def loadMotionFiles(self):
self.handWave = Motion('../../motions/HandWave.motion')
self.forwards = Motion('../../motions/Forwards50.motion')
self.backwards = Motion('../../motions/Backwards.motion')
self.sideStepLeft = Motion('../../motions/SideStepLeft.motion')
self.sideStepRight = Motion('../../motions/SideStepRight.motion')
self.turnLeft60 = Motion('../../motions/TurnLeft60.motion')
self.turnRight60 = Motion('../../motions/TurnRight60.motion')
def run(self):
"""Play the forward motion and loop on the walking cycle."""
walk = Motion('forward.motion')
walk.setLoop(True)
walk.play()
while True:
# # This motor is not controlled by forward.motion.
# self.RHipYawPitch.setPosition(-1)
# print walk.getTime() # display the current time of the forward.motion
if walk.getTime() == 1360: # we reached the end of forward.motion
walk.setTime(360) # loop back to the beginning of the walking sequence
# Perform a simulation step, quit if the simulation is over.
if self.step(self.timeStep) == -1:
break
def run(self):
# You should insert a getDevice-like function in order to get the
# instance of a device of the robot. Something like:
# led = self.getLed('ledname')
self.initialization()
walk_motion = Motion("../../motions/Forwards50.motion")
# Main loop
while True:
# Perform a simulation step of 64 milliseconds
# and leave the loop when the simulation is over
k = self.keyboardGetKey()
if \k==ord('A'):
print('Moving forward...')
walk_motion.play()
if self.step(self.timeStep) == -1:
break
def loadMotionFiles(self):
"""
Loading the pre-defined motions for the robot
"""
self.handWave = Motion('../../motions/HandWave.motion')
self.forwards = Motion('../../motions/Forwards50.motion')
self.backwards = Motion('../../motions/Backwards.motion')
self.sideStepLeft = Motion('../../motions/SideStepLeft.motion')
self.sideStepRight = Motion('../../motions/SideStepRight.motion')
self.turnLeft60 = Motion('../../motions/TurnLeft60.motion')
self.turnRight60 = Motion('../../motions/TurnRight60.motion')
self.shoot = Motion('../../motions/Shoot.motion')
def get_motions(self):
# RETURN: [[motion_dx, ...], [motion_sx, ..]]
motions = [[], []]
for i in range(0, 2):
# if this side exists:
if self.module_name[i][0] is not None:
for idx, module_value in enumerate(self.module_value[i]):
if module_value is not None:
motion_path = self.path_module[
i] + module_value + utils.r_l[i]
if exists(motion_path):
motions[i].append(Motion(motion_path))
else:
motions[i].append(None)
else:
motions[i].append(None)
return motions
def run(self):
# self.handWave.setLoop(True)
# self.handWave.play()
# until a key is pressed
# key = -1
# while robot.step(self.timeStep) != -1:
# key = self.keyboard.getKey()
# if key > 0:
# break
# self.handWave.setLoop(False)
self.motion_file = False
played = False
while True:
if not self.motion_file:
self.motion_file = self.receive_motion_file()
if self.motion_file and not played:
self.startMotion(Motion(self.motion_file))
played = True
if robot.step(self.timeStep) == -1:
break
class Nao(Robot):
PHALANX_MAX = 8
# load motion files
def loadMotionFiles(self):
self.handWave = Motion('../../motions/HandWave.motion')
self.forwards = Motion('../../motions/Forwards50.motion')
self.backwards = Motion('../../motions/Backwards.motion')
self.sideStepLeft = Motion('../../motions/SideStepLeft.motion')
self.sideStepRight = Motion('../../motions/SideStepRight.motion')
self.turnLeft60 = Motion('../../motions/TurnLeft60.motion')
self.turnRight60 = Motion('../../motions/TurnRight60.motion')
def startMotion(self, motion):
# interrupt current motion
if self.currentlyPlaying:
self.currentlyPlaying.stop()
# start new motion
motion.play()
self.currentlyPlaying = motion
# the accelerometer axes are oriented as on the real robot
# however the sign of the returned values may be opposite
def printAcceleration(self):
acc = self.accelerometer.getValues()
print('----------accelerometer----------')
print('acceleration: [ x y z ] = [%f %f %f]' %
(acc[0], acc[1], acc[2]))
# the gyro axes are oriented as on the real robot
# however the sign of the returned values may be opposite
def printGyro(self):
vel = self.gyro.getValues()
print('----------gyro----------')
# z value is meaningless due to the orientation of the Gyro
print('angular velocity: [ x y ] = [%f %f]' % (vel[0], vel[1]))
def printGps(self):
p = self.gps.getValues()
print('----------gps----------')
print('position: [ x y z ] = [%f %f %f]' % (p[0], p[1], p[2]))
# the InertialUnit roll/pitch angles are equal to naoqi's AngleX/AngleY
def printInertialUnit(self):
rpy = self.inertialUnit.getRollPitchYaw()
print('----------inertial unit----------')
print('roll/pitch/yaw: [%f %f %f]' % (rpy[0], rpy[1], rpy[2]))
def printFootSensors(self):
newtons = 0.0
fsv = [] # force sensor values
fsv.append(self.fsr[0].getValues())
fsv.append(self.fsr[1].getValues())
l = []
r = []
