def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if self.keyframes == ([], [], []):
if posture == "Back":
if self.keyframes != rightBackToStand():
self.reset_time()
self.keyframes = rightBackToStand()
print(
"Posture is \"Back\" --> Changing keyframe to rightBackToStand"
)
elif posture == "Belly":
if self.keyframes != rightBellyToStand():
self.reset_time()
self.keyframes = rightBellyToStand()
print(
"Posture is \"Belly\" --> Changing keyframe to rightBellyToStand"
)
elif posture == "Left":
if self.keyframes != leftBackToStand():
self.reset_time()
self.keyframes = leftBackToStand()
print(
"Posture is \"Left\" --> Changing keyframe to leftBackToStand"
)
elif posture == "Right":
if self.keyframes != rightBellyToStand():
self.reset_time()
self.keyframes = rightBellyToStand()
print(
"Posture is \"Right\" --> Changing keyframe to rightBellyToStand"
)
def standing_up(self):
posture = self.posture
#returns the predicted postrue
if posture in ['Back','Sit','Left','Headback','Right']: # Left, 'Headback', 'Sit', 'Right'
self.keyframes = rightBackToStand()
elif posture in ['Belly','Frog','Crouch']:
self.keyframes = rightBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
#['Back', 'Belly', 'Crouch', 'Frog', 'HeadBack', 'Knee', 'Left', 'Right', 'Sit', 'Stand', 'StandInit']
if posture == 'Belly':
self.keyframes = rightBellyToStand()
elif posture == 'Back':
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
print(posture)
if (posture == 1): # 'Belly'):
self.keyframes = rightBellyToStand()
elif (posture == 0): # 'Back'):
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Back' or posture =='Left':
self.keyframes = leftBackToStand()
elif posture == 'Belly' or posture == 'Right':
self.keyframes = rightBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Left':
self.keyframe = leftBackToStand()
if posture in ['Back', 'Headback', 'Sit', 'Right']:
self.keyframe = rightBackToStand()
if posture in ['Crouch', 'Belly', 'Frog']:
self.keyframe = rightBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Belly' and not self.is_animating():
self.start_animation(rightBellyToStand())
if posture == 'Back' and not self.is_animating():
self.start_animation(leftBackToStand())
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
self.posture = self.recognize_posture(self.perception)
# print(self.posture)
if posture == "Belly":
# print("belly to stand")
self.keyframes = rightBellyToStand()
elif posture == "Back":
# print("back to stand")
self.keyframes = leftBackToStand()
def standing_up(self, perception):
posture = self.posture
# YOUR CODE HERE
# The robot plays the animation, but can't actually stand up using that.
# I expect that the interpolation is at fault for that.
if posture == 'Belly':
self.keyframes = rightBellyToStand()
if posture == 'Back':
self.keyframes = rightBackToStand()
if posture == 'Standing':
self.keyframes = hello()
def standing_up(self):
posture = self.posture
if posture == "Belly":
self.keyframes = leftBellyToStand()
if posture == "Left":
self.keyframes = leftBackToStand()
if posture == "Back":
self.keyframes = leftBackToStand()
if posture == "Stand":
self.keyframes = self.keyframes
else:
self.keyframes = rightBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture in ['Stand', 'StandInit', 'Sit']:
return
if posture == 'Back':
self.keyframes = kf.leftBellyToStand()
elif posture == 'Belly':
self.keyframes = kf.rightBellyToStand()
print(posture)
pass
def standing_up(self):
posture = self.posture
if (posture == 'Belly'):
if (self.time <= 0):
self.start_time = 0
self.keyframes = rightBellyToStand()
self.time = 14.02
if (posture == 'Back'):
if (self.time <= 0):
self.start_time = 0
self.keyframes = rightBackToStand()
self.time = 14.02
if (self.time > 0):
self.time -= 0.02
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Back' or posture == 'HeadBack':
self.keyframes = rightBackToStand()
return
elif posture == 'Belly' or posture == 'Frog:
self.keyframes = rightBellyToStand()
return
elif posture == 'Right' or posture is 'Left':
self.keyframes = rightBackToStand()
return
elif posture == 'Stand':
self.keyframes = hello()
