class Interaction:
'''Finite state machine for the human interaction'''
_arm_trajectory = None
_trajectory_start_time = None
def __init__(self):
self.arms = Arms()
self.world = World()
self.session = Session(object_list=self.world.get_frame_list(),
is_debug=True)
self._viz_publisher = rospy.Publisher('visualization_marker_array', MarkerArray)
self._demo_state = None
self._is_busy = True
rospy.Subscriber('recognized_command', Command, self.speech_command_cb)
rospy.Subscriber('gui_command', GuiCommand, self.gui_command_cb)
self.responses = {
Command.TEST_MICROPHONE: Response(self.default_response,
[RobotSpeech.TEST_RESPONSE, GazeGoal.NOD]),
Command.TAKE_TOOL: Response(self.take_tool, 0),
Command.RELEASE_TOOL: Response(self.release_tool, 0),
Command.START_RECORDING: Response(self.start_recording, None),
Command.STOP_RECORDING: Response(self.stop_recording, None),
Command.REPLAY_DEMONSTRATION: Response(self.replay_demonstration, None)
Command.DETECT_SURFACE: Response(self.detect_surface, None)
}
rospy.loginfo('Will wait until arms ready to respond.')
while ((self.arms.get_ee_state(0) is None) or
(self.arms.get_ee_state(1) is None)):
time.sleep(0.1)
rospy.loginfo('Starting to move to the initial pose.')
# TODO: Make it possible to take with either hand
self._move_to_arm_pose('take', 0)
self._move_to_arm_pose('away', 1)
self._wait_for_arms()
self._demo_state = DemoState.READY_TO_TAKE
Response.say(RobotSpeech.HAND_TOOL_REQUEST)
Response.perform_gaze_action(GazeGoal.GLANCE_RIGHT_EE)
self._is_busy = False
rospy.loginfo('Interaction initialized.')
def take_tool(self, arm_index):
'''Robot's response to TAKE_TOOL'''
self._is_busy = True
if self._demo_state == DemoState.READY_TO_TAKE:
## Robot closes the hand
Arms.set_gripper_state(arm_index, GripperState.CLOSED, wait=True)
## Robot moves the hand near the camera to take a look at the tool
self._move_to_arm_pose('look', arm_index, wait=True)
self.tool_id = self.world.get_tool_id()
if self.tool_id is None:
## Robot moves the arm back to the person can take the tool
self._move_to_arm_pose('take', 0, wait=True)
Response.say(RobotSpeech.ERROR_TOOL_NOT_RECOGNIZED)
Response.perform_gaze_action(GazeGoal.SHAKE)
self._demo_state = DemoState.NO_TOOL_NO_SURFACE
else:
self.session.new_action(self.tool_id)
Response.say(RobotSpeech.RECOGNIZED_TOOL + str(self.tool_id))
self._demo_state = DemoState.HAS_TOOL_NO_SURFACE
self.detect_surface()
else:
Response.say(RobotSpeech.ERROR_NOT_IN_TAKE_STATE)
rospy.loginfo('Current state: ' + self._demo_state)
self._is_busy = False
def detect_surface(self):
self._is_busy = True
if self._demo_state == DemoState.HAS_TOOL_NO_SURFACE:
## Robot moves the arm away and looks at the surface
self._move_to_arm_pose('away', 0, wait=True)
self.surface = self.world.get_surface()
if self.surface is None:
Response.say(RobotSpeech.ERROR_NO_SURFACE)
Response.perform_gaze_action(GazeGoal.SHAKE)
else:
Response.say(RobotSpeech.SURFACE_DETECTED)
self._move_to_arm_pose('ready', arm_index, wait=True)
Response.say(RobotSpeech.READY_FOR_DEMO)
self._demo_state = DemoState.READY_FOR_DEMO
self._is_busy = False
def release_tool(self, arm_index):
self.busy = True
if (self._demo_state != DemoState.READY_TO_TAKE and
self._demo_state != DemoState.PLAYING_DEMO and
self._demo_state != DemoState.RECORDING_DEMO):
self._move_to_arm_pose('take', 0, wait=True)
self.arms.set_gripper_state(arm_index, GripperState.OPEN, wait=True)
Response.say(RobotSpeech.TOOL_RELEASED)
Response.perform_gaze_action(GazeGoal.GLANCE_RIGHT_EE)
self._demo_state = DemoState.READY_TO_TAKE
else:
Response.perform_gaze_action(GazeGoal.SHAKE)
Response.say(RobotSpeech.ERROR_NOT_IN_RELEASE_STATE)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def start_recording(self, dummy=None):
