def fear_gesture(robot):
base_vel_fast_m = robot.base.params['motion']['fast']['vel_m']
base_accel_fast_m = robot.base.params['motion']['fast']['accel_m']
print("Doing gestures now...")
# robot.startup()
robot.head.move_to('head_pan', 3.1)
robot.base.translate_by(x_m=-0.5,
v_m=base_vel_fast_m,
a_m=base_accel_fast_m)
robot.lift.move_to(x_m=0.8)
robot.arm.move_to(x_m=0.5)
robot.push_command()
time.sleep(3)
robot.base.translate_by(x_m=-0.2,
v_m=base_vel_fast_m,
a_m=base_accel_fast_m)
robot.lift.move_to(x_m=0)
robot.arm.move_to(x_m=0.2)
robot.push_command()
time.sleep(4)
# robot.stow()
# robot.stop()
return
def dance21(robot):
robot.head.move_to('head_pan', -xpan, Vrpan, Arpan)
robot.arm.move_to(0.5)
robot.lift.move_to(0.9, Vmlift, amlift)
robot.head.move_to('head_tilt', xtilt, Vrtilt, Artilt)
robot.base.translate_by(0.2, Vmbasetranslate, ambasetranslate)
robot.push_command()
def dance23(robot):
robot.head.move_to('head_tilt', 0, Vrtilt, Artilt)
robot.head.move_to('head_pan', xpan, Vrpan, Arpan)
robot.arm.move_to(0.5, Vmarm, amarm)
robot.lift.move_to(0.9, Vmlift, amlift)
robot.base.rotate_by(xrotate, Vmrotation, amrotation)
robot.push_command()
def disgust_gesture(robot):
arm_vel_slow_m = robot.arm.params['motion']['slow']['vel_m']
arm_accel_slow_m = robot.arm.params['motion']['slow']['accel_m']
arm_vel_default_m = robot.arm.params['motion']['default']['vel_m']
arm_accel_default_m = robot.arm.params['motion']['default']['accel_m']
arm_vel_fast_m = robot.arm.params['motion']['fast']['vel_m']
arm_accel_fast_m = robot.arm.params['motion']['fast']['accel_m']
print("Doing gestures now...")
# robot.startup()
robot.head.move_to('head_pan', 2.14)
robot.end_of_arm.move_to('wrist_yaw', 0)
robot.base.rotate_by(x_r=1)
robot.lift.move_to(x_m=1)
robot.arm.move_to(x_m=0.3, v_m=arm_vel_fast_m)
robot.push_command()
time.sleep(3.5)
robot.head.move_to('head_pan', -1)
robot.base.rotate_by(x_r=-1)
robot.lift.move_to(x_m=0.7)
robot.arm.move_to(x_m=0)
robot.push_command()
time.sleep(6)
# robot.stow()
# robot.stop()
return
def dance1(robot):
robot.end_of_arm.move_by('wrist_yaw', -xwrist, Vrwrist, Arwrist)
robot.push_command()
time.sleep(t3)
robot.lift.move_to(0.55, Vmlift, amlift)
robot.end_of_arm.move_by('wrist_yaw', xwrist, Vrwrist, Arwrist)
robot.push_command()
time.sleep(t3)
def dance2(robot):
while(True):
robot.lift.move_to(0.50,Vmlift,amlift)
robot.push_command()
time.sleep(t2)
robot.lift.move_to(-0.50,Vmlift,amlift)
robot.push_command()
time.sleep(t2)
def dance4(robot):
while(True):
robot.base.rotate_by(x_r=0.8)
robot.push_command()
time.sleep(t)
robot.base.rotate_by(x_r=-1.0)
robot.push_command()
time.sleep(t)
def joy_gesture(robot):
base_vel_fast_m = robot.base.params['motion']['fast']['vel_m']
base_accel_fast_m = robot.base.params['motion']['fast']['accel_m']
print("Doing gestures now...")
robot.head.move_to('head_pan', -1)
robot.head.move_to('head_tilt', 0)
robot.base.translate_by(x_m=0.2, v_m=base_vel_fast_m)
robot.lift.move_to(x_m=0.8)
robot.arm.move_to(0.3)
robot.push_command()
time.sleep(3)
robot.head.move_to('head_pan', 0)
robot.head.move_to('head_tilt', 0.5)
robot.arm.move_to(0.1)
robot.lift.move_to(x_m=0.6)
robot.push_command()
time.sleep(3)
# robot.stow()
# robot.stop()
return
def dance6(robot):
robot.lift.move_to(0.50, Vmlift, amlift)
robot.end_of_arm.move_by('wrist_yaw', -xwrist, Vrwrist, Arwrist)
robot.push_command()
def dance24(robot):
robot.head.move_to('head_pan', -xpan, Vrpan, Arpan)
robot.arm.move_to(0.30, Vmarm, amarm)
robot.lift.move_to(0.7, Vmlift, amlift)
robot.base.rotate_by(xrotate, Vmrotation, amrotation)
robot.push_command()
def dance20(robot):
robot.head.move_to('head_pan', xpan, Vrpan, Arpan)
robot.end_of_arm.move_by('wrist_yaw', xwrist, Vrwrist, Arwrist)
robot.push_command()
def dance14(robot):
robot.arm.move_to(0.3, Vmarm, amarm)
robot.head.move_to('head_tilt', xtilt, Vrtilt, Artilt)
robot.head.move_to('head_pan', xpan, Vrpan, Arpan)
robot.end_of_arm.move_by('wrist_yaw', xwrist, Vrwrist, Arwrist)
robot.push_command()
def dance13(robot):
robot.arm.move_to(0.28, Vmarm, amarm)
robot.head.move_to('head_pan', -xpan, Vrpan, Arpan)
robot.end_of_arm.move_by('wrist_yaw', -xwrist, Vrwrist, Arwrist)
robot.push_command()
def dance12(robot):
robot.lift.move_to(0.6, Vmlift, amlift)
robot.arm.move_to(0.3, Vmarm, amarm)
robot.head.move_to('head_pan', xpan, Vrpan, Arpan)
robot.end_of_arm.move_by('wrist_yaw', xwrist, Vrwrist, Arwrist)
robot.push_command()
def dance10(robot):
robot.head.move_to('head_tilt', 0, Vrtilt, Artilt)
robot.lift.move_to(0.55, Vmlift, amlift)
robot.end_of_arm.move_by('wrist_yaw', xwrist, Vrwrist, Arwrist)
robot.push_command()
sound = AudioSegment.from_file(filename)
sound.apply_gain(100)
play(sound)
return
if __name__ == "__main__":
robot = stretch_body.robot.Robot()
robot.startup()
# robot.stow()
robot.head.move_to('head_tilt', -1)
robot.lift.move_to(0.50, 10, 10)
robot.end_of_arm.move_to('wrist_yaw', 1)
robot.push_command()
time.sleep(3)
p1 = Thread(target=audio)
p1.daemon = True
p1.start()
p2 = Thread(target=dance1, args=(robot, ))
p2.daemon = True
p2.start()
time.sleep(t3)
p3 = Thread(target=dance2, args=(robot, ))
p3.daemon = True
p3.start()
time.sleep(t3)
p4 = Thread(target=dance3, args=(robot, ))
p4.daemon = True
