def docking_reset(self):
"""
Reset the head to a neutral position.
"""
tk = Track()
tk.add(0.0, self.head_mot.reset())
return tk
def pan(self, x):
"""
@param x: radians from the neutral position (positive to the right)
"""
tk = Track()
tk.add(0.0, self.head_mot.lookat(x, 0.5))
return tk
def tilt(self, x):
"""
@param x: radians from the neutral position (positive looking down)
"""
tk = Track()
tk.add(0.0, self.head_mot.pantilt(self.head.cur_pan, x, 0.5))
return tk
def breath(self, excited, happy):
tk = Track()
one_breath = self.lights_mot.heartbeat(happiness_to_color(happy),
happiness_to_fade(happy),
excitation_to_period(excited))
tk.add(0.0, one_breath)
return tk
def putdown(self):
"""
Animation that runs when the robot is put down.
"""
tk = Track()
tk.add(0, self.sound_mot.open('Putdown.wav'))
return tk
def at_attention_look_around(self, pan_face=Head.PAN_NEUTRAL, tilt_face=-0.5, move_base=True):
tk = Track()
tk.add(0.0, self.head_mot.openeyes())
if move_base:
tk.add(0.0, self.wheels_mot.inch(0.08, 0.7))
tk.add(0.08, self.head_mot.happyeyes(0.17))
tk.add(0.25, self.head_mot.pantilt(pan_face, tilt_face, 0.25))
return tk
def relocalize_part7(self):
keep_alive_speed = 0
spacing = (keep_alive_speed * 0.6 + 10) * 0.1
speed = (keep_alive_speed + 10) * 0.1
tk = Track()
tk.add(1.9 * spacing,
self.head_mot.pantilt(pan=0.78, tilt=0, duration=0.25 * speed))
return tk
def live_undock(self):
"""
This is designed to get the robot off the dock before it starts
to navigate, in live mode (so it should never be made 'cute')
"""
tk = Track()
tk.add(0.5, self.wheels_mot.inch(0.5, 0.5))
return tk
def waypoint_reached(self, head_pose=None):
"""
Runs when a commanded waypoint is reached.
"""
tk = Track()
if head_pose:
tk.add(0, self.head_mot.pantilt(head_pose.pan, head_pose.tilt, 0.5))
return tk
def pantilt(self, x, y, length=0.5):
"""
@param x: radians from the neutral position for pan
@param y: radians from the neutral position for tilt
"""
tk = Track()
tk.add(0.0, self.head_mot.pantilt(x, y, length))
return tk
def eyes(self, x, spd=0.5):
"""
@param x: radians from the neutral position (positive closing eyes,
negative happy face)
"""
tk = Track()
tk.add(0.0, self.head_mot.moveeyes(x, spd))
return tk
def undock(self):
"""
This is designed to get the robot off the dock before it starts
to navigate
"""
tk = Track()
tk.add(0.5, self.wheels_mot.inch(0.5, 0.5))
return tk
def test_pan(self):
"""
Move pan axis independently.
"""
tk = Track()
tk.add(1.41, self.head_mot.neutral())
tk.add(3.1, self.head_mot.lookat(radians(90), 0.35))
tk.add(5.1, self.head_mot.lookat(radians(0), 0.35))
tk.add(7.1, self.head_mot.lookat(radians(90), 0.35))
return tk
def reset_sad(self):
"""
Animation that runs when the robot is reset
"""
tk = Track()
tk.add(0.0, self.head_mot.sadposture())
tk.add(0.0, self.sound_mot.open('Sad3.wav'))
tk.add(1.0, self.head_mot.closeeyes())
tk.add(1.0, self.head_mot.pantilt(self.head.PAN_NEUTRAL, self.head.TILT_DOWN, 0.5))
return tk
def test_tilt(self):
"""
Move tilt axis independently.
"""
tk = Track()
tk.add(1.41, self.head_mot.neutral())
tk.add(3.1, self.head_mot.pantilt(0, radians(40), 0.35))
tk.add(5.1, self.head_mot.pantilt(0, radians(0), 0.35))
tk.add(7.1, self.head_mot.pantilt(0, radians(40), 0.35))
return tk
def redock(self):
"""
This is designed to redock a robot that has inched off the dock
when asleep. It needs to be a short motion so we don't grind the
dock, especially if 'undocking' actually happened due to a power
outage. The user should still be able to push Kuri off the dock.
If it becomes not wheels-only make sure sleep coordinates it with
twitches
"""
tk = Track()
tk.add(0.5, self.wheels_mot.inch(-0.3, 0.2))
return tk
def relocalize_part0(self):
keep_alive_speed = 0
spacing = (keep_alive_speed * 0.6 + 10) * 0.1
speed = (keep_alive_speed + 10) * 0.1
tk = Track()
tk.add(0, self.sound_mot.open('Wake.wav'))
tk.add(0.0, self.head_mot.moveeyes(0, 0.08))
tk.add(0.0, self.head_mot.pantilt(pan=0,
tilt=0.4,
duration=0.2 * speed))
tk.add(0.7 * spacing,
self.head_mot.pantilt(pan=0, tilt=0, duration=0.3 * speed))
return tk
def wakeup_fast(self):
tk = Track()
tk.add(0.0, self.lights_mot.off(length=1.0))
tk.add(0.5, self.sound_mot.open('Wake.wav'))
tk.add(0.5, self.head_mot.neutral())
tk.add(0.8, self.head_mot.openeyes())
return tk
def night_light(self):
tk = Track()
tk.add(0.0, self.head_mot.neutral())
lullaby = self.sound_mot.open('Lullaby.wav')
tk.add(0, lullaby)
tk.add(0, self.lights_mot.night_light(lullaby.length(), period=10.0))
return tk
def reset_head(self, lights_fade_duration=None):
tk = Track()
tk.add(0.0, self.head_mot.reset())
if lights_fade_duration:
tk.add(0, self.lights_mot.off(lights_fade_duration))
tk.add(0.4, self.head_mot.openeyes())
return tk
def test_eyes(self):
"""
Move eyelids independently.
