class Play(Primitive):
properties = ['record_name', 'moves']
path = '/tmp/{}.json'
def __init__(self, robot):
Primitive.__init__(self, robot)
self.record_name = "demo_example"
def setup(self):
for m in self.robot.motors:
m.compliant = False
m.moving_speed = 0
def run(self):
with open(self.path.format(self.record_name)) as f:
move = Move.load(f)
self.player = MovePlayer(self.robot, move, max_start_speed=0)
self.player.start()
self.player.wait_to_stop()
def teardown(self):
for m in self.robot.motors:
m.moving_speed = 0
@property
def moves(self):
return [
s.replace('/tmp/', '').replace('.json', '')
for s in glob.glob('/tmp/*.json')
]
def start_move_player(self, move_name):
"""Move player need to have a move file <move_name.json>
in th PATH to play it"""
with open(move_name + '.record') as f:
loaded_move = Move.load(f)
move_name += '_player'
player = MovePlayer(self.robot, loaded_move)
self.robot.attach_primitive(player, move_name)
player.start()
player.wait_to_stop()
return move_name
#~ try:
#~ with open(poppy_config_file) as f:
#~ poppy_config = json.load(f)
#~ poppy = pypot.robot.from_config(poppy_config)
#~ poppy.start_sync()
except Exception,e:
print "could not create poppy object"
print e
for m in poppy.motors:
m.compliant = False
m.goal_position = 0.0
m.max_torque = 20
with open('mymove.json') as f:
loaded_move = Move.load(f)
player = MovePlayer(poppy, loaded_move)
print "starting"
player.start()
player.wait_to_stop()
print "finished"
for m in poppy.motors:
m.compliant = True
print m.name
time.wait(1)
poppy = PoppyHumanoid()
#~ try:
#~ with open(poppy_config_file) as f:
#~ poppy_config = json.load(f)
#~ poppy = pypot.robot.from_config(poppy_config)
#~ poppy.start_sync()
except Exception, e:
print "could not create poppy object"
print e
for m in poppy.motors:
m.compliant = False
m.goal_position = 0.0
m.max_torque = 20
with open('mymove.json') as f:
loaded_move = Move.load(f)
player = MovePlayer(poppy, loaded_move)
print "starting"
player.start()
player.wait_to_stop()
print "finished"
for m in poppy.motors:
m.compliant = True
print m.name
time.wait(1)
