def alt_bow_arrow(): PyPR2.openGripper(2) PyPR2.moveHeadTo(0.0,0.15) PyPR2.moveArmWithJointPos(**left_shooting) PyPR2.openGripper(2) time.sleep(2) PyPR2.moveHeadTo(0.0,0.0) PyPR2.moveArmWithJointPos(**alt_right_intermediate) PyPR2.moveHeadTo(0.0,0.3) time.sleep(3) PyPR2.moveArmWithJointPos(**alt_right_shooting) time.sleep(3) PyPR2.closeGripper(2) time.sleep(2) PyPR2.moveHeadTo(0.0,0.18) PyPR2.moveArmWithJointPos(**best_pullback_right) time.sleep(5) PyPR2.moveHeadTo(0.0,0.1) PyPR2.openGripper(2) #PyPR2.moveHeadTo(0.0,0.0) PyPR2.moveArmWithJointPos(**alt_right_release) PyPR2.moveHeadTo(0.0,0.1)
def refill(): PyPR2.moveArmWithJointPos(**left_intermediate) PyPR2.moveHeadTo(0.1,0.3) time.sleep(3) PyPR2.moveArmWithJointPos(**right_refill) PyPR2.moveHeadTo(-0.7,0.3) time.sleep(3) PyPR2.moveHeadTo(-0.2,0.3) PyPR2.moveArmWithJointPos(**left_refill) time.sleep(4) PyPR2.moveArmWithJointPos(**right_pick) PyPR2.moveHeadTo(-0.2,0.19) time.sleep(2) PyPR2.closeGripper(2) time.sleep(3) PyPR2.moveArmWithJointPos(**right_pick_further) time.sleep(2) PyPR2.moveArmWithJointPos(**left_pick_further) time.sleep(4) PyPR2.moveArmWithJointPos(**r2) PyPR2.moveArmWithJointPos(**l2)
def refill():
PyPR2.moveArmWithJointPos(**left_intermediate)
PyPR2.moveHeadTo(0.1, 0.3)
time.sleep(3)
PyPR2.moveArmWithJointPos(**right_refill)
PyPR2.moveHeadTo(-0.7, 0.3)
time.sleep(3)
PyPR2.moveHeadTo(-0.2, 0.3)
PyPR2.moveArmWithJointPos(**left_refill)
time.sleep(4)
PyPR2.moveArmWithJointPos(**right_pick)
PyPR2.moveHeadTo(-0.2, 0.19)
time.sleep(2)
PyPR2.closeGripper(2)
time.sleep(3)
PyPR2.moveArmWithJointPos(**right_pick_further)
time.sleep(2)
PyPR2.moveArmWithJointPos(**left_pick_further)
time.sleep(4)
PyPR2.moveArmWithJointPos(**r2)
PyPR2.moveArmWithJointPos(**l2)
def alt_bow_arrow():
PyPR2.openGripper(2)
PyPR2.moveHeadTo(0.0, 0.15)
PyPR2.moveArmWithJointPos(**left_shooting)
PyPR2.openGripper(2)
time.sleep(2)
PyPR2.moveHeadTo(0.0, 0.0)
PyPR2.moveArmWithJointPos(**alt_right_intermediate)
PyPR2.moveHeadTo(0.0, 0.3)
time.sleep(3)
PyPR2.moveArmWithJointPos(**alt_right_shooting)
time.sleep(3)
PyPR2.closeGripper(2)
time.sleep(2)
PyPR2.moveHeadTo(0.0, 0.18)
PyPR2.moveArmWithJointPos(**best_pullback_right)
time.sleep(5)
PyPR2.moveHeadTo(0.0, 0.1)
PyPR2.openGripper(2)
#PyPR2.moveHeadTo(0.0,0.0)
PyPR2.moveArmWithJointPos(**alt_right_release)
PyPR2.moveHeadTo(0.0, 0.1)
def close(): time.sleep(10) PyPR2.openGripper(3) time.sleep(10) PyPR2.closeGripper(3)
def timerActions( id ):
global msgTryTimer,busy_moving,track_d,last_action_counter,d,start_time,x,y,elapsed_time,focus_obj,a
if msgTryTimer == id :
#PyPR2.removeTimer( msgTryTimer )
#msgTryTimer += 1
#while True:
#time.sleep(1)
if abs(a-focus_obj['est_pos'][0]) < 0.04:
a = focus_obj['est_pos'][0]
PyPR2.moveBodyTo(0.1,0.0,0.0,1)
else:
a = focus_obj['est_pos'][0]
d = math.sqrt(math.pow(x,2)+math.pow(y,2))
adjust_to_shooting()
'''
with open(csvfile, "w") as output:
writer = csv.writer(output, lineterminator='\n')
writer.writerows(track_d)
'''
#PyPR2.moveTorsoBy(0.03,5)
#if abs(previous_pos - focus_obj['est_pos'][0])< 0.1:
# PyPR2.moveHeadTo(0.2,1.0)
#adjust_to_shooting()
#if busymoving>0: busymoving-=1
if d>=3.5:
if last_action_counter <4 and last_action_counter!=0:
#obj.larm_reference = True
#obj.arm_down()
PyPR2.moveArmWithJointPos(**right_high_five)
PyPR.moveArmWithJointPos(**shooting_back_down)
last_action_counter=4
#busymoving=3
elif last_action_counter == 4:
PyPR2.moveTorsoBy(0.1,2)
PyPR2.say("Move Back")
#busymoving=5
else:
PyPR2.moveArmWithJointPos(**left_shooting)
last_action_counter=4
#busymoving=5
elif d<=3.5 and d>3:
if last_action_counter <3 and last_action_counter!=0:
PyPR2.moveArmWithJointPos(**shooting_down)
#obj.larm_reference = False
#obj.arm_right()
#PyPR2.moveBodyTo(0.01,0.0,0.0,1)
last_action_counter=3
elif last_action_counter ==3:
