def close_and_check_hand(value):
self.logger.debug('call close_and_check_hand')
if not self.run:
return
utils.nearly_close_hand(self, 'RHand')
signal = utils.start_monitoring_grasp_status(self.sesh, 'moving')
signal.connect(grasp_status_changed)
def look_at_object(self):
"""Look at the object in Nao's hand.
If we lose the object while we're inspecting it...
- new grasp_status is 'absent'
- we stop the animation and say something about losing it
- restart the grasp demo
Otherwise wait for the animation to finish (fut.wait)
"""
self.logger.debug('call look_at_object')
if not self.run:
return
object_dropped = qi.Promise()
self.thinking_sound_fut_1 = None
self.thinking_sound_fut_2 = None
def handle_object_dropped(object_dropped, stat):
"""Handle the object being dropped."""
self.logger.debug('call handle_object_dropped: {}'.format(stat))
if not self.run:
return
if stat == 'absent':
self.logger.warning('grasped object was dropped!')
object_dropped.setValue(1)
utils.nearly_close_hand(self, 'RHand')
signal = utils.start_monitoring_grasp_status(self.sesh, 'present')
signal.connect(partial(handle_object_dropped, object_dropped))
self.anim = random.randint(1, 3)
def inspect_object(object_dropped):
"""Observe the object with ooohs and ahhhs."""
if not self.run:
return
self.thinking_sound_fut_1 = utils.play_rand_thinking_sound(self, 1.5)
self.thinking_sound_fut_2 = utils.play_rand_thinking_sound(self, 5)
self.run_anim('ObserveObject{}'.format(self.anim))
try:
object_dropped.setValue(0)
except RuntimeError:
self.logger.warning('"ObserveObject" animation was canceled ' +
'because object was dropped.')
qi.async(inspect_object, object_dropped)
if object_dropped.future().value() == 1: # dropped the object
self.thinking_sound_fut_1.cancel()
self.thinking_sound_fut_2.cancel()
self.stop_anim('ObserveObject{}'.format(self.anim))
self.say_and_animate('ohno', 'Grasping', 'LostIt')
return False
else: # done looking at the object
utils.stop_monitoring_grasp_status()
return True
def return_object(self):
"""Hand the object back to the user.
Extend the arm out toward the user and (A) wait for the arm to move and
(B) close the fingers and detect no object. Whichever happens first
stops the other task. Finally open the hand and then joke.
"""
self.logger.debug('call return_object')
if not self.run:
return
self.say_and_animate('done', 'Grasping', 'ReturnObject') # offer object
time.sleep(1) # try to ensure that arm monitoring doesn't false positive...
object_dropped = qi.Promise()
fut = object_dropped.future()
# 1. Register a callback to arm movement and start detecting arm movement
def handle_arm_moved(object_dropped, value):
self.logger.debug('call handle_arm_moved')
if not self.run:
return
utils.stop_monitoring_grasp_status()
object_dropped.setValue(1)
signal = utils.start_monitoring_arm_move(self.sesh, 'R')
signal.connect(partial(handle_arm_moved, object_dropped))
# 2. asynchronously close the hand and keep checking if its empty
def grasp_status_changed(object_dropped, stat):
self.logger.debug('call grasp_status_changed: {}'.format(stat))
if not self.run:
return
utils.nearly_close_hand(self, 'RHand')
if stat == 'absent':
utils.stop_monitoring_arm_move()
object_dropped.setValue(1)
signal = utils.start_monitoring_grasp_status(self.sesh, 'present')
signal.connect(partial(grasp_status_changed, object_dropped))
# proceed when one of the above two has finished
try:
fut.value(self.return_duration)
self.run_anim('OpenHand')
time.sleep(1) # for continuity
self.say_and_animate('giveback', 'Grasping', 'DontForget')
time.sleep(1) # for continuity
except RuntimeError:
self.logger.warning("give up on returning the grasped object!")
self.run_anim('OpenHand')
self.box.onStopped(1)
