def __init__(self):
labels = ['init', 'find_pos', 'go', 'check', 'finish']
Option.__init__(self, labels, 'finish')
self.furniture = None
self.room = None
self.candicates = None
self.curr = -1
def __init__(self):
labels = ['init', 'find_pos', 'goa', 'gob', 'check', 'finish']
Option.__init__(self, labels, 'finish')
self.door = None
self.rooma = None
self.roomb = None
self.candicates = []
self.dist = 0.5
def __init__(self):
labels = ['init', 'godest', 'stop', 'finish']
Option.__init__(self, labels, 'finish')
self.target_dist = 0.
self.odom_start_pose = None
self.scale = 1
self.odom_scale_x = 1.0
self.direction = 1
def __init__(self):
labels = ['init', 'scan', 'findobj', 'publish', 'finish']
Option.__init__(self, labels, 'finish')
self.room = None
self.furniture = None
self.object = None
self.objects = {}
self.object_pub = rospy.Publisher(conf.topic_vision_pub,
String,
queue_size=10)
def __init__(self):
labels = [
'init', 'findpos', 'prepose', 'adjustpose', 'slamgo', 'putdown',
'finish'
]
Option.__init__(self, labels, 'finish')
self.room = None
self.furniture = None
self.object = None
self.goal = None
self.candinates = None
self.max_dist = 0.4
def __init__(self):
labels = [
'init', 'move_arm', 'speak', 'wait', 'open_paw', 'armbk', 'finish'
]
Option.__init__(self, labels, 'finish')
self.obj = None
self.person = None
self.hand = None
self.goal_angles = [0, 45, 90, -45, 0]
self.robot_pub = rospy.Publisher("/hri/robot_response",
String,
queue_size=50)
def __init__(self):
labels = ['init', 'blind_move', 'init_ev', 'calc', 'open_paw', 'move_arm', 'pre_arm', 'forward', 'lift_up', 'PRE_ARM2', 'back', 'hold',
'adj_ev', 'close_paw', 'open_paw', 'wait', 'finish']
Option.__init__(self, labels, 'finish')
self.arm_angles = None
self.best_dist = 0.90
self.obj_info = None
self.push_dist = 0.2
self.wait = [1, None]
self.liftup_height = 0.1
self.back_dist = 0.0
self.grasp_time = device.grasp_time
self.pre_arm_angles = device.pre_arm_angles
def __init__(self):
labels = [
'init', 'findobj', 'prepose', 'adjustpose', 'pickup', 'check',
'finish'
]
Option.__init__(self, labels, 'finish')
self.room = None
self.furniture = None
self.object = None
self.goal = None
self.max_dist = 0.4
self.max_dist2edge = 0.4
self.max_try_times = 2
self.try_times = 0
def __init__(self):
labels = [
'init', 'blind_move', 'calc', 'init_ev', 'open_paw', 'move_arm',
'pre_arm', 'back', 'armbk', 'adj_ev', 'open_paw', 'wait', 'finish'
]
Option.__init__(self, labels, 'finish')
self.arm_angles = None
self.best_dist = 0.65
self.obj_info = None
self.wait = [1, None]
self.put_height = 0.05
self.back_dist = 0.2
self.release_time = device.release_time
self.pre_arm_angles = device.pre_arm_angles
def __init__(self):
labels = ['init', 'wait_action', 'executing', 'result', 'finish']
Option.__init__(self, labels, 'finish')
self.actions = Queue()
self.action_sub = rospy.Subscriber(conf.topic_executor_action, String,
self.action_callback)
self.feedback_pub = rospy.Publisher(conf.topic_executor_result,
String,
queue_size=10)
self.action_mapping = {
'putdown': 'action_putdown',
'pickup': 'action_pickup',
'receive': None,
'give': 'action_handover',
'findPerson': None,
'findObj': 'action_scan',
'moveIn': 'action_movein',
'moveTo': 'action_moveto',
'moveToHuman': 'action_movetohuman',
'open': None,
'close': None,
'accompany': None
}
def __init__(self):
labels = ['init', 'move', 'finish']
Option.__init__(self, labels, 'finish')
self.goal_angles = [0, 0, 0, 0, 0]
def __init__(self):
labels = ['init', 'step', 'check', 'final_step', 'finish']
Option.__init__(self, labels, 'finish')
self.step_angles = [0, 0, 0, 0, 0]
self.goal_angles = [0, 0, 0, 0, 0]
self.step = 10
def __init__(self):
labels = ['init', 'pre_arm', 'pre_arm2', 'pre_fetch', 'finish']
Option.__init__(self, labels, 'finish')
self.goal_angles = None
self.pre_preput_angles = [-90, 0, 140, -50, 0]
self.pre_preput_angles2 = [0, 0, 140, -50, 0]
def __init__(self):
labels = ['init', 'turndest', 'stop', 'finish']
Option.__init__(self, labels, 'finish')
self.target_r = 0.0
self.speed_scale = 1.0
self.target_error = 0.05
def __init__(self):
labels = ['init', 'turn', 'navigate', 'check', 'finish']
Option.__init__(self, labels, 'finish')
self.goal = None
self.turn_dist = 0
self.min_turn_dist = 120.0 / 180 * math.pi
def __init__(self):
labels = ['init', 'move', 'check', 'finish']
Option.__init__(self, labels, 'finish')
def __init__(self):
labels = ['init', 'turn', 'ahead', 'turnback', 'goback', 'finish']
Option.__init__(self, labels, 'finish')
self.target_pose = 0
def __init__(self):
labels = ['init', 'find_pos', 'go', 'check', 'finish']
Option.__init__(self, labels, 'finish')
self.human = None
self.room = None
def __init__(self):
labels = ['init', 'pre_armbk', 'hold', 'finish']
Option.__init__(self, labels, 'finish')
self.pre_arm_angles = device.pre_arm_angles
self.pre_armbk_angles = [-90, 0, 90, 0, 0]
self.armbk_angles = [-90, -60, 60, 90, 0]
def __init__(self):
labels = ['init', 'pre_armbk', 'pre_fetch', 'finish']
Option.__init__(self, labels, 'finish')
self.goal_angles = None
self.pre_prefetch_angles = [0, 0, 150, 0, 0]
def __init__(self):
labels = ['init', 'lift_up', 'adj_ev', 'finish']
Option.__init__(self, labels, 'finish')
self.arm_angles = None
self.tar_pos = None