"""
tk = Track()
tk.add(3.1, self.head_mot.moveeyes(radians(30), 0.35))
tk.add(5.1, self.head_mot.moveeyes(radians(0), 0.35))
tk.add(7.1, self.head_mot.moveeyes(radians(30), 0.35))
return tk
def stop(self, reset_head=False):
"""
Stop the robot's base from moving (optionally reset the head too!).
"""
tk = Track()
tk.add(0.0, self.wheels_mot.stop())
if reset_head:
tk.add(0.0, self.head_mot.neutral())
tk.add(0.0, self.head_mot.openeyes())
return tk
def greeting_first_capture(self):
"""
A short smile and Kuri's iconic greeting sound.
Length: 2 seconds
"""
tk = Track()
tk.add(0.0, self.head_mot.happyeyes())
tk.add(0.0, self.sound_mot.open('Greeting.wav'))
tk.add(2.0, self.head_mot.openeyes())
return tk
def observer_indicator(self):
tk = Track()
inner = (30, 0, 124)
outer = (37, 0, 119)
pattern = [outer] * Lights.NUM_LEDS
pattern[Lights.IDX_INNER_BOTTOM_LEFT] = inner
pattern[Lights.IDX_INNER_BOTTOM_RIGHT] = inner
pattern[Lights.IDX_INNER_UPPER_LEFT] = inner
pattern[Lights.IDX_INNER_UPPER_RIGHT] = inner
pattern[Lights.IDX_CENTER] = Lights.OFF
pattern[Lights.IDX_INNER_LEFT] = Lights.OFF
pattern[Lights.IDX_INNER_RIGHT] = Lights.OFF
tk.add(
0.0,
self.lights_mot.glow_pattern(pattern,
fade_length=0.0,
hold_length=0.5))
return tk
def play_live_animation(self, command):
animationCommand = command
animation = AnimationParser.parse_animation(animationCommand.json)
if animation is not None and not animation.hasParseErrors:
track = Track()
self.animation_assembler.add_animation_to_track(animation, track)
self._play_track(track)
return self.currentTrackPlayer
logger.error('Could not play animation because of parse error.')
return
def docking_preparing_to_rotate_180(self, cw=True, mood=0.0):
"""
Plays after Kuri has approached the dock (can see the close-field
LED), before rotating to align the bot's charging contacts.
"""
tk = Track()
speed = (mood + 10) * 0.1
side = 1 if cw else -1
tk.add(0.1 * speed, self.head_mot.moveeyes(Head.EYES_CLOSED, 0.15))
tk.add(
0.1 * speed,
self.head_mot.pantilt(pan=-0.8 * side,
tilt=Head.TILT_NEUTRAL,
duration=0.3 * speed))
tk.add(0.3 * speed, self.head_mot.moveeyes(Head.EYES_OPEN, 0.35))
tk.add(
0.5 * speed,
self.head_mot.pantilt(pan=-0.8 * side,
tilt=Head.TILT_NEUTRAL,
duration=0.1 * speed))
return tk
def triple_blink(self):
tk = Track()
blink_time_1 = max(
self.PAUSE_MIN,
min(self.PAUSE_MAX,
normalvariate(self.PAUSE_MEAN, self.PAUSE_STD_DEV)))
blink_time_2 = max(
self.PAUSE_MIN,
min(self.PAUSE_MAX,
normalvariate(self.PAUSE_MEAN, self.PAUSE_STD_DEV)))
tk.add(0.0, self.head_mot.blink())
tk.add(blink_time_1, self.head_mot.blink())
tk.add(blink_time_1 + blink_time_2, self.head_mot.blink())
return tk
def relocalize_part6(self):
keep_alive_speed = 0
spacing = (keep_alive_speed * 0.6 + 10) * 0.1
tk = Track()
tk.add(
0.6 * spacing,
self.head_mot.blinkeyes(open_amplitude=1.0,
close_amplitude=1.0,
open_time=0.27,
close_time=0.15))
tk.add(0.7 * spacing, self.wheels_mot.rotate(-10, 1.5))
tk.add(0.7 * spacing, self.head_mot.pantilt(pan=0,
tilt=0,
duration=1.5))
return tk
def pickup(self):
"""
Animation that runs when the robot is picked up.
"""
tk = Track()
tk.add(0.0, self.head_mot.reset())
tk.add(0, self.sound_mot.open('Pickup.wav'))
return tk
def double_blink(self):
blink_time = max(
self.PAUSE_MIN,
min(self.PAUSE_MAX,
normalvariate(self.PAUSE_MEAN, self.PAUSE_STD_DEV)))
tk = Track()
tk.add(0.0, self.head_mot.blink())
tk.add(blink_time, self.head_mot.blink())
return tk
