def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if self.keyframes == ([], [], []):
if posture == "Back":
if self.keyframes != rightBackToStand():
self.reset_time()
self.keyframes = rightBackToStand()
print(
"Posture is \"Back\" --> Changing keyframe to rightBackToStand"
)
elif posture == "Belly":
if self.keyframes != rightBellyToStand():
self.reset_time()
self.keyframes = rightBellyToStand()
print(
"Posture is \"Belly\" --> Changing keyframe to rightBellyToStand"
)
elif posture == "Left":
if self.keyframes != leftBackToStand():
self.reset_time()
self.keyframes = leftBackToStand()
print(
"Posture is \"Left\" --> Changing keyframe to leftBackToStand"
)
elif posture == "Right":
if self.keyframes != rightBellyToStand():
self.reset_time()
self.keyframes = rightBellyToStand()
print(
"Posture is \"Right\" --> Changing keyframe to rightBellyToStand"
)
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == "Left":
self.keyframes = keyframes.leftBackToStand()
elif posture == "Right":
self.keyframes = keyframes.rightBackToStand()
elif posture == "Belly":
self.keyframes = keyframes.leftBellyToStand()
elif posture == "Back":
self.keyframes = keyframes.rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Back' or posture == 'HeadBack':
self.keyframes = rightBackToStand()
return
elif posture == 'Belly' or posture == 'Frog:
self.keyframes = rightBellyToStand()
return
elif posture == 'Right' or posture is 'Left':
self.keyframes = rightBackToStand()
return
elif posture == 'Stand':
self.keyframes = hello()
return
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Back':
self.keyframes = kf.rightBackToStand()
elif posture == 'Belly':
self.keyframes = kf.leftBellyToStand()
def standing_up(self):
posture = self.posture
#returns the predicted postrue
if posture in ['Back','Sit','Left','Headback','Right']: # Left, 'Headback', 'Sit', 'Right'
self.keyframes = rightBackToStand()
elif posture in ['Belly','Frog','Crouch']:
self.keyframes = rightBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
#['Back', 'Belly', 'Crouch', 'Frog', 'HeadBack', 'Knee', 'Left', 'Right', 'Sit', 'Stand', 'StandInit']
if posture == 'Belly':
self.keyframes = rightBellyToStand()
elif posture == 'Back':
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
print(posture)
if (posture == 1): # 'Belly'):
self.keyframes = rightBellyToStand()
elif (posture == 0): # 'Back'):
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Left':
self.keyframe = leftBackToStand()
if posture in ['Back', 'Headback', 'Sit', 'Right']:
self.keyframe = rightBackToStand()
if posture in ['Crouch', 'Belly', 'Frog']:
self.keyframe = rightBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
# print(f"{posture}")
if self.old_posture != "unknown" and self.old_posture != posture and posture in ["Belly", "Back", "Left", "Right"] :
logging.info(f"{self.old_posture} != {posture}!!!")
self.start_time = -1
if self.start_time == -1:
if posture == "Left":
self.keyframes = kf.leftBackToStand()
elif posture == "Right":
self.keyframes = kf.rightBackToStand()
elif posture == "Belly":
self.keyframes = kf.leftBellyToStand()
elif posture == "Back":
self.keyframes = kf.rightBackToStand()
self.old_posture = posture
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
print self.startTime, self.stiffness
if(self.startTime == -1 and self.stiffness == 1):
# postures: ['Left', 'HeadBack', 'Belly', 'Stand', 'Frog', 'StandInit', 'Back', 'Right', 'Knee', 'Sit', 'Crouch']
if(posture == "Left"):
self.keyframes = kf.leftBackToStand()
print "### recognized :" + posture + ", executing leftBackToStand()"
elif(posture == "Right"):
self.keyframes = kf.rightBackToStand()
print "### recognized :" + posture + ", executing rightBackToStand()"
elif(posture == "Belly"):
self.keyframes = kf.rightBellyToStand()
print "### recognized :" + posture + ", executing leftBellyToStand()"
elif(posture == "Back" or posture == "Frog" or posture == "Sit"):
self.keyframes = kf.rightBackToStand()
print "### recognized :" + posture + ", executing rightBackToStand()"
def standing_up(self):
posture = self.posture
if (posture == 'Belly'):
self.keyframes = leftBellyToStand()
elif (posture == 'Back' or posture == 'Left'):
self.keyframes = leftBackToStand()
elif (posture == 'Right'):
self.keyframes = rightBackToStand()
elif (posture == 'Stand'):
self.keyframes = hello()
def standing_up(self):
posture = self.posture
print posture
if posture == "Belly":
self.keyframes = leftBellyToStand()
if posture == "Back":
self.keyframes = leftBackToStand()
if posture == "Left":
self.keyframes = leftBackToStand()
if posture == "Right":
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
#print(posture == 0)
# ['Back', 'Belly', 'Crouch', 'Frog', 'HeadBack',
# 'Knee', 'Left', 'Right', 'Sit', 'Stand', 'StandInit']
# 0 = back , 1 = belly etc
if posture == 1 or posture == 2 or posture == 5 or posture == 6:
self.keyframes = leftBellyToStand()
if posture == 0 or posture == 3 or posture == 7 or posture == 8:
#print('test')
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == "Back":
self.keyframes = leftBackToStand()
elif posture == "Belly":
self.keyframes = leftBellyToStand()
elif posture == "Stand":
self.keyframes = leftBellyToStand()
elif posture == "Left":
self.keyframes = rightBackToStand()
def standing_up(self, perception):
