def walk(forward=0,
left=0,
turn=0,
power=0.0,
bend=1,
speed=1.0,
foot=robot.Foot.LEFT,
isFast=False):
return robot.BodyCommand(robot.ActionType.WALK, int(forward), int(left),
float(turn), float(power), float(bend),
float(speed), float(speed), foot, bool(isFast),
False)
def dribble(foot=robot.Foot.LEFT, turn=0, forward=150):
return robot.BodyCommand(
robot.ActionType.DRIBBLE, # actionType
forward, # forward
0, # left
float(turn), # turn
1, # power
0.0, # bend
math.radians(20.0), # speed
0.0, # kickDirection
foot, # foot
False, # isFast
False, # misalignedKick
False, # shuffle
False, # leftArmLimp
False # rightArmLimp
)
def kick(power=1.0,
kickDirection=0.0,
foot=robot.Foot.LEFT,
turn=0,
misalign=False,
turnThreshold=math.radians(20)):
return robot.BodyCommand(
robot.ActionType.KICK, # actionType
0, # forward
0, # left
float(turn), # turn
power, # power
0.0, # bend
turnThreshold, # speed
kickDirection, # kickDirection
foot, # foot
False, # isFast
misalign, # misalignedKick
False, # shuffle
False, # leftArmLimp
False # rightArmLimp
)
def goalieStand():
return robot.BodyCommand(robot.ActionType.GOALIE_STAND, 0, 0, 0.0, 0.0,
0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def goalieDiveLeft():
return robot.BodyCommand(robot.ActionType.GOALIE_DIVE_LEFT, 0, 0, 0.0, 0.0,
0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def goalieUncentre():
return robot.BodyCommand(robot.ActionType.GOALIE_UNCENTRE, 0, 0, 0.0, 0.0,
0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def dribble(foot=robot.Foot.LEFT, turn=0):
return robot.BodyCommand(robot.ActionType.DRIBBLE, 0, 0, float(turn), 1,
0.0, math.radians(20.0), 0.0, foot, False, False)
def standStraight():
return robot.BodyCommand(robot.ActionType.STAND_STRAIGHT, 0, 0, 0, 0.0, 0,
0, 0.0, robot.Foot.LEFT, False, False)
def motionCalibrate():
return robot.BodyCommand(robot.ActionType.MOTION_CALIBRATE, 0, 0, 0, 0.0,
0, 0, 0.0, robot.Foot.LEFT, False, False)
def goaliePickup():
return robot.BodyCommand(robot.ActionType.GOALIE_PICK_UP, 0, 0, 0.0, 0.0,
0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def defenderCentre():
return robot.BodyCommand(robot.ActionType.DEFENDER_CENTRE, 0, 0, 0.0, 0.0,
0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def _type_only_body_command(action_type):
return robot.BodyCommand(action_type, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0,
robot.Foot.LEFT, False, False, False, False,
False) # noqa