PyPR2.moveBodyTo(0.07,0.0,0.0,0.51)
#busymoving=10
elif last_action_counter ==0:
PyPR2.moveArmWithJointPos(**left_shooting)
PyPR2.moveArWithJointPos(**alt_right_shooting)
#busymoving=10
PyPR2.say("Move Back")
else:
PyPR2.moveArmWithJointPos(**alt_right_shooting)
PyPR2.moveArmWithJointPos(**left_shooting)
last_action_counter=3
elif d<=3 and d >2:
if last_action_counter <2 and last_action_counter!=0:
#obj.larm_reference = False
#obj.arm_right()
PyPR2.moveArmWithJointPos(**left_relax1)
last_action_counter=2
#elif last_action_counter==0:
else:
PyPR2.moveArmWithJointPos(**alt_right_shooting)
PyPR2.moveArmWithJointPos(**left_shooting)
PyPR2.closeGripper(2)
#PyPR2.closeGripper(2)
last_action_counter =2
#previous_pos = focus_obj['est_pos'][0]
#movement_tracker.append(str(CONDITION_TAG)+":"+str(focus_obj['est_pos']))
elif d <2 and d>1 :
if last_action_counter ==1:
PyPR2.say("Move")
last_action_counter=1
#busymoving=10
elif last_action_counter >=2:
PyPR2.moveArmWithJointPos(**left_shooting)
PyPR2.moveArmWithJointPos(**alt_right_shooting)
else :
PyPR2.moveArmWithJointPos(**alt_right_shooting)
PyPr2.moveArmWithJointPos(**left_shooting)
def close():
time.sleep(10)
PyPR2.openGripper(3)
time.sleep(10)
PyPR2.closeGripper(3)
def timerActions(id):
global msgTryTimer, busy_moving, track_d, last_action_counter, d, start_time, x, y, elapsed_time, focus_obj, a
if msgTryTimer == id:
#PyPR2.removeTimer( msgTryTimer )
#msgTryTimer += 1
#while True:
#time.sleep(1)
if abs(a - focus_obj['est_pos'][0]) < 0.04:
a = focus_obj['est_pos'][0]
PyPR2.moveBodyTo(0.1, 0.0, 0.0, 1)
else:
a = focus_obj['est_pos'][0]
d = math.sqrt(math.pow(x, 2) + math.pow(y, 2))
adjust_to_shooting()
'''
with open(csvfile, "w") as output:
writer = csv.writer(output, lineterminator='\n')
writer.writerows(track_d)
'''
#PyPR2.moveTorsoBy(0.03,5)
#if abs(previous_pos - focus_obj['est_pos'][0])< 0.1:
# PyPR2.moveHeadTo(0.2,1.0)
#adjust_to_shooting()
#if busymoving>0: busymoving-=1
if d >= 3.5:
if last_action_counter < 4 and last_action_counter != 0:
#obj.larm_reference = True
#obj.arm_down()
PyPR2.moveArmWithJointPos(**right_high_five)
PyPR.moveArmWithJointPos(**shooting_back_down)
last_action_counter = 4
#busymoving=3
elif last_action_counter == 4:
PyPR2.moveTorsoBy(0.1, 2)
PyPR2.say("Move Back")
#busymoving=5
else:
PyPR2.moveArmWithJointPos(**left_shooting)
last_action_counter = 4
#busymoving=5
elif d <= 3.5 and d > 3:
if last_action_counter < 3 and last_action_counter != 0:
PyPR2.moveArmWithJointPos(**shooting_down)
#obj.larm_reference = False
#obj.arm_right()
#PyPR2.moveBodyTo(0.01,0.0,0.0,1)
last_action_counter = 3
elif last_action_counter == 3:
PyPR2.moveBodyTo(0.07, 0.0, 0.0, 0.51)
#busymoving=10
elif last_action_counter == 0:
PyPR2.moveArmWithJointPos(**left_shooting)
PyPR2.moveArWithJointPos(**alt_right_shooting)
#busymoving=10
PyPR2.say("Move Back")
else:
PyPR2.moveArmWithJointPos(**alt_right_shooting)
PyPR2.moveArmWithJointPos(**left_shooting)
last_action_counter = 3
elif d <= 3 and d > 2:
if last_action_counter < 2 and last_action_counter != 0:
#obj.larm_reference = False
#obj.arm_right()
PyPR2.moveArmWithJointPos(**left_relax1)
last_action_counter = 2
#elif last_action_counter==0:
else:
PyPR2.moveArmWithJointPos(**alt_right_shooting)
PyPR2.moveArmWithJointPos(**left_shooting)
PyPR2.closeGripper(2)
#PyPR2.closeGripper(2)
last_action_counter = 2
#previous_pos = focus_obj['est_pos'][0]
#movement_tracker.append(str(CONDITION_TAG)+":"+str(focus_obj['est_pos']))
elif d < 2 and d > 1:
if last_action_counter == 1:
PyPR2.say("Move")
last_action_counter = 1
#busymoving=10
elif last_action_counter >= 2:
PyPR2.moveArmWithJointPos(**left_shooting)
PyPR2.moveArmWithJointPos(**alt_right_shooting)
else:
PyPR2.moveArmWithJointPos(**alt_right_shooting)
PyPr2.moveArmWithJointPos(**left_shooting)