def __init__(self, wait_services=False):
super(Sergio, self).__init__(robot_name="sergio",
wait_services=wait_services)
self._ignored_parts = [
"leftArm", "rightArm", "torso", "spindle", "head"
]
self.add_body_part('base', base.Base(self.robot_name,
self.tf_listener))
self.add_body_part(
'torso',
torso.Torso(self.robot_name, self.tf_listener, self.joint_states))
# Add arms (replace the '[[arm_name]]' and '[[side_name]]' strings with actual arm names.)
#self.add_arm_part('[[arm name]]', arms.Arm(self.robot_name, self.tf_listener, side='[[side name]]'))
self.add_body_part('head', head.Head(self.robot_name,
self.tf_listener))
self.add_body_part(
'perception',
perception.Perception(self.robot_name, self.tf_listener))
self.add_body_part(
'ssl',
sound_source_localisation.SSL(self.robot_name, self.tf_listener))
# Human Robot Interaction
self.add_body_part('lights',
lights.Lights(self.robot_name, self.tf_listener))
self.add_body_part(
'speech',
speech.Speech(
self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.SPEAKING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
self.add_body_part(
'hmi',
api.Api(self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.LISTENING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
self.add_body_part(
'ears',
ears.Ears(
self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.LISTENING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
ebutton_class = SimEButton if is_sim_mode() else ebutton.EButton
self.add_body_part('ebutton',
ebutton_class(self.robot_name, self.tf_listener))
# Reasoning/world modeling
self.add_body_part(
'ed', world_model_ed.ED(self.robot_name, self.tf_listener))
self.configure()
def __init__(self, dontInclude=None, wait_services=False):
"""
Constructor
:param dontInclude: Not supported anymore
:param wait_services: Not supported anymore by robot class
"""
if dontInclude is None:
dontInclude = []
super(Amigo, self).__init__(robot_name="amigo",
wait_services=wait_services)
self.add_body_part('base', base.Base(self.robot_name,
self.tf_listener))
self.add_body_part(
'torso',
torso.Torso(self.robot_name, self.tf_listener,
self.get_joint_states))
self.add_arm_part(
'leftArm',
arms.Arm(self.robot_name,
self.tf_listener,
self.get_joint_states,
side="left"))
self.add_arm_part(
'rightArm',
arms.Arm(self.robot_name,
self.tf_listener,
self.get_joint_states,
side="right"))
self.add_body_part('head', head.Head(self.robot_name,
self.tf_listener))
self.add_body_part(
'perception',
perception.Perception(self.robot_name, self.tf_listener))
self.add_body_part(
'ssl',
sound_source_localisation.SSL(self.robot_name, self.tf_listener))
# Human Robot Interaction
self.add_body_part('lights',
lights.Lights(self.robot_name, self.tf_listener))
self.add_body_part(
'speech',
speech.Speech(
self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.SPEAKING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
self.add_body_part(
'hmi',
api.Api(self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.LISTENING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
self.add_body_part(
'ears',
ears.Ears(
self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.LISTENING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
ebutton_class = SimEButton if is_sim_mode() else ebutton.EButton
self.add_body_part('ebutton',
ebutton_class(self.robot_name, self.tf_listener))
# Reasoning/world modeling
self.add_body_part(
'ed', world_model_ed.ED(self.robot_name, self.tf_listener))
self.configure()
html += "<p><b>Type: </b>%s</p>" % entity.type
html += "<p><b>Position (x,y,z): </b>(%.2f,%.2f,%.2f)</p>" % (
entity.pose.frame.p.x(), entity.frame.p.y(),
entity.frame.p.z())
html += "</center></td>"
html += "</tr></table>"
html += "<br />"
html += "</body>"
html += "</html>"
date_str = datetime.datetime.now().strftime("%Y_%m_%d_%H_%M")
filename = "%s_%s.pdf" % (name, date_str)
try:
html2pdf(html, "%s/%s" % (directory, filename))
except IOError, ioerror:
rospy.logerr(ioerror)
rospy.logwarn("Writing to local file instead")
html2pdf(html, "%s" % filename)
html2pdf(html, "%s/%s" % (os.path.expanduser("~"), filename))
if __name__ == '__main__':
rospy.init_node("testpdf")
pisa.showLogging()
ed = world_model_ed.ED("amigo", "nbanana")
entities_to_pdf(ed, ed.get_entities(), "all_entities")
def __init__(self, wait_services=False):
super(Hero, self).__init__(robot_name="hero",
wait_services=wait_services)
self._ignored_parts = ["leftArm", "torso", "spindle", "head"]
self.add_body_part('base', base.Base(self.robot_name,
self.tf_listener))
self.add_body_part(
'torso',
torso.Torso(self.robot_name, self.tf_listener,
self.get_joint_states))
self.add_arm_part(
'leftArm',
arms.ForceSensingArm(self.robot_name, self.tf_listener,
self.get_joint_states, "left"))
self.add_body_part('head', head.Head(self.robot_name,
self.tf_listener))
self.add_body_part(
'perception',
perception.Perception(self.robot_name,
self.tf_listener,
"/hero/head_rgbd_sensor/rgb/image_raw",
"/hero/head_rgbd_sensor/project_2d_to_3d",
camera_base_ns='hero/head_rgbd_sensor'))
# self.add_body_part('ssl', ssl.SSL(self.robot_name, self.tf_listener))
# Human Robot Interaction
self.add_body_part('lights',
lights.Lights(self.robot_name, self.tf_listener))
self.add_body_part(
'speech',
speech.Speech(
self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.SPEAKING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
self.add_body_part(
'hmi',
api.Api(self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.LISTENING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
self.add_body_part(
'ears',
ears.Ears(
self.robot_name, self.tf_listener,
lambda: self.lights.set_color_colorRGBA(lights.LISTENING),
lambda: self.lights.set_color_colorRGBA(lights.RESET)))
ebutton_class = SimEButton if is_sim_mode() else ebutton.EButton
self.add_body_part(
'ebutton',
ebutton_class(self.robot_name,
self.tf_listener,
topic="/hero/runstop_button"))
# Reasoning/world modeling
self.add_body_part(
'ed', world_model_ed.ED(self.robot_name, self.tf_listener))
#rename joint names
self.parts['leftArm'].joint_names = self.parts['leftArm'].load_param(
'skills/arm/joint_names')
# These don't work for HSR because (then) Toyota's diagnostics aggregator makes the robot go into error somehow
for arm in self.arms.itervalues():
arm.unsubscribe_hardware_status()
for arm in self.arms.itervalues():
arm._operational = True
# verify joint goal required for posing
assert 'arm_out_of_way' in self.parts['leftArm'].default_configurations,\
"arm_out_of_way joint goal is not defined in {}_describtion skills.yaml".format(self.robot_name)
self.configure()