posture = self.posture
# YOUR CODE HERE
# The robot plays the animation, but can't actually stand up using that.
# I expect that the interpolation is at fault for that.
if posture == 'Belly':
self.keyframes = rightBellyToStand()
if posture == 'Back':
self.keyframes = rightBackToStand()
if posture == 'Standing':
self.keyframes = hello()
def standing_up(self):
posture = self.posture
# only update keyframe if the agent is in on mode and no other keyframe is being executed
if self.is_on and self.t0==-1 :
self.posture = self.recognize_posture(self.perception) # regonize posture
# select keyframe based on the posture
if posture=='Belly':
self.keyframes=leftBellyToStand()
elif posture=='Back' or posture=='Left' or posture=='HeadBack':
self.keyframes=leftBackToStand()
elif posture=='Right' or posture=='Sit':
self.keyframes=rightBackToStand()
elif posture=='Stand' or posture =='StandInit':
self.keyframes=([],[],[])
def standing_up(self):
posture = self.posture
if (posture == 'Belly'):
if (self.time <= 0):
self.start_time = 0
self.keyframes = rightBellyToStand()
self.time = 14.02
if (posture == 'Back'):
if (self.time <= 0):
self.start_time = 0
self.keyframes = rightBackToStand()
self.time = 14.02
if (self.time > 0):
self.time -= 0.02
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
leftBackToStand_classes = ['Back', 'HeadBack', 'Left', 'Sit']
leftBellyToStand_classes = ['Belly']
rightBackToStand_classes = ['Right']
if (self.perception.time -
self.stiffness_on_off_time) > self.stiffness_off_cycle:
if posture in leftBackToStand_classes:
self.keyframes = leftBackToStand()
elif posture in leftBellyToStand_classes:
self.keyframes = leftBellyToStand()
elif posture in rightBackToStand_classes:
self.keyframes = rightBackToStand()
else:
self.keyframes = ([], [], [])
def standing_up(self):
posture = self.posture
#print(posture)
# YOUR CODE HERE
leftBack = ['HeadBack', 'Left']
rightBack = ['Back', 'Right']
leftBelly = ['Belly', 'knee']
rightBelly = ['Crouch', 'Frog', 'Sit']
standing = ['Stand', 'StandInit']
#if (self.stiffness_on_off_time + self.stiffness_off_cycle - self.perception.time <= 0.1):
if not self.keyframes[0]:
if posture in leftBack:
self.keyframes = keyframes.leftBackToStand()
elif posture in rightBack:
self.keyframes = keyframes.rightBackToStand()
elif posture in leftBelly:
self.keyframes = keyframes.leftBellyToStand()
elif posture in rightBelly:
self.keyframes = keyframes.rightBellyToStand()
elif posture in standing:
pass
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
self.keyframes = rightBackToStand() # CHANGE DIFFERENT KEYFRAMES
def recognize_posture(self, perception):
posture = 'unknown'
# YOUR CODE HERE
# YOUR CODE HERE
# get angles of: ['AngleX', 'AngleY', 'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch']
angles = []
angles.append(perception.imu[0])
angles.append(perception.imu[1])
angles.append(perception.joint['LHipYawPitch'])
angles.append(perception.joint['LHipRoll'])
angles.append(perception.joint['LHipPitch'])
angles.append(perception.joint['LKneePitch'])
angles.append(perception.joint['RHipYawPitch'])
angles.append(perception.joint['RHipRoll'])
angles.append(perception.joint['RHipPitch'])
angles.append(perception.joint['RKneePitch'])
angles = np.array(angles).reshape(1, -1)
posture = self.posture_classifier.predict(angles)[0]
print self.classes[posture]
return posture
if __name__ == '__main__':
agent = PostureRecognitionAgent()
agent.keyframes = rightBackToStand() # CHANGE DIFFERENT KEYFRAMES
agent.run()
def recognize_posture(self, perception):
posture = 'unknown'
# YOUR CODE HERE
# YOUR CODE HERE
# get angles of: ['AngleX', 'AngleY', 'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch']
angles = []
