def setup(self): memory.speech.say("Let's stretch!") # Movements sit = pose.Sit() stand_2 = Stand() turning_head = TurningHead() sit_2 = pose.Sit() off = Off() self.trans(sit, C, stand_2, C, turning_head, C, sit_2, C, off)
def setup(self): stand = self.Stand() walk = self.Walk() sit = pose.Sit() off = self.Off() raise_right = pose.RaiseRightArm() self.trans(sit, C, raise_right, T(5.0), sit, C, off)
def run(self): commands.setHeadTilt( -10) # Tilt head up so we can see goal (default = -22) pose.Sit() if self.getTime() > 5.0: memory.speech.say("Sitting complete") self.finish()
def setup(self): stand = self.Stand() walk = self.Walk() walk_turn = self.Walk_Turn() sit = pose.Sit() off = self.Off() self.trans(stand, C, walk, T(5.0), walk_turn, T(5.0), sit, C, off)
def setup(self): turner = Turner() localizer = Localizer() walker = Walker() beacon_walker = BeaconWalker() sitter = pose.Sit() walkTowardsBeacon = WalkTowardsBeacon() nodes = { 'turn': turner, 'move': walker, 'sit': sitter, 'walk_towards_beacon': walkTowardsBeacon, } for signal, node in nodes.iteritems(): if signal == 'sit': self.add_transition(localizer, S(signal), node, T(10), localizer) elif signal == 'walk_towards_beacon': self.add_transition(localizer, S(signal), node, C, localizer) else: self.add_transition(localizer, S(signal), node, T(0.1), localizer) self.add_transition(walkTowardsBeacon, S('no_towards_beacon'), localizer) self.add_transition(walkTowardsBeacon, S('stop_towards_beacon'), localizer) self.add_transition(walkTowardsBeacon, S('keep_towards_beacon'), beacon_walker, T(0.1), walkTowardsBeacon)
def run(self): pose.Sit() commands.setHeadPan(bearing, 0.1) ball = mem_objects.world_objects[core.WO_BALL] bearing = ball.bearing x = ball.loc.x y = ball.loc.y d = ball.distance xv = ball.absVel.x yv = ball.absVel.y if x < 500: if xv > -10: print "ball moving too slowly" return print "Ball is close, blocking!\n" if ball.bearing > 30 * core.DEG_T_RAD: choice = "left" print "left\n" elif ball.bearing < -30 * core.DEG_T_RAD: choice = "right" print "right\n" else: choice = "center" print "center\n" self.postSignal(choice)
def setup(self): stand = self.Stand() sit = pose.Sit() Goalseen = self.GoalSeen() Ballseen = self.BallSeen() off = self.Off() self.trans(stand, C, Ballseen, T(20.0), sit, C, off)
def setup(self): ball = memory.world_objects.getObjPtr(core.WO_BALL) goal = memory.world_objects.getObjPtr(core.WO_UNKNOWN_GOAL) stand = Stand(ball, goal) sit = pose.Sit() off = self.Off() self.trans(sit, C, stand, C, stand)
def setup(self): stand = self.Stand() sit = pose.Sit() # Goalseen = self.GoalSeen() # Ballseen = self.BallSeen() off = self.Off() srch = self.BallSearch() trn = self.Turn2Ball() wlk = self.Walk2Ball() ball = memory.world_objects.getObjPtr(core.WO_BALL) crc = self.CircleWalk() diag = self.Diagnostic() app = self.Approach() drb = self.Dribble() #self.trans(stand,C) #print("a") # self.trans(stand,C,diag,T(120.0),sit,C,off) # self.trans(stand,C,crc,C,app,C,sit,C,off) #self.trans(stand,C,app,C,self.Stable(),C,self.Kick(),C,sit,C,off) # self.trans(stand,C,srch,C,trn,C, wlk,C,crc,C,app,C,self.Kick(),C,sit,C,off) self.trans(stand, C, srch, C, trn, C, wlk, C, crc, C, drb, C, self.Stable(), C, app, C, self.Stable(), C, self.Kick(), C, sit, C, off)
def setup(self): stand = self.Stand() walk = self.Walk() sit = pose.Sit() off = self.Off() turn = self.Turn() curve = self.Curve() self.trans(stand, C, walk, T(10.0), sit, C, off)
