_data(json_data['joint_angle']['left_shoulder'], json_data['joint_angle']['left_elbow'])
self.right_arm.set_from_json_data(json_data['joint_angle']['right_shoulder'], json_data['joint_angle']['right_elbow'])
if self._lower_body_flag:
self.left_leg.set_from_json_data(json_data['joint_angle']['left_hip'], json_data['joint_angle']['left_knee'])
self.right_leg.set_from_json_data(json_data['joint_angle']['right_hip'], json_data['joint_angle']['right_knee'])
def is_collision_body_parts(self):
def collision_detection_generator():
# left arm vs. cranicm
yield self.left_arm.is_collision_to_sphere(self.head.calc_cranicm_point(), self.head.get_cranicm_radius())
# left arm vs. torso
yield self.left_arm.is_collision_to_capsule(self.torso.calc_torso_upper_point(), self.torso.calc_torso_lower_point(), self.torso.get_torso_radius())
# left arm vs. right upperarm
yield self.left_arm.is_collision_to_capsule(self.right_arm.calc_shoulder_point(), self.right_arm.calc_upperarm_lower_point(), self.right_arm.get_upperarm_radius())
# left arm vs. right elbow
yield self.left_arm.is_collision_to_sphere(self.right_arm.calc_elbow_point(), self.right_arm.get_elbow_radius())
# left arm vs. right forearm
yield self.left_arm.is_collision_to_capsule(self.right_arm.calc_forearm_upper_point(), self.right_arm.calc_hand_point(), self.right_arm.get_forearm_radius())
# right arm vs. cranicm
yield self.right_arm.is_collision_to_sphere(self.head.calc_cranicm_point(), self.head.get_cranicm_radius())
# right arm vs. torso
yield self.right_arm.is_collision_to_capsule(self.torso.calc_torso_upper_point(), self.torso.calc_torso_lower_point(), self.torso.get_torso_radius())
if self._lower_body_flag:
# left arm vs. left thigh
yield self.left_arm.is_collision_to_capsule(self.left_leg.calc_hip_point(), self.left_leg.calc_thigh_lower_point(), self.left_leg.get_thigh_radius())
# left arm vs. left knee
yield self.left_arm.is_collision_to_sphere(self.left_leg.calc_knee_point(), self.left_leg.get_knee_radius())
# left arm vs. left calf
yield self.left_arm.is_collision_to_capsule(self.left_leg.calc_calf_upper_point(), self.left_leg.calc_foot_point(), self.left_leg.get_calf_radius())
# left arm vs. right thigh
yield self.left_arm.is_collision_to_capsule(self.right_leg.calc_hip_point(), self.right_leg.calc_thigh_lower_point(), self.right_leg.get_thigh_radius())
# left arm vs. right knee
yield self.left_arm.is_collision_to_sphere(self.right_leg.calc_knee_point(), self.right_leg.get_knee_radius())
# left arm vs. right calf
yield self.left_arm.is_collision_to_capsule(self.right_leg.calc_calf_upper_point(), self.right_leg.calc_foot_point(), self.right_leg.get_calf_radius())
# right arm vs. left thigh
yield self.right_arm.is_collision_to_capsule(self.left_leg.calc_hip_point(), self.left_leg.calc_thigh_lower_point(), self.left_leg.get_thigh_radius())
# right arm vs. left thigh
yield self.right_arm.is_collision_to_capsule(self.left_leg.calc_hip_point(), self.left_leg.calc_thigh_lower_point(), self.left_leg.get_thigh_radius())
# right arm vs. left knee
yield self.right_arm.is_collision_to_sphere(self.left_leg.calc_knee_point(), self.left_leg.get_knee_radius())
# right arm vs. left calf
yield self.right_arm.is_collision_to_capsule(self.left_leg.calc_calf_upper_point(), self.left_leg.calc_foot_point(), self.left_leg.get_calf_radius())
# right arm vs. right thigh
yield self.right_arm.is_collision_to_capsule(self.right_leg.calc_hip_point(), self.right_leg.calc_thigh_lower_point(), self.right_leg.get_thigh_radius())
# right arm vs. right knee
yield self.right_arm.is_collision_to_sphere(self.right_leg.calc_knee_point(), self.right_leg.get_knee_radius())
# right arm vs. right calf
yield self.right_arm.is_collision_to_capsule(self.right_leg.calc_calf_upper_point(), self.right_leg.calc_foot_point(), self.right_leg.get_calf_radius())
# left leg vs. cranicm
yield self.left_leg.is_collision_to_sphere(self.head.calc_cranicm_point(), self.head.get_cranicm_radius())
# left leg vs. right thigh
yield self.left_leg.is_collision_to_capsule(self.right_leg.calc_hip_point(), self.right_leg.calc_thigh_lower_point(), self.right_leg.get_thigh_radius())
# left leg vs. right knee
yield self.left_leg.is_collision_to_sphere(self.right_leg.calc_knee_point(), self.right_leg.get_knee_radius())
# left leg vs. right calf
yield self.left_leg.is_collision_to_capsule(self.right_leg.calc_calf_upper_point(), self.right_leg.calc_foot_point(), self.right_leg.get_calf_radius())
# right leg vs. cranicm
yield self.right_leg.is_collision_to_sphere(self.head.calc_cranicm_point(), self.head.get_cranicm_radius())
# torso vs. left knee
yield self.torso.is_collision_to_sphere(self.left_leg.calc_knee_point(), self.left_leg.get_knee_radius())
# torso vs. left calf
yield self.torso.is_collision_to_capsule(self.left_leg.calc_calf_upper_point(), self.left_leg.calc_foot_point(), self.left_leg.get_calf_radius())
# torso vs. right knee
yield self.torso.is_collision_to_sphere(self.right_leg.calc_knee_point(), self.right_leg.get_knee_radius())
# torso vs. right calf
yield self.torso.is_collision_to_capsule(self.right_leg.calc_calf_upper_point(), self.right_leg.calc_foot_point(), self.right_leg.get_calf_radius())
for detection in collision_detection_generator():
if detection:
return True
return False