def setup(self): # commands.stand() blocker = Blocker() blocks = { "left": BlockLeft(), "right": BlockRight(), "center": BlockCenter(), "no_block": NoBlock() } standingLeftArmPose = dict() # standingLeftArmPose[core.LShoulderPitch] = 0 standingLeftArmPose[core.LShoulderRoll] = 90 # standingLeftArmPose[core.LElbowYaw] = -0 # standingLeftArmPose[core.LElbowRoll] = -0 standingRightArmPose = dict() # standingRightArmPose[core.RShoulderPitch] = 0 standingRightArmPose[core.RShoulderRoll] = 90 # standingRightArmPose[core.RElbowYaw] = -0 # standingRightArmPose[core.RElbowRoll] = -0 standingBothArmPose = dict() # standingBothArmPose[core.RShoulderPitch] = 1 standingBothArmPose[core.RShoulderRoll] = 90 # standingBothArmPose[core.RElbowYaw] = -0 # standingBothArmPose[core.RElbowRoll] = -0 # standingBothArmPose[core.LShoulderPitch] = 1 standingBothArmPose[core.LShoulderRoll] = 90 # standingBothArmPose[core.LElbowYaw] = -0 # standingBothArmPose[core.LElbowRoll] = -0 # for i in range(2, core.NUM_JOINTS): # val = util.getPoseJoint(i, standingLeftArmPose, False) # if val != None: # joint_commands.setJointCommand(i, val * core.DEG_T_RAD) toPoseTime = 0.2 poses = { "left": pose.BlockLeft(), "right": pose.BlockRight(), "center": pose.BlockLeft(), "no_block": pose.BlockLeft() } stand = Stand() self.trans(stand, C, blocker) for name in blocks: b = blocks[name] p = poses[name] self.trans(blocker, S(name), p, T(3), pose.PoseSequence(cfgpose.sittingPoseV3, 3.0), C, Stand(), C, blocker) self.setFinish( None ) # This ensures that the last node in trans is not the final node
def setup(self): blocker = Blocker() blocks = { "left": pose.BlockLeft(), "right": pose.BlockRight(), "center": pose.BlockCenter() } for name in blocks: b = blocks[name] self.add_transition(blocker, S(name), b, T(10.25), blocker)
def setup(self): blocker = Blocker() blocks = { "left": pose.BlockLeft(), "right": pose.BlockRight(), "center": pose.Squat() # Does not get up after squatting } for name in blocks: b = blocks[name] stand = pose.Stand() # Time less than 6 turns off robot after squatting #self.add_transition(blocker, S(name), b, T(3.25), blocker) self.add_transition(blocker, S(name), b, T(6.0), blocker)
def setup(self): blocker = Blocker() penalty = ApproachBall() blocks = { "left": pose.BlockLeft(), "right": pose.BlockRight(), #"center": pose.SitBlock(), "center": pose.BlockCenter(), } for name in blocks: b = blocks[name] self.add_transition(blocker, S(name), b, T(4.25), blocker) self.add_transition(blocker, S("penalty"), penalty) self.add_transition(penalty, S("blocker"), blocker)
def run(self): UTdebug.log(15, "Blocking left") return pose.BlockLeft()
def run(self): UTdebug.log(15, "Blocking left") print "Block Left" # joint_commands.setJointCommandDeg(core.LShoulderRoll, 90.0) return pose.BlockLeft(2.0)