public void setUpNao() { motioProxy.setSmartStiffnessEnabled(true); motioProxy.wakeUp(); postureproxy.goToPosture("Stand", 0.5f);//Stand LyingBack this.sensor.SkeletonReady += getPoint; }
/// <summary> /// Take a stable position, mainly used for walking. /// </summary> public void TakeStableArmPosition() { motion.wakeUp(); Grabbing.GrabWorker w = new Grabbing.GrabWorker(); Pose.Instance.StandUp(); w.StiffenArms(); w.CloseArmsAroundObject(); w.GrabHands(); w.HoldForWalking(); }
/// <summary> /// Sets the stiffness of the Nao's motors on if it is not already so. /// </summary> public void InitMove() { if (!MotorOn()) { Motion.wakeUp(); } if (!Motion.moveIsActive()) { Motion.moveInit(); } }
//run a behavior on the robot private void RunBehavior(string behaviorName) { MotionProxy.wakeUp(); AudioProxy.setOutputVolume(Properties.Settings.Default.AudioOutputVolume); CurrentlyRunningLabel.Content = "Currently Running: " + behaviorName; int ID = BehaviorManagerProxy.post.runBehavior(behaviorName); LogBehavior(behaviorName); RemoveStiffness = behaviorName != "contingency/introduction"; CurrentlyRunningLabel.Dispatcher.BeginInvoke(DispatcherPriority.Normal, new BehaviorWaiterDelegate(WaitForBehaviorToFinish), ID); }
private void Button_Click_1(object sender, RoutedEventArgs e) { //Initialize the motion proxy using the text in the ipBox MotionProxy mp = new MotionProxy(ipBox.Text, 9559); //Initialize the text to speech proxy using the text in the ipBox ttsp = new TextToSpeechProxy(ipBox.Text, 9559); //Initialize the robots posture proxy using the text in the ipBox RobotPostureProxy rpp = new RobotPostureProxy(ipBox.Text, 9559); //Wakes the robot up, tells the robot to stand and say hello mp.wakeUp(); rpp.goToPosture("StandInit", .5f); ttsp.say("Hola"); //Sets up lighting of the camera with a white color and directs it in the appropriate direction DirectionalLight DirLight1 = new DirectionalLight(); DirLight1.Color = Colors.White; DirLight1.Direction = new Vector3D(1, 1, 1); //Setting up the camera so that the picture we see is in a good position PerspectiveCamera Camera1 = new PerspectiveCamera(); Camera1.FarPlaneDistance = 16000; Camera1.NearPlaneDistance = 10; //Zoomed in with a 45 degree field of view Camera1.FieldOfView = 45; //50 mm away from the point cloud and centered in the middle Camera1.Position = new Point3D(320, 240, -50); //Flips the camera so that we see everything right side up Camera1.LookDirection = new Vector3D(0, 0, 1); Camera1.UpDirection = new Vector3D(0, -1, 0); //Creates a new model 3D group to hold the sets of 3D models Model3DGroup modelGroup = new Model3DGroup(); //builds the 3D model int i = 0; for (int y = 0; y < 480; y += pointDen) { for (int x = 0; x < 640; x += pointDen) { points[i] = Triangle(x, y, pointDen); points[i].Transform = new TranslateTransform3D(0, 0, 0); modelGroup.Children.Add(points[i]); i++; } } //Adds the directional light to the model group modelGroup.Children.Add(DirLight1); ModelVisual3D modelsVisual = new ModelVisual3D(); modelsVisual.Content = modelGroup; Viewport3D myViewport = new Viewport3D(); myViewport.IsHitTestVisible = false; myViewport.Camera = Camera1; myViewport.Children.Add(modelsVisual); canvas1.Children.Add(myViewport); myViewport.Height = canvas1.Height; myViewport.Width = canvas1.Width; Canvas.SetTop(myViewport, 0); Canvas.SetLeft(myViewport, 0); sensor = KinectSensor.KinectSensors[0]; sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30); sensor.DepthFrameReady += DepthFrameReady; sensor.Start(); }
public void setUpNao() { motioProxy.setSmartStiffnessEnabled(true); motioProxy.wakeUp(); postureproxy.goToPosture("Stand", 0.5f);//Stand LyingBack }
private void Button_Click_1(object sender, RoutedEventArgs e) { //Initialize the motion proxy using the text in the ipBox MotionProxy mp = new MotionProxy(ipBox.Text, 9559); //Initialize the text to speech proxy using the text in the ipBox ttsp = new TextToSpeechProxy(ipBox.Text, 9559); //Initialize the robots posture proxy using the text in the ipBox RobotPostureProxy rpp = new RobotPostureProxy(ipBox.Text, 9559); //Wakes the robot up, tells the robot to stand and say hello mp.wakeUp(); rpp.goToPosture("StandInit", .5f); ttsp.say("Hola"); //Sets up lighting of the camera with a white color and directs it in the appropriate direction DirectionalLight DirLight1 = new DirectionalLight(); DirLight1.Color = Colors.White; DirLight1.Direction = new Vector3D(1, 1, 1); //Setting up the camera so that the picture we see is in a good position PerspectiveCamera Camera1 = new PerspectiveCamera(); Camera1.FarPlaneDistance = 16000; Camera1.NearPlaneDistance = 10; //Zoomed in with a 45 degree field of view Camera1.FieldOfView = 45; //50 mm away from the point cloud and centered in the middle Camera1.Position = new Point3D(320, 240, -50); //Flips the camera so that we see everything right side up Camera1.LookDirection = new Vector3D(0, 0, 1); Camera1.UpDirection = new Vector3D(0, -1, 0); //Creates a new model 3D group to hold the sets of 3D models Model3DGroup modelGroup = new Model3DGroup(); //builds the 3D model int i = 0; for (int y = 0; y < 480; y += pointDen) { for (int x = 0; x < 640; x += pointDen) { points[i] = Triangle(x, y, pointDen); points[i].Transform = new TranslateTransform3D(0, 0, 0); modelGroup.Children.Add(points[i]); i++; } } //Adds the directional light to the model group modelGroup.Children.Add(DirLight1); ModelVisual3D modelsVisual = new ModelVisual3D(); modelsVisual.Content = modelGroup; Viewport3D myViewport = new Viewport3D(); myViewport.IsHitTestVisible = false; myViewport.Camera = Camera1; myViewport.Children.Add(modelsVisual); canvas1.Children.Add(myViewport); myViewport.Height = canvas1.Height; myViewport.Width = canvas1.Width; Canvas.SetTop(myViewport, 0); Canvas.SetLeft(myViewport, 0); sensor = KinectSensor.KinectSensors[0]; sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30); sensor.DepthFrameReady += DepthFrameReady; sensor.Start(); }