def send_robot_anim_transition_cmd(tran):
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_anim_transition = True
msg.anim_transition = tran
robot_commander.publish(msg)
rospy.loginfo(msg)
def send_robot_anim_transition_cmd(self, tran):
msg = JiboAction()
# add header
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.do_anim_transition = True
msg.anim_transition = tran
self.robot_commander.publish(msg)
rospy.loginfo(msg)
# def main():
# new_rule = "TopRule = $* (love candy){%slotAction='world'%} | (love choco){%slotAction='mars'%} $*;"
# mySender = RobotSender()
# mySender.start_robot_publisher()
# mySender.send_robot_motion_cmd('reset.keys')
# # Animation transition mode testing
# mySender.send_robot_anim_transition_cmd(JiboAction.ANIMTRANS_KEEP_LASTFRAME)
# mySender.send_robot_motion_cmd("spider.keys")
# mySender.send_robot_motion_cmd("snail.keys")
# mySender.send_robot_motion_cmd("snail.keys")
# mySender.send_robot_motion_cmd("snail.keys")
# time.sleep(5)
# mySender.send_robot_anim_transition_cmd(JiboAction.ANIMTRANS_RESET)
# # Send TTS
# time.sleep(5)
# mySender.send_robot_tts_cmd('Tell me something')
# # Start listening
# mySender.send_robot_asr_cmd(JiboAsrCommand.START, False, True, new_rule)
# time.sleep(10)
# # Play audio
# mySender.send_robot_audio_cmd(JiboAction.RING_IN_SOUND)
# time.sleep(20)
# # Stop listening
# mySender.send_robot_asr_cmd(JiboAsrCommand.STOP)
# # Motion and Audio command
# mySender.send_robot_audio_motion_cmd("instruments/Blocks.mp3", "heart-beat.keys")
# # LED color
# mySender.send_robot_led_cmd(0,1,0)
# rospy.spin()
# if __name__ == '__main__':
# main()