def play(args):
global broker, nao_motion, nao_video
nao_strategies = {'basic': Basic,
'human': Human}
other_strategies = {'vision': NAOVision,
'human': Human}
nao_strat = nao_strategies.get(args['--nao-strategy'], None)
other_strat = other_strategies.get(args['--other-strategy'], None)
if nao_strat is None:
exit("{0} is not a valid strategy. The valid strategies for NAO are basic and "
"human".format(args['--nao-strategy']))
if other_strat is None:
exit("{0} is not a valid strategy. The valid strategies for the other player are "
"vision and human".format(args['--other-strategy']))
basic.ALPHA_BETA_MAX_DEPTH = int(args['--max-depth'])
data.IP = args['--ip']
data.PORT = int(args['--port'])
broker = ALBroker("myBroker", "0.0.0.0", 0, data.IP, data.PORT)
nao_motion = MotionController()
nao_video = VideoController()
nao_tts = ALProxy("ALTextToSpeech", data.IP, data.PORT)
try:
loop = LogicalLoop(nao_motion=nao_motion, nao_video=nao_video, nao_tts=nao_tts,
ppA=float(args['--ppA']), cA=float(args['--cA']), rA=float(args['--rA']),
min_detections=int(args['--min-detections']), sloped=args['--sloped'],
dist=float(args['--dist']), nao_strategy=nao_strat, other_strategy=other_strat,
wait_disc_func=wait_for_disc, )
loop.loop()
except KeyboardInterrupt:
print "Keyboard interrupt"
finally:
broker.shutdown()
return 0
def ik(args):
global broker, nao_motion, nao_video
data.IP = args['--ip']
data.PORT = int(args['--port'])
broker = ALBroker("myBroker", "0.0.0.0", 0, data.IP, data.PORT)
nao_motion = MotionController()
nao_video = VideoController()
nao_motion.stand()
nao_tts = ALProxy("ALTextToSpeech", data.IP, data.PORT)
try:
loop = LogicalLoop(nao_motion=nao_motion, nao_video=nao_video, nao_tts=nao_tts,
ppA=float(args['--ppA']), cA=float(args['--cA']), rA=float(args['--rA']),
min_detections=1, wait_disc_func=lambda: None)
if not args['--no-grab']:
wait_for_disc()
else:
nao_motion.motion_proxy.closeHand("LHand")
nao_motion.setLeftArmRaised(secure=True)
loop.inverseKinematicsConvergence(int(args['--hole']))
nao_motion.crouch()
except KeyboardInterrupt:
print "Keyboard interrupt"
broker.shutdown()
return 0