'''Starts recording continuous motion'''
self.busy = True
if (self._demo_state == DemoState.READY_FOR_DEMO or
self._demo_state == DemoState.HAS_RECORDED_DEMO):
Interaction._arm_trajectory = ArmTrajectory()
Interaction._trajectory_start_time = rospy.Time.now()
if self.session.n_frames() > 0:
self.session.clear_current_action()
self.relax_arm(0)
self._demo_state = DemoState.RECORDING_DEMO
Response.say(RobotSpeech.STARTED_RECORDING)
Response.perform_gaze_action(GazeGoal.NOD)
elif (self._demo_state == DemoState.RECORDING_DEMO):
Response.perform_gaze_action(GazeGoal.SHAKE)
Response.say(RobotSpeech.ERROR_ALREADY_RECORDING)
else:
Response.perform_gaze_action(GazeGoal.SHAKE)
Response.say(RobotSpeech.ERROR_NOT_READY_TO_RECORD)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def stop_recording(self, dummy=None):
'''Stops recording continuous motion'''
self.busy = True
if (self._demo_state == DemoState.RECORDING_DEMO):
traj_step = ActionStep()
traj_step.type = ActionStep.ARM_TRAJECTORY
waited_time = Interaction._arm_trajectory.timing[0]
for i in range(len(Interaction._arm_trajectory.timing)):
Interaction._arm_trajectory.timing[i] -= waited_time
Interaction._arm_trajectory.timing[i] += rospy.Duration(0.1)
'''If motion was relative, record transformed pose'''
traj_step.armTrajectory = ArmTrajectory(
Interaction._arm_trajectory.rArm[:],
Interaction._arm_trajectory.lArm[:],
Interaction._arm_trajectory.timing[:],
Interaction._arm_trajectory.rRefFrame,
Interaction._arm_trajectory.lRefFrame,
Interaction._arm_trajectory.rRefFrameObject,
Interaction._arm_trajectory.lRefFrameObject)
traj_step.gripperAction = GripperAction(
self.arms.get_gripper_state(0),
self.arms.get_gripper_state(1))
self.session.add_step_to_action(traj_step,
self.world.get_frame_list())
Interaction._arm_trajectory = None
Interaction._trajectory_start_time = None
self.session.save_current_action()
self.freeze_arm(0)
self._demo_state = DemoState.HAS_RECORDED_DEMO
Response.say(RobotSpeech.STOPPED_RECORDING)
Response.perform_gaze_action(GazeGoal.NOD)
else:
Response.say(RobotSpeech.ERROR_NOT_RECORDING)
Response.perform_gaze_action(GazeGoal.SHAKE)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def replay_demonstration(self, dummy=None):
'''Starts the execution of the current demonstration'''
self.busy = True
execution_z_offset = 0.00
if (self._demo_state == DemoState.HAS_RECORDED_DEMO):
self.session.save_current_action()
action = self.session.get_current_action()
self.arms.start_execution(action, execution_z_offset)
Response.say(RobotSpeech.STARTED_REPLAY)
self._demo_state = DemoState.PLAYING_DEMO
else:
Response.say(RobotSpeech.ERROR_CANNOT_REPLAY)
Response.perform_gaze_action(GazeGoal.SHAKE)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def _end_replay(self):
'''Responses for when the action execution ends'''
if (self.arms.status == ExecutionStatus.SUCCEEDED):
if self._demo_state == DemoState.PLAYING_DEMO:
Response.say(RobotSpeech.ENDED_REPLAY)
Response.perform_gaze_action(GazeGoal.NOD)
self._demo_state = DemoState.HAS_RECORDED_DEMO
else:
rospy.loginfo('Non-replay motion successful.')
elif (self.arms.status == ExecutionStatus.PREEMPTED):
if self._demo_state == DemoState.PLAYING_DEMO:
Response.say(RobotSpeech.ERROR_PREEMPTED_REPLAY)
Response.perform_gaze_action(GazeGoal.SHAKE)
self._demo_state = DemoState.HAS_RECORDED_DEMO
else:
rospy.loginfo('Non-replay motion pre-empted.')
else:
if self._demo_state == DemoState.PLAYING_DEMO:
Response.say(RobotSpeech.ERROR_REPLAY_NOT_POSSIBLE)
Response.perform_gaze_action(GazeGoal.SHAKE)
self._demo_state = DemoState.HAS_RECORDED_DEMO
else:
rospy.loginfo('Non-replay motion has no IK.')
