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Added a gesture interface #54

Merged
merged 15 commits into from
Oct 28, 2015
Merged

Added a gesture interface #54

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2651bae
initial demo version
Sep 4, 2015
d1fb616
merging master into branch
Sep 4, 2015
5e62c5e
added init lines and real robot tweaks
Sep 4, 2015
1a681fc
wave gesture
Sep 11, 2015
189b5e1
more robust file finding
Sep 11, 2015
68d4c39
simple gesture control interface
Sep 16, 2015
1cda6d7
Merge branch 'master' into feature/demo_rogue
Sep 16, 2015
b12de45
merge new items from master
Oct 15, 2015
61c9212
removing high five
Oct 15, 2015
5278964
Gesture Code: Split up into helper functions, safer code with statesa…
Oct 16, 2015
76c3dc6
clean up of state saver and python consistency
Oct 17, 2015
e674055
rogue tests, import and string cleanup
Oct 27, 2015
cf4a6ad
convert to using util function for get manip idx
Oct 28, 2015
96f2a0e
in gestures, if no manip set active manip
Oct 28, 2015
0d1b0ae
adhering to testing convention
Oct 28, 2015
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10 changes: 10 additions & 0 deletions config/waveTrajs/wave0.xml
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Original file line number Diff line number Diff line change
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<trajectory>
<configuration>
<group name="deltatime" offset="14" dof="1" interpolation=""/>
<group name="joint_velocities herb 15 17 19 20 21 22 23" offset="7" dof="7" interpolation="linear"/>
<group name="joint_values herb 15 17 19 20 21 22 23" offset="0" dof="7" interpolation="quadratic"/>
</configuration>
<data count="4">
5.03348748 -1.57569674 1.68788069 2.06769058 -1.66834313 1.536798209999999 0.2117534199999996 0 0 0 0 0 0 0 0 5.03348748 -1.57569674 1.68788069 2.06769058 -1.66834313 1.536798209999999 0.2117534199999996 0 0 0 0 0 0 0 0 5.03348748 -1.57569674 1.68788069 2.32312231 -1.66834313 1.53679821 0.2117534199999998 0 0 0 1.010805085068333 -8.786841625753019e-16 8.786841625753019e-16 8.786841625753019e-16 0.5054025425341667 5.03348748 -1.57569674 1.68788069 2.57855404 -1.66834313 1.53679821 0.21175342 0 0 0 0 0 0 0 0.5054025425341667 </data>
<description><![CDATA[{"planning_method": "RetimeTrajectory", "planner": "HauserParabolicSmoother"}]]></description>
</trajectory>
10 changes: 10 additions & 0 deletions config/waveTrajs/wave1.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
<trajectory>
<configuration>
<group name="deltatime" offset="14" dof="1" interpolation=""/>
<group name="joint_velocities herb 15 17 19 20 21 22 23" offset="7" dof="7" interpolation="linear"/>
<group name="joint_values herb 15 17 19 20 21 22 23" offset="0" dof="7" interpolation="quadratic"/>
</configuration>
<data count="4">
5.03348748 -1.57569674 1.68788069 2.57855404 -1.66834313 1.53679821 0.2117534199999996 0 0 0 0 0 0 0 0 5.03348748 -1.57569674 1.68788069 2.57855404 -1.66834313 1.53679821 0.2117534199999996 0 0 0 0 0 0 0 0 5.03348748 -1.57569674 1.68788069 2.101471485 -1.66834313 1.53679821 0.2117534199999998 0 0 0 -1.38142325881679 -3.214722258480227e-16 3.214722258480227e-16 5.223923670030369e-16 0.6907116294083951 5.03348748 -1.57569674 1.68788069 1.62438893 -1.66834313 1.53679821 0.21175342 0 0 0 0 0 0 0 0.6907116294083951 </data>
<description><![CDATA[{"planning_method": "RetimeTrajectory", "planner": "HauserParabolicSmoother"}]]></description>
</trajectory>
10 changes: 10 additions & 0 deletions config/waveTrajs/wave2.xml
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Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
<trajectory>
<configuration>
<group name="deltatime" offset="14" dof="1" interpolation=""/>
<group name="joint_velocities herb 15 17 19 20 21 22 23" offset="7" dof="7" interpolation="linear"/>
<group name="joint_values herb 15 17 19 20 21 22 23" offset="0" dof="7" interpolation="quadratic"/>
</configuration>
<data count="4">
5.03348748 -1.57569674 1.68788069 1.62438893 -1.66834313 1.536798209999999 0.21175342 0 0 0 0 0 0 0 0 5.03348748 -1.57569674 1.68788069 1.62438893 -1.66834313 1.536798209999999 0.21175342 0 0 0 0 0 0 0 0 5.03348748 -1.57569674 1.68788069 2.101471485 -1.66834313 1.536798209999999 0.21175342 0 0 0 1.38142325881679 0 9.644166775440681e-16 -4.018402823100284e-17 0.6907116294083951 5.03348748 -1.57569674 1.68788069 2.57855404 -1.66834313 1.53679821 0.21175342 0 0 0 0 0 0 0 0.6907116294083951 </data>
<description><![CDATA[{"planning_method": "RetimeTrajectory", "planner": "HauserParabolicSmoother"}]]></description>
</trajectory>
10 changes: 10 additions & 0 deletions config/waveTrajs/wave3.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
<trajectory>
<configuration>
<group name="deltatime" offset="14" dof="1" interpolation=""/>
<group name="joint_velocities herb 15 17 19 20 21 22 23" offset="7" dof="7" interpolation="linear"/>
<group name="joint_values herb 15 17 19 20 21 22 23" offset="0" dof="7" interpolation="quadratic"/>
</configuration>
<data count="4">
5.03348748 -1.57569674 1.68788069 2.57855404 -1.66834313 1.53679821 0.2117534199999996 0 0 0 0 0 0 0 0 5.03348748 -1.57569674 1.68788069 2.57855404 -1.66834313 1.53679821 0.2117534199999996 0 0 0 0 0 0 0 0 5.03348748 -1.57569674 1.68788069 2.32312231 -1.66834313 1.53679821 0.2117534199999998 0 0 0 -1.010805085068333 -4.393420812876509e-16 4.393420812876509e-16 7.139308820924327e-16 0.5054025425341667 5.03348748 -1.57569674 1.68788069 2.06769058 -1.66834313 1.53679821 0.21175342 0 0 0 0 0 0 0 0.5054025425341667 </data>
<description><![CDATA[{"planning_method": "RetimeTrajectory", "planner": "HauserParabolicSmoother"}]]></description>
</trajectory>
59 changes: 59 additions & 0 deletions scripts/gesture_control.py
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#!/usr/bin/env python
import herbpy
import numpy