return
def standing_up(self, perception):
posture = self.posture
if posture == "Back":
new_keyframes = leftBackToStand()
elif posture == "Belly":
new_keyframes = leftBellyToStand()
elif posture == "Left":
new_keyframes = leftBellyToStand()
elif posture == "Right":
new_keyframes = rightBellyToStand()
else:
#do nothing
return
if new_keyframes != self.keyframes:
self.init_time = perception.time
self.keyframes = new_keyframes
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
print self.startTime, self.stiffness
if(self.startTime == -1 and self.stiffness == 1):
# postures: ['Left', 'HeadBack', 'Belly', 'Stand', 'Frog', 'StandInit', 'Back', 'Right', 'Knee', 'Sit', 'Crouch']
if(posture == "Left"):
self.keyframes = kf.leftBackToStand()
print "### recognized :" + posture + ", executing leftBackToStand()"
elif(posture == "Right"):
self.keyframes = kf.rightBackToStand()
print "### recognized :" + posture + ", executing rightBackToStand()"
elif(posture == "Belly"):
self.keyframes = kf.rightBellyToStand()
print "### recognized :" + posture + ", executing leftBellyToStand()"
elif(posture == "Back" or posture == "Frog" or posture == "Sit"):
self.keyframes = kf.rightBackToStand()
print "### recognized :" + posture + ", executing rightBackToStand()"
def standing_up(self):
posture = self.posture
#print(posture)
# YOUR CODE HERE
leftBack = ['HeadBack', 'Left']
rightBack = ['Back', 'Right']
leftBelly = ['Belly', 'knee']
rightBelly = ['Crouch', 'Frog', 'Sit']
standing = ['Stand', 'StandInit']
#if (self.stiffness_on_off_time + self.stiffness_off_cycle - self.perception.time <= 0.1):
if not self.keyframes[0]:
if posture in leftBack:
self.keyframes = keyframes.leftBackToStand()
elif posture in rightBack:
self.keyframes = keyframes.rightBackToStand()
elif posture in leftBelly:
self.keyframes = keyframes.leftBellyToStand()
elif posture in rightBelly:
self.keyframes = keyframes.rightBellyToStand()
elif posture in standing:
pass
def think(self, perception):
self.posture = self.recognize_posture(perception)
return super(PostureRecognitionAgent, self).think(perception)
def recognize_posture(self, perception):
posture = 'unknown'
measurement = np.zeros((10,))
measurement[8] = perception.imu[0]
measurement[9] = perception.imu[1] #insert values for AngleX and AngleY
for i,j in enumerate(measurement[:8]):
measurement[i] = perception.joint[self.joint_data[i]]
posture = self.classes[int(self.posture_classifier.predict(measurement)[0])]
#predict posture with classifier
print posture
return posture
if __name__ == '__main__':
agent = PostureRecognitionAgent()
agent.keyframes = rightBellyToStand() # CHANGE DIFFERENT KEYFRAMES
agent.run()
if j == len(times[i]) - 1:
if names[i] in perception.joint:
target_joints[names[i]] = self.perception.joint[
names[i]]
else:
break
return target_joints
def interpolate(self, time_fracture, index_i, index_j, keys):
x_0 = keys[index_i][index_j][0]
x_1 = keys[index_i][index_j][1][2] + x_0
x_2 = keys[index_i][0][0]
x_3 = keys[index_i][index_j][2][2] + x_2
y_0 = (1 - time_fracture)**3
y_1 = 3 * (1 - time_fracture)**2
y_2 = 3 * (1 - time_fracture)
bezier = (y_0 * x_0) + (y_1 * x_1 * time_fracture) + (
y_2 * x_3 * (time_fracture**2)) + (x_2 * (time_fracture**3))
return bezier
if __name__ == '__main__':
agent = AngleInterpolationAgent()
agent.keyframes = rightBellyToStand() # CHANGE DIFFERENT KEYFRAMES
agent.run()
dt = (current_time - t_0) / (t_3 - t_0)
# Angles
p0 = keys[j][t][0]
p3 = keys[j][t + 1][0]
# Control angles
p1 = p0 + keys[j][t][1][2]
p2 = p3 + keys[j][t][1][2]
return self.cubic_bezier_interpolation(p0, p1, p2, p3, dt)
@staticmethod
def cubic_bezier_interpolation(p0, p1, p2, p3, i):
t0 = (1 - i)**3
t1 = 3 * i * (1 - i)**2
t2 = 3 * (1 - i) * i**2
t3 = i**3
return t0 * p0 + t1 * p1 + t2 * p2 + t3 * p3
if __name__ == '__main__':
agent = AngleInterpolationAgent()
agent.keyframes = hello() # CHANGE DIFFERENT KEYFRAMES
# By the Belly keyframes NAO not falls on the Belly ...
if agent.keyframes == leftBellyToStand(
) or agent.keyframes == rightBellyToStand():
agent.keyframes[2][0] = agent.keyframes[2][1]
agent.run()
