def start_move_recorder(self, move_name, motors_name):
motors = [getattr(self.robot, m) for m in motors_name]
recorder = MoveRecorder(self.robot, 50, motors)
# for m in motors:
# m.compilant = True
self.robot.attach_primitive(recorder, move_name)
recorder.start()
class Record(LoopPrimitive):
properties = ['record_name']
path = '/tmp/{}.json'
def __init__(self, robot):
LoopPrimitive.__init__(self, robot, 1)
self.record_name = "demo_example"
def setup(self):
for m in self.robot.motors:
m.compliant = True
self.recorder = MoveRecorder(self.robot, 50.0, self.robot.motors)
self.recorder.start()
def update(self):
pass
def teardown(self):
self.recorder.stop()
for m in self.robot.motors:
m.compliant = False
with open(self.path.format(self.record_name), 'w') as f:
self.recorder.move.save(f)
def run(self):
while not self.should_stop():
if self.should_pause(): self.wait_to_resume()
while not (self.posture_is(self.defaut_posture)):
time.sleep(0.1)
for m in self.robot.motors:
m.led = "green"
m.compliant = True
my_record = MoveRecorder(self.robot, 50, self.robot.motors)
my_record.start()
sleep = int(self.record_time + (self.record_time / 5.))
for i in range(sleep):
if not self.should_stop():
if self.should_pause(): self.wait_to_resume()
for m in self.robot.motors:
m.led = "green"
time.sleep(0.5)
for m in self.robot.motors:
m.led = "off"
time.sleep(0.5 - ((0.5 / sleep) * i))
my_record.stop()
#my_record.wait_to_stop()
if not self.should_stop():
if self.should_pause(): self.wait_to_resume()
self.robot.tinsel.colors = ['red']
self.robot.tinsel.freq = 1
self.robot.tinsel.start()
self.robot._primitive_manager.remove(self)
# patch pour passer des fake moteurs de la primitive ProgByDemo aux moteurs reel de l ergo
my_play = MovePlayer(self.robot, my_record.move)
my_play.start()
for t in range(self.record_time * 2):
if not self.should_stop():
if self.should_pause(): self.wait_to_resume()
time.sleep(0.5)
if my_play.is_alive(): my_play.stop()
self.robot.tinsel.stop()
self.robot._primitive_manager.add(
self
) # on redonne le control des moteurs a la primitive ProgByDemo
duration = int(max(self.distance_with(
self.defaut_posture))) / 100.
for m in self.robot.motors:
m.compliant = False
m.goto_position(self.defaut_posture[m.id - 1], duration)
time.sleep(duration)
def start_move_recorder(self, move_name, motors_name=None):
if not hasattr(self.robot, '_{}_recorder'.format(move_name)):
if motors_name is not None:
motors = [getattr(self.robot, m) for m in motors_name]
else:
motors = getattr(self.robot, 'motors')
recorder = MoveRecorder(self.robot, 50, motors)
self.robot.attach_primitive(recorder, '_{}_recorder'.format(move_name))
recorder.start()
else:
recorder = getattr(self.robot, '_{}_recorder'.format(move_name))
recorder.start()
def learn(cls):
move = MoveRecorder(cls.robot, 100, cls.robot.motors)
cls.robot.compliant = True
raw_input("Press enter to start recording a Move.")
for x in xrange(3, 0, -1):
print x
time.sleep(1)
move.start()
raw_input("Press again to stop the recording.")
move.stop()
for m in cls.robot.motors:
m.compliant = False
m.goal_position = 0
print "List of already taken primitives : "
os.chdir('./moves')
for file in glob.glob("*.move"):
print(os.path.splitext(file)[0])
os.chdir('../')
move_name = raw_input("Enter the name of this sick move : ")
move_name = move_name + ".move"
with open("./moves/" + move_name, 'w') as f:
try:
move.move.save(f)
except:
print "Unable to save this move, sorry"
else:
print "Move successfully saved !"
try:
cls.robot.attach_primitive(PlayMove(cls.robot, movement=move_name),
move_name)
except Exception as e:
raise
else:
print "Move successfully attached to the robot !"
finally:
pass
m.goal_position = 0.0
time.sleep(3)
#~ for m in poppy.motors:
#~ m.compliant = True
from pypot.primitive.move import Move, MoveRecorder, MovePlayer
record_frequency = 20.0 # This means that a new position will be recorded 50 times per second.
recorded_motors = poppy.r_leg
# You can also use alias for the recorded_motors
# e.g. recorder = MoveRecorder(poppy, record_frequency, poppy.tip)
# or even to record all motors position
# recorder = MoveRecorder(poppy, record_frequency, poppy.motors)
recorder = MoveRecorder(poppy, record_frequency, recorded_motors)
for m in recorded_motors:
m.compliant = True
print "start recording"
recorder.start()
time.sleep(4)
print "stop recording"
recorder.stop()
recorded_move = recorder.move
with open('rlegstep.json', 'w') as f:
def attach_move_recorder(self, move_name, motors_name):
motors = [getattr(self.robot, m) for m in motors_name]
recorder = MoveRecorder(self.robot, 50, motors)
self.robot.attach_primitive(recorder, '_{}_recorder'.format(move_name))
time.sleep(3)
#~ for m in poppy.motors:
#~ m.compliant = True
from pypot.primitive.move import Move, MoveRecorder, MovePlayer
record_frequency = 20.0 # This means that a new position will be recorded 50 times per second.
recorded_motors = poppy.r_leg
# You can also use alias for the recorded_motors
# e.g. recorder = MoveRecorder(poppy, record_frequency, poppy.tip)
# or even to record all motors position
# recorder = MoveRecorder(poppy, record_frequency, poppy.motors)
recorder = MoveRecorder(poppy, record_frequency, recorded_motors)
for m in recorded_motors:
m.compliant = True
print "start recording"
recorder.start()
time.sleep(4)
print "stop recording"
recorder.stop()
recorded_move = recorder.move
def setup(self):
for m in self.robot.motors:
m.compliant = True
self.recorder = MoveRecorder(self.robot, 50.0, self.robot.motors)
self.recorder.start()
import time
import pypot.robot
from pypot.primitive.move import MoveRecorder, Move, MovePlayer
# Todo: Import is not working in runtime
from configs.ergo_config import ergo_config
robot = pypot.robot.from_config(ergo_config)
move_recorder = MoveRecorder(robot, 50, robot.motors)
robot.compliant = True
print("start recording..")
move_recorder.start()
time.sleep(5)
print("Recording end.")
move_recorder.stop()
with open('my_nice_move.move', 'w') as f:
move_recorder.move.save(f)
with open('my_nice_move.move') as f:
m = Move.load(f)
robot.compliant = False
print("Play recording")
move_player = MovePlayer(robot, m)
move_player.start()
time.sleep(10)
print("recording played")
