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 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 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 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 docking_reset(self):
"""
Reset the head to a neutral position.
"""
tk = Track()
tk.add(0.0, self.head_mot.reset())
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 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 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 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 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 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
def old_giggle(self):
tk = Track()
tk.add(0.0, self.head_mot.happyposture())
tk.add(0.4, self.sound_mot.open('Giggle.wav'))
tk.add(0.4, self.wheels_mot.rotate(-4.0, 0.2))
tk.add(0.7, self.wheels_mot.rotate(4.0, 0.2))
tk.add(1.0, self.head_mot.neutral())
tk.add(1.0, self.head_mot.openeyes())
return tk
def sheep(self):
tk = Track()
tk.add(0.0, self.head_mot.happyposture())
head_wiggle = self.head_mot.headwiggle(self.head.cur_pan, Head.TILT_NEUTRAL - 0.18)
tk.add(0.3, head_wiggle)
baa = self.sound_mot.open('sheep.wav')
tk.add(0.0, baa)
tk.add(baa.length(), baa)
tk.add(3.0, self.head_mot.reset())
return tk
def seizure(self):
"""
Actuate joints through range of motions
"""
tk = Track()
tk.add(0.0, self.head_mot.pantilt(0.8, 0.6, 0.5))
tk.add(0.01, self.head_mot.moveeyes(0.0, 0.5))
tk.add(0.5, self.head_mot.pantilt(-0.8, -0.6, 0.5))
tk.add(0.51, self.head_mot.moveeyes(0.4, 0.5))
tk.add(3.0, self.lights_mot.white_glow(255, 0.1, float('inf')))
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 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 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 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 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 capture_start(self):
tk = Track()
tk.add(0.0, self.lights_mot.off(0.05))
tk.add(0.0, self.sound_mot.open('capture_start.wav'))
tk.add(
0.05,
self.lights_mot.pulse(color=(90, 90, 90),
pulse_up_time=0.4,
pulse_down_time=0.2))
tk.add(
1.05,
self.lights_mot.pulse(color=(120, 120, 120),
pulse_up_time=0.35,
pulse_down_time=0.2))
tk.add(
2.05,
self.lights_mot.pulse(color=(155, 155, 155),
pulse_up_time=0.3,
pulse_down_time=0.2))
return tk
def docking_complete_happy(self, speed=1.0):
"""
Plays after Kuri has successfully docked.
This only plays the docking sound and a happy face
"""
tk = Track()
random_side = random.choice([-1, 1])
tk.add(0.0, self.movies.to_animated('starburst-green.mov'))
tk.add(0.0, self.sound_mot.open('docked.wav'))
tk.add(
0.0,
self.head_mot.pantilt(pan=-0.4 * random_side,
tilt=Head.TILT_NEUTRAL,
duration=0.45 * speed))
tk.add(0.1 * speed, self.head_mot.moveeyes(Head.EYES_HAPPY, 0.3))
tk.add(
1.1 * speed,
self.head_mot.pantilt(pan=0.3 * random_side,
tilt=-0.1,
duration=0.3 * speed))
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 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 docking_rotate_180(self, cw=True, mood=0.0):
"""
Plays while Kuri is rotating 180 degrees, aligning the bot's charging
contacts with the dock.
"""
tk = Track()
speed = (mood + 10) * 0.1
side = 1 if cw else -1
tk.add(0.0, self.head_mot.moveeyes(Head.EYES_OPEN))
tk.add(
0.8 * speed,
self.head_mot.pantilt(pan=0.2 * side,
tilt=0.35,
duration=0.4 * speed))
tk.add(2.3 * speed, self.head_mot.moveeyes(Head.EYES_CLOSED, 0.15))
tk.add(
2.4 * speed,
self.head_mot.pantilt(pan=-0.6 * side,
tilt=0.45,
duration=0.3 * speed))
tk.add(2.6 * speed, self.head_mot.moveeyes(Head.EYES_OPEN, 0.25))
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