def setup(self): stand = self.Stand() track = self.TrackGoal() sit = pose.Sit() off = self.Off() pid_walk = self.PID_walk() self.trans(stand, C, pid_walk, C , self.Prepare(), T(5.0) ,self.Stand(), C , self.Kick() , C , stand , C) self.setFinish(None)
def setup(self): stand = self.Stand() turn_head = self.Turn_Head() walk = self.Walk() walk_turn = self.Walk_Turn(); turn_in_place = self.Turn_In_Place(); sit = pose.Sit() off = self.Off() self.trans(stand, C, turn_head, S("done"), sit, C, walk, T(5.0), turn_in_place, T(3.0), walk_turn, T(5.0), off)
def setup(self): memory.speech.say("Walking in a curve!") # Movements stand = Stand() curve_walk = WalkInCurve() sit = pose.Sit() off = Off() self.trans(stand, C, curve_walk, C, sit, C, off)
def setup(self): stand = self.Stand() sit = pose.Sit() diag = self.Diagnostic() locdiag = self.localization_diag() panleft = self.HeadLeft() #self.trans(stand,C) #print("a") self.trans(stand, C, locdiag, T(120.0), sit)
def setup(self): memory.speech.say("Let's do the truffle shuffle!") # Movements stand = Stand() walk_forward = WalkForward() spin = Spin() sit = pose.Sit() stand_2 = Stand() off = Off() self.trans(stand, C, walk_forward, C, spin, C, sit, C, off)
def setup(self): stand = self.Stand() walk = self.Walk() turn = self.Turn() sit = pose.Sit() seen = self.Seen() panleft = self.HeadPanL() panright = self.HeadPanR() panstraight = self.HeadPanZ() fwdturn = self.ForwardTurn() off = self.Off() self.trans(stand, C, fwdturn, T(20.0), sit, C, off)
def setup(self): global last_head_time last_head_time = 0 stand = self.Stand() walk = self.Walk() tip = self.TurnInPlace() curve = self.Curve() sit = pose.Sit() goa = self.GoAround() off = self.Off() #self.trans(stand, C, walk, T(5.0), curve, T(5.0), sit, C, off) self.trans(stand, C, walk, T(100.0), sit, C, off)
def setup(self): stand = self.Stand() walk = self.Walk() turn = self.Turn() sit = pose.Sit() seen = self.Seen() panleft = self.HeadPanL() panright = self.HeadPanR() panstraight = self.HeadPanZ() tiltup = self.TiltHeadUp() tiltdown = self.TiltHeadDown() fwdturn = self.ForwardTurn() off = self.Off() self.trans(stand, C)
def setup(self): stand = self.Stand() sit = pose.Sit() headturn = self.HeadTurn() headturnback = self.HeadTurnBack() forwardwalk = self.ForwardWalk() turninplace = self.TurnInPlace() curvewalk = self.CurveWalk() off = self.Off() self.trans(stand, C, headturn, T(3.0), headturnback, T(3.0), forwardwalk, T(5.0), turninplace, T(5.0), curvewalk, T(5.0), sit, C, off)
def setup(self): ball = memory.world_objects.getObjPtr(core.WO_BALL) print('Seen: %d \t Top: %d\t Location: [%d,%d]\n' % (ball.seen, ball.fromTopCamera, ball.imageCenterX, ball.imageCenterY)) stand = Stand() track = TrackBall() moveHeadLeft = MoveHeadLeft() moveHeadRight = MoveHeadRight() sit = pose.Sit() self.add_transition(stand,C,moveHeadLeft) self.add_transition(moveHeadLeft,C,moveHeadRight) self.add_transition(moveHeadRight,C,moveHeadLeft) self.add_transition(moveHeadLeft,B(ball),track) self.add_transition(moveHeadRight,B(ball),track) self.add_transition(track,NB(ball),moveHeadLeft)
def run(self): cooledDown = True for joint in self.listy_thing: if memory.sensors.getJointTemperature(joint) > 50.0: cooledDown = False if not cooledDown and not self.isSitting: self.isSitting = True return pose.Sit() if cooledDown: self.isSitting = False self.postSignal("cool")
