class WaveBehave(pypot.primitive.LoopPrimitive):
def __init__(self, robot, freq):
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
self.my_sinus = Sinus(self.robot, 50, [self.robot.l_elbow_y, ], amp=30, freq=1, offset=-90)
def setup(self):
robot = self.robot
for m in robot.l_arm:
m.compliant = False
robot.l_arm_z.goto_position(90, 1, wait=False)
robot.l_shoulder_x.goto_position(90,1, wait=True)
self.my_sinus.start()
def teardown(self):
robot = self.robot
self.my_sinus.stop()
self.robot.normal_behave.start()
def update(self):
pass
class RightHandMouvBehave(pypot.primitive.LoopPrimitive):
def __init__(self, robot, freq):
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
self.my_sinus = Sinus(self.robot, 50, [self.robot.r_elbow_y], amp=20, freq=1, offset=-40)
self.my_cosinus = Cosinus(self.robot, 50, [self.robot.r_arm_z], amp=20, freq=1, offset=-20)
def setup(self):
robot = self.robot
for m in robot.r_arm:
m.compliant = False
robot.r_shoulder_x.goto_position(-20, 1, wait=False)
robot.r_shoulder_y.goto_position(-30, 1, wait=False)
robot.r_arm_z.goto_position(100, 2, wait=False)
robot.r_elbow_y.goto_position(-100, 2, wait=True)
self.my_sinus.start()
self.my_cosinus.start()
def teardown(self):
robot = self.robot
self.my_sinus.stop()
self.my_cosinus.stop()
for m in robot.r_arm:
m.compliant = True
time.sleep(1)
def update(self):
pass
class ComeMouvBehave(pypot.primitive.LoopPrimitive):
def __init__(self, robot, freq):
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
self.my_sinus = Sinus(self.robot,
50, [self.robot.r_elbow_y, self.robot.r_arm_z],
amp=20,
freq=1,
offset=-20)
def setup(self):
robot = self.robot
for m in robot.r_arm:
m.compliant = False
robot.r_shoulder_x.goto_position(-20, 1, wait=False)
robot.r_shoulder_y.goto_position(-30, 1, wait=False)
robot.r_arm_z.goto_position(100, 2, wait=False)
robot.r_elbow_y.goto_position(-100, 2, wait=True)
self.my_sinus.start()
def teardown(self):
robot = self.robot
self.my_sinus.stop()
for m in robot.r_arm:
m.goto_position(0, 1, wait=False)
time.sleep(1)
def update(self):
pass
def run(self):
self.robot.goto_position(
{
'r_shoulder_x': 120,
'r_shoulder_motor_y': 45,
'r_upper_arm_z': 0,
'r_forearm_y': 30,
},
1,
wait=True)
self.robot.r_forearm_y.moving_speed = 0
s = Sinus(self.robot,
25., [self.robot.r_forearm_y],
amp=50,
offset=30,
freq=0.75)
s.start()
time.sleep(3)
s.stop()
self.robot.goto_position(
{
'r_shoulder_x': 0,
'r_shoulder_motor_y': 0,
'r_upper_arm_z': 0,
'r_forearm_y': 0,
},
1,
wait=True)
class WaveBehave(pypot.primitive.LoopPrimitive):
def __init__(self, robot, freq):
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
self.my_sinus = Sinus(self.robot, 50, [self.robot.l_elbow_y, ], amp=30, freq=1, offset=-90)
def setup(self):
robot = self.robot
for m in robot.l_arm:
m.compliant = False
robot.l_arm_z.goto_position(90, 1, wait=False)
robot.l_shoulder_x.goto_position(90,1, wait=True)
self.my_sinus.start()
def teardown(self):
robot = self.robot
self.my_sinus.stop()
self.robot.normal_behave.start()
def update(self):
pass
class YesBehave(pypot.primitive.LoopPrimitive):
def __init__(self, robot, freq):
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
self.my_sinus = Sinus(self.robot, 50, [self.robot.head_y, ], amp=8, freq=1, offset=10)
def setup(self):
self.robot.head_y.compliant = False
self.my_sinus.start()
def teardown(self):
self.my_sinus.stop()
def update(self):
pass
class NoBehave(pypot.primitive.LoopPrimitive):
def __init__(self, robot, freq):
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
self.my_sinus = Sinus(self.robot, 50, [self.robot.head_z, ], amp=20, freq=0.9, offset=0, phase=0)
def setup(self):
self.robot.head_y.compliant = False
self.my_sinus.start()
def teardown(self):
self.my_sinus.stop()
def update(self):
pass
def run(self):
self.robot.goto_position({
'm21': 120,
'm22': 45,
'm23': 0,
'm24': 30,
}, 1, wait=True)
self.robot.m24.moving_speed = 0
s = Sinus(self.robot, 25., [self.robot.m24], amp=50, offset=30, freq=0.75)
s.start()
time.sleep(3)
s.stop()
self.robot.goto_position({
'm21': 0,
'm22': 0,
'm23': 0,
'm24': 0,
}, 1, wait=True)
def run(self):
self.robot.goto_position({
'r_shoulder_x': 120,
'r_shoulder_motor_y': 45,
'r_upper_arm_z': 0,
'r_forearm_y': 30,
}, 1, wait=True)
self.robot.r_forearm_y.moving_speed = 0
s = Sinus(self.robot, 25., [self.robot.r_forearm_y], amp=50, offset=30, freq=0.75)
s.start()
time.sleep(3)
s.stop()
self.robot.goto_position({
'r_shoulder_x': 0,
'r_shoulder_motor_y': 0,
'r_upper_arm_z': 0,
'r_forearm_y': 0,
}, 1, wait=True)
