def run(self):
vias = {}
for c in self.chains:
vias[c] = []
while not self.done:
print '--------------'
print 'r: record via'
print 's: save via file'
print 'p: print current pose'
print 'q: quit'
print '--------------'
print
k = m3t.get_keystroke()
print 'Dbg', dbg
if k == 'r':
print '-------------'
for c in self.chains:
vias[c].append(m3t.float_list(self.bot.get_theta_deg(c)))
print 'Record of: ', vias[c][-1], 'for', c
if k == 'p':
print '----------------'
for c in self.chains:
print 'Chain:', c, ' : ', self.bot.get_theta_deg(c)
print '----------------'
if k == 's':
bot_name = m3t.get_robot_name()
fn = bot_name + '_' + m3t.time_string()
print 'Enter via file name [', fn, ']'
fn = m3t.get_string(fn)
fn = m3t.get_m3_animation_path() + fn + '.via'
print 'Writing file: ', fn
f = file(fn, 'w')
d = {}
for c in self.chains:
ndof = self.bot.get_num_dof(c)
if c == 'torso':
param = {
'slew': [1.0] * ndof,
'stiffness': [0.8] * ndof,
'velocity': [25.0, 15.0]
}
else:
param = {
'slew': [1.0] * ndof,
'stiffness': [0.4] * ndof,
'velocity': [25.0] * ndof
}
d[c] = {
'postures': vias[c],
'param': param
} #safe defaults
f.write(yaml.safe_dump(d))
vias = {}
for c in self.chains:
vias[c] = []
if k == 'q':
self.done = True
def run(self):
vias = {}
for c in self.chains:
vias[c] = []
while not self.done:
print "--------------"
print "r: record via"
print "s: save via file"
print "p: print current pose"
print "q: quit"
print "--------------"
print
k = m3t.get_keystroke()
print "Dbg", dbg
if k == "r":
print "-------------"
for c in self.chains:
vias[c].append(m3t.float_list(self.bot.get_theta_deg(c)))
print "Record of: ", vias[c][-1], "for", c
if k == "p":
print "----------------"
for c in self.chains:
print "Chain:", c, " : ", self.bot.get_theta_deg(c)
print "----------------"
if k == "s":
bot_name = m3t.get_robot_name()
fn = bot_name + "_" + m3t.time_string()
print "Enter via file name [", fn, "]"
fn = m3t.get_string(fn)
fn = m3t.get_m3_animation_path() + fn + ".via"
print "Writing file: ", fn
f = file(fn, "w")
d = {}
for c in self.chains:
ndof = self.bot.get_num_dof(c)
if c == "torso":
param = {"slew": [1.0] * ndof, "stiffness": [0.8] * ndof, "velocity": [25.0, 15.0]}
else:
param = {"slew": [1.0] * ndof, "stiffness": [0.4] * ndof, "velocity": [25.0] * ndof}
d[c] = {"postures": vias[c], "param": param} # safe defaults
f.write(yaml.safe_dump(d))
vias = {}
for c in self.chains:
vias[c] = []
if k == "q":
self.done = True
import m3.humanoid
import m3.toolbox as m3t
import yaml
proxy = m3p.M3RtProxy()
proxy.start()
bot_name = m3t.get_robot_name()
bot = m3.humanoid.M3Humanoid(bot_name)
proxy.subscribe_status(bot)
vias = []
print "Hit <SPACE> to record right arm posture, <Q> to save postures and quit"
while True:
key = m3t.get_keystroke()
if key == ' ':
proxy.step()
t = bot.get_theta_deg('right_arm')
vias.append(m3t.float_list(t))
print 'Record of: ', vias[-1]
if key == 'q':
fn = 'poses.yml'
f = file(fn, 'w')
f.write(yaml.safe_dump(vias))
print 'File saved as: ', fn
break