def run(self): commands.setHeadTilt() commands.setStiffness() if behavior_mem.test_odom_new: self.otimer.reset() behavior_mem.test_odom_new = False if self.otimer.elapsed() > behavior_mem.test_odom_walk_time: if self.stance != core.Poses.SITTING: self.stance = core.Poses.SITTING return pose.Sit() return vel_x = behavior_mem.test_odom_fwd vel_y = behavior_mem.test_odom_side vel_theta = behavior_mem.test_odom_turn reqstance = behavior_mem.test_stance if reqstance != self.stance: self.stance = reqstance if reqstance == core.Poses.SITTING: return pose.Sit() elif not util.isStanding(): return pose.Stand() if self.stance == core.Poses.STANDING: commands.setWalkVelocity(vel_x, vel_y, vel_theta)
def setup(self): stand = self.Stand() sit = pose.Sit() Goalseen = self.GoalSeen() Ballseen = self.BallSeen() off = self.Off() turn = self.Turn() ball = memory.world_objects.getObjPtr(core.WO_BALL) print(ball.seen) #self.trans(stand,C) #print("a") self.trans(turn) print("sad") self.trans(Ballseen, T(20.0), sit, C, off)
def setup(self): stand = self.Stand() walk = self.Walk() turnL = self.TurnL() turnR = self.TurnR() sit = pose.Sit() fwdturn = self.ForwardTurn() targ = self.WalkTarget() ped = self.WalkP() panL = self.HeadPanL() panR = self.HeadPanR() panZ = self.HeadPanZ() off = self.Off() tilt = self.HeadTilt() # self.trans(stand, C, tilt, T(5.0),turnL,T(10.0),turnR,T(10.0) ,sit, C, off) self.trans(stand, C, walk, T(5.0), sit, C, off)
class Playing(StateMachine): class Stand(Node): def run(self): commands.stand() if self.getTime() > 5.0: memory.speech.say("playing stand complete") self.finish() class Walk(Node): def run(self): commands.setWalkVelocity(0.5, 0, 0) class Turn(Node): def run(self): commands.setWalkVelocity(0, 0, 0.1) class ForwardTurn(Node): def run(self): commands.setWalkVelocity(0.5, 0, 0.3) class Off(Node): def run(self): commands.setStiffness(cfgstiff.Zero) if self.getTime() > 2.0: memory.speech.say("turned off stiffness") self.finish() class Seen(Node): def run(self): ball = memory.world_objects.getObjPtr(core.WO_BALL) #print(ball.seen) if ball.seen: print("I see ballz") def setup(self): stand = self.Stand() walk = self.Walk() turn = self.Turn() sit = pose.Sit() seen = self.Seen() fwdturn = self.ForwardTurn()
def setup(self): sit = pose.Sit() head_left = self.TurnHead() body_left_in_place = self.TurnBodyLeftInPlace() body_right_in_place = self.TurnBodyRightInPlace() body_left_walking = self.TurnBodyLeftWalking() walk = self.Walk() stand = self.Stand() off = self.Off() # self.trans(stand, C, walk, T(2.0), head_left, C, sit, C, off) # walk, turn head left # self.trans(stand, C, body_left_walking, T(4.0), sit, C, off) # walk in a curve # self.trans(stand, C, walk, T(2.0), body_left_in_place, T(2.0), sit, C, off) # walk forward and then turn in place # all the motions (walk forward, turn left in place, walk and turn left simultaneously, sit, turn head left self.trans(stand, C, walk, T(2.0), body_left_in_place, T(2.0), body_left_walking, T(6.0), body_right_in_place, T(5.5), sit, C, head_left, C, off)
def setup(self): self.trans(self.Stand(), C, self.Kick(), C, self.Stand(), C, pose.Sit(), C, self.Off())
def run(self): pose.Sit() if self.getTime() > 3.0: memory.speech.say("Sitting complete") self.finish()
def setup(self): walk = self.Walk() self.trans(self.Stand(), C, self.Kick(), C, self.Stand(), C, walk, T(5.0), self.Stand(), C, pose.Sit(), C, self.Off())
def run(self): pose.Sit() if self.getTime() > 2.0: memory.speech.say("playing stand complete") self.finish()