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 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)