self.arms.status = ExecutionStatus.NOT_EXECUTING
def default_response(self, responses):
'''Default response to speech commands'''
self.busy = True
speech_resp = responses[0]
gaze_resp = responses[1]
# Speech response
if (speech_resp != None):
Response.say(speech_resp)
Response.respond_with_sound(speech_resp)
# Gaze response
if (gaze_resp != None):
Response.perform_gaze_action(gaze_resp)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def relax_arm(self, arm_index):
'''Relaxes arm on the indicated side'''
if self.arms.set_arm_mode(arm_index, ArmMode.RELEASE):
return True
else:
return False
def freeze_arm(self, arm_index):
'''Stiffens arm on the indicated side'''
if self.arms.set_arm_mode(arm_index, ArmMode.HOLD):
return True
else:
return False
def stop_execution(self, dummy=None):
'''Stops ongoing execution'''
if (self._demo_state == DemoState.PLAYING_DEMO and
self.arms.is_executing()):
self.arms.stop_execution()
Respoonse.say(RobotSpeech.STOPPING_EXECUTION)
Response.perform_gaze_action(GazeGoal.NOD)
else:
Response.perform_gaze_action(GazeGoal.SHAKE)
Respoonse.say(RobotSpeech.ERROR_IS_NOT_PLAYING)
def _save_arm_to_trajectory(self):
'''Saves current arm state into continuous trajectory'''
if (Interaction._arm_trajectory != None):
states = self._get_arm_states()
Interaction._arm_trajectory.rArm.append(states[0])
Interaction._arm_trajectory.lArm.append(states[1])
Interaction._arm_trajectory.timing.append(
rospy.Time.now() - Interaction._trajectory_start_time)
def _move_to_arm_pose(self, pose_name, arm_index, wait=False):
'''Moves the robot's arm to a pre-specified arm pose'''
action = self.session.pose_set[pose_name]
if action is None:
rospy.logwarn('Arm pose does not exist:' + pose_name)
else:
step = action.get_step(0)
if arm_index == 0:
self.arms.start_move_to_pose(step.armTarget.rArm, 0)
if wait:
self._wait_for_arms()
self.arms.set_gripper_state(0, step.gripperAction.rGripper, wait=wait)
else:
self.arms.start_move_to_pose(step.armTarget.lArm, 1)
if wait:
self._wait_for_arms()
self.arms.set_gripper_state(1, step.gripperAction.lGripper, wait=wait)
rospy.loginfo('Moved arm ' + str(arm_index) + ' to pose ' + pose_name)
def _wait_for_arms(self):
rospy.loginfo('Will wait until the arms get in place.')
while (self.arms.is_executing()):
time.sleep(0.1)
rospy.loginfo('Arms are in place.')
def _get_arm_states(self):
'''Returns the current arms states in the right format'''
abs_ee_poses = [Arms.get_ee_state(0),
Arms.get_ee_state(1)]
joint_poses = [Arms.get_joint_state(0),
Arms.get_joint_state(1)]
states = [None, None]
for arm_index in [0, 1]:
nearest_obj = self.world.get_nearest_object(
abs_ee_poses[arm_index])
if (nearest_obj == None):
states[arm_index] = ArmState(ArmState.ROBOT_BASE,
abs_ee_poses[arm_index],
joint_poses[arm_index], Object())
else:
# Relative
rel_ee_pose = World.transform(
abs_ee_poses[arm_index],
'base_link', nearest_obj.name)
states[arm_index] = ArmState(ArmState.OBJECT,
rel_ee_pose,
joint_poses[arm_index], nearest_obj)
return states
def speech_command_cb(self, command):
'''Callback for when a speech command is received'''
if command.command in self.responses.keys():
rospy.loginfo('\033[32m Calling response for command ' +
command.command + '\033[0m')
response = self.responses[command.command]
if (not self.arms.is_executing() and not self._is_busy):
response.respond()
else:
if command.command == Command.STOP_EXECUTION:
response.respond()
else:
rospy.logwarn('Ignoring speech command during execution or busy: '
+ command.command)
else:
switch_command = 'SWITCH_TO_ACTION'
if (switch_command in command.command):
action_no = command.command[
len(switch_command):len(command.command)]
action_no = int(action_no)
if (self.session.n_actions() > 0):
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(self.default_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
else:
response = Response(self.default_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
def gui_command_cb(self, command):
'''Callback for when a GUI command is received'''
if (not self.arms.is_executing()):
if (self.session.n_actions() > 0):
if (command.command == GuiCommand.SWITCH_TO_ACTION):
action_no = command.param
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(self.default_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
response.respond()
elif (command.command == GuiCommand.SELECT_ACTION_STEP):
step_no = command.param
self.session.select_action_step(step_no)
rospy.loginfo('Selected action step ' + str(step_no))
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
else:
response = Response(self.default_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('Ignoring GUI command during execution: ' +
command.command)
def update(self):
'''General update for the main loop'''
self.arms.update()
if (self.arms.status != ExecutionStatus.NOT_EXECUTING):
if (self.arms.status != ExecutionStatus.EXECUTING):
self._end_replay()
if (self._demo_state == DemoState.RECORDING_DEMO):
self._save_arm_to_trajectory()
if (self.session.n_actions() > 0):
action = self.session.get_current_action()
action.update_viz()
time.sleep(0.1)
