hlrc

#!/usr/bin/python

"""

This file is part of hlrc

Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

http://opensource.cit-ec.de/projects/hlrc

This file may be licensed under the terms of the

GNU General Public License Version 3 (the ``GPL''),

or (at your option) any later version.

Software distributed under the License is distributed

on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

express or implied. See the GPL for the specific language

governing rights and limitations.

You should have received a copy of the GPL along with this

program. If not, go to http://www.gnu.org/licenses/gpl.html

or write to the Free Software Foundation, Inc.,

51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

The development of this software was supported by the

Excellence Cluster EXC 277 Cognitive Interaction Technology.

The Excellence Cluster EXC 277 is a grant of the Deutsche

Forschungsgemeinschaft (DFG) in the context of the German

Excellence Initiative.

"""

import logging

from hlrc_client import *

import time

import sys

if __name__ == "__main__":

    r = RobotController("ROS", "/flobi", logging.DEBUG)

    r.set_current_emotion(RobotEmotion(RobotEmotion.SAD))

    r.set_head_animation(RobotAnimation(RobotAnimation.HEAD_SHAKE))

    g = RobotGaze()

    g.gaze_type = RobotGaze.GAZETARGET_ABSOLUTE

    m = RobotMouth()

    m.position_center = 10.0

    m.opening_center = 15.0

    r.set_mouth_target(m)

    while(r.is_running()):

        g.timestamp = time.time()

        g.pan = g.pan + 5.0;

        if (g.pan > 20.0):

            g.pan = -20.0

        r.set_gaze_target(g)

        time.sleep(1)