class Mouvements(object):
def __init__(self):
IP, PORT = "127.0.0.1", 9559
self.vx = 0.0
self.vy = 0.0
self.vth = 0.0
self.dt = 0.227
self.joints = []
self.io_file = IO_file()
self.is_recording = False
self.postureProxy = ALProxy("ALRobotPosture", IP, PORT)
self.motionProxy = ALProxy("ALMotion", IP, PORT)
self.motionProxy.setWalkArmsEnabled(True, True)
self.motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", False]])
self.motionProxy.setFallManagerEnabled(False)
def stiffness(self, go_rigide):
parametre = 1.0 if go_rigide else 0.0
self.motionProxy.stiffnessInterpolation("Body", parametre, 1.0)
def go_debout(self):
self.stiffness(True)
self.postureProxy.goToPosture("Stand", 0.8)
def go_assis(self):
self.stiffness(True)
self.postureProxy.goToPosture("Sit", 0.8)
self.stiffness(False)
def go_ventre(self):
self.stiffness(True)
self.postureProxy.goToPosture("LyingBelly", 0.8)
self.stiffness(False)
def go_dos(self):
self.stiffness(True)
self.postureProxy.goToPosture("LyingBack", 0.8)
self.stiffness(False)
def go_dos(self):
self.stiffness(True)
self.postureProxy.goToPosture("Crouch", 0.8)
self.stiffness(False)
def go_move(self):
self.motionProxy.setWalkTargetVelocity(self.vx, self.vy, self.vth, 0.8)
def set_vx(self, vx): self.vx = vx
def set_vy(self, vy): self.vy = vy
def set_vth(self, vth): self.vth = vth
def update_joints(self): self.joints = self.motionProxy.getAngles("Body", False)
def save_joints(self, write):
self.update_joints()
if write: fichier = self.io_file.init_write_joints()
self.io_file.add_joints(self.joints, self.dt)
if write: self.io_file.write_joints(fichier)
def record(self):
self.is_recording = not self.is_recording
if self.is_recording:
self.recorder = Recorder(self)
self.recorder.continuer = True
self.recorder.start()
else:
self.recorder.continuer = False
self.recorder.join()
def apply_joints_from_file(self, only_last):
temps, angles = self.io_file.read_joints(only_last)
if len(angles) == 0 : return
self.motionProxy.angleInterpolation("Body", angles, temps, True)
def move_head(self, vx, vy):
self.motionProxy.angleInterpolation(["HeadYaw", "HeadPitch"], [-0.1 * float(vx), -0.1 * float(vy)], [0.2, 0.2], False)