if __name__ == '__main__':

env, robot = herbpy.initialize()
keep_going = True

while keep_going:
print "\n\nWelcome to the gesture control:\n \
Press W to wave.\n \
Press S to say something.\n \
Press Y to nod 'yes'.\n \
Press N to nod 'no'.\n \
Press H to high five.\n \
Press P to point at an object.\n \
Press S to present an object.\n \
Press R to reset the robot.\n \
Press Q to quit.\n"
user_input = raw_input("Gesture? ")

if user_input == 'Q':
print 'Goodbye!\n'
keep_going = False
elif user_input == 'W':
print 'Waving!\n'
robot.Wave()
elif user_input == 'Y':
print 'Nodding yes!\n'
robot.Nod(word='yes')
elif user_input == 'N':
print 'Nodding no\n!'
robot.Nod(word='no')
elif user_input == 'H':
print 'High Fiving!\n'
robot.HighFive()
elif user_input == 'R':
robot.right_arm.PlanToNamedConfiguration('relaxed_home', execute=True)
robot.left_arm.PlanToNamedConfiguration('relaxed_home', execute=True)
robot.right_hand.OpenHand()
robot.left_hand.OpenHand()
elif user_input == 'S':
say_this = raw_input('What do you want HERB to say? ')
robot.Say(str(say_this))
elif user_input == 'P':
items = [x.GetName() for x in env.GetBodies()]
print "HERB can see these things:"
print items[1:] #Don't show the robot as an option
point_at = raw_input('I want to point at item number: ')
robot.Point(env.GetBodies()[int(point_at)])
elif user_input == 'S':
items = [x.GetName() for x in env.GetBodies()]
print "HERB can see these things:"
print items[1:]
point_at = raw_input('I want to point at item number: ')
robot.Point(env.GetBodies()[int(point_at)])
else:
print 'Input Not Recognized\n'
1 change: 1 addition & 0 deletions src/herbpy/action/__init__.py
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from grasping import PushGrasp, Grasp
from rogue import *
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import * is evil. Could you explicitly list the functions you wish to import here?

from blocks import GrabBlock
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