angles.append(perception.imu[0])
angles.append(perception.imu[1])
angles.append(perception.joint['LHipYawPitch'])
angles.append(perception.joint['LHipRoll'])
angles.append(perception.joint['LHipPitch'])
angles.append(perception.joint['LKneePitch'])
angles.append(perception.joint['RHipYawPitch'])
angles.append(perception.joint['RHipRoll'])
angles.append(perception.joint['RHipPitch'])
angles.append(perception.joint['RKneePitch'])
angles = np.array(angles).reshape(1, -1)
posture = self.posture_classifier.predict(angles)[0]
print self.classes[posture]
return posture
if __name__ == '__main__':
agent = PostureRecognitionAgent()
agent.keyframes = rightBackToStand() # CHANGE DIFFERENT KEYFRAMES
agent.run()
def standing_up(self):
posture = self.posture
if posture == 'Left' or posture == 'Belly' or posture == "Crouch" or posture == "Knee":
self.keyframes = leftBellyToStand()
if posture == 'Right' or posture == 'Back' or posture == "Frog" or posture == "Sit":
self.keyframes = rightBackToStand()
return super(PostureRecognitionAgent, self).think(perception)
def recognize_posture(self, perception):
posture = 'unknown'
dataSet = []
ROBOT_POSE_DATA_DIR = 'robot_pose_data'
classes = listdir(ROBOT_POSE_DATA_DIR)
moveements = [
'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch',
'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch'
]
clf = pickle.load(open(self.posture_classifier, 'rb'))
for i in moveements:
dataSet.append(perception.joint[i])
dataSet.append(perception.imu[0])
dataSet.append(perception.imu[1])
allDataset = [dataSet]
pred = clf.predict(allDataset)
posture = classes[pred[0]]
print(posture)
return posture
if __name__ == '__main__':
agent = PostureRecognitionAgent()
agent.keyframes = rightBackToStand()
agent.run()
self.posture = self.recognize_posture(perception)
return super(PostureRecognitionAgent, self).think(perception)
def recognize_posture(self, perception):
posture = 'unknown'
# YOUR CODE HERE
data = [
perception.joint['LHipYawPitch'], perception.joint['LHipRoll'],
perception.joint['LHipPitch'], perception.joint['LKneePitch'],
perception.joint['RHipYawPitch'], perception.joint['RHipRoll'],
perception.joint['RHipPitch'], perception.joint['RKneePitch'],
perception.imu[0], perception.imu[1]
]
data = np.array(data).reshape(1, -1)
index = self.posture_classifier.predict(data)
posture = self.posture_classes[index[0]]
if posture != self.posture:
print('posture changed to: ' + posture)
return posture
if __name__ == '__main__':
agent = PostureRecognitionAgent()
agent.start_animation(rightBackToStand()) # CHANGE DIFFERENT KEYFRAMES
agent.run()
self.posture = 'unknown'
# get the classifier created by learn_posture
self.posture_classifier = pickle.load(open('robot_pose.pkl'))
# get list of poses
self.classes = listdir('robot_pose_data')
def think(self, perception):
self.posture = self.recognize_posture(perception)
return super(PostureRecognitionAgent, self).think(perception)
def recognize_posture(self, perception):
posture = 'unknown'
# store the current data from the perception class in a list
data = []
data.extend(perception.imu)
# as shown in learn_posture get the current angle of all relative
# joints and store in teh list
joints = ['LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch']
for j in joints:
data.append(perception.joint[j])
# get the predicted Posture from the classifier and return it
posture = self.classes[self.posture_classifier.predict(data)]
print posture
return posture
if __name__ == '__main__':
agent = PostureRecognitionAgent()
agent.keyframes = keyframes.rightBackToStand()
agent.run()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
self.keyframes = rightBackToStand() # CHANGE DIFFERENT KEYFRAMES