newtonsLeft = 0
newtonsRight = 0
# The coefficients were calibrated against the real
# robot so as to obtain realistic sensor values.
l.append(fsv[0][2] / 3.4 + 1.5 * fsv[0][0] +
1.15 * fsv[0][1]) # Left Foot Front Left
l.append(fsv[0][2] / 3.4 + 1.5 * fsv[0][0] -
1.15 * fsv[0][1]) # Left Foot Front Right
l.append(fsv[0][2] / 3.4 - 1.5 * fsv[0][0] -
1.15 * fsv[0][1]) # Left Foot Rear Right
l.append(fsv[0][2] / 3.4 - 1.5 * fsv[0][0] +
1.15 * fsv[0][1]) # Left Foot Rear Left
r.append(fsv[1][2] / 3.4 + 1.5 * fsv[1][0] +
1.15 * fsv[1][1]) # Right Foot Front Left
r.append(fsv[1][2] / 3.4 + 1.5 * fsv[1][0] -
1.15 * fsv[1][1]) # Right Foot Front Right
r.append(fsv[1][2] / 3.4 - 1.5 * fsv[1][0] -
1.15 * fsv[1][1]) # Right Foot Rear Right
r.append(fsv[1][2] / 3.4 - 1.5 * fsv[1][0] +
1.15 * fsv[1][1]) # Right Foot Rear Left
for i in range(0, len(l)):
l[i] = max(min(l[i], 25), 0)
r[i] = max(min(r[i], 25), 0)
newtonsLeft += l[i]
newtonsRight += r[i]
print('----------foot sensors----------')
print('+ left ---- right +')
print('+-------+ +-------+')
print('|' + str(round(l[0],1)) + \
' ' + str(round(l[1],1)) + \
'| |'+ str(round(r[0],1)) + \
' ' + str(round(r[1],1)) + \
'| front')
print('| ----- | | ----- |')
print('|' + str(round(l[3],1)) + \
' ' + str(round(l[2],1)) + \
'| |'+ str(round(r[3],1)) + \
' ' + str(round(r[2],1)) + \
'| back')
print('+-------+ +-------+')
print('total: %f Newtons, %f kilograms' \
% ((newtonsLeft + newtonsRight), ((newtonsLeft + newtonsRight)/9.81)))
def printFootBumpers(self):
ll = self.lfootlbumper.getValue()
lr = self.lfootrbumper.getValue()
rl = self.rfootlbumper.getValue()
rr = self.rfootrbumper.getValue()
print('----------foot bumpers----------')
print('+ left ------ right +')
print('+--------+ +--------+')
print('|' + str(ll) + ' ' + str(lr) + '| |' + str(rl) + ' ' +
str(rr) + '|')
print('| | | |')
print('| | | |')
print('+--------+ +--------+')
def printUltrasoundSensors(self):
dist = []
for i in range(0, len(self.us)):
dist.append(self.us[i].getValue())
print('-----ultrasound sensors-----')
print('left: %f m, right %f m' % (dist[0], dist[1]))
def printCameraImage(self, camera):
scaled = 2 # defines by which factor the image is subsampled
width = camera.getWidth()
height = camera.getHeight()
# read rgb pixel values from the camera
image = camera.getImage()
print('----------camera image (gray levels)---------')
print('original resolution: %d x %d, scaled to %d x %f' \
% (width, height, width/scaled, height/scaled))
for y in range(0, height / scaled):
line = ''
for x in range(0, width / scaled):
gray = camera.imageGetGray(
image, width, x * scaled, y *
scaled) * 9 / 255 # between 0 and instead of 0 and 255
line = line + str(int(gray))
print(line)
def setAllLedsColor(self, rgb):
# these leds take RGB values
for i in range(0, len(self.leds)):
self.leds[i].set(rgb)
# ear leds are single color (blue)
# and take values between 0 - 255
self.leds[5].set(rgb & 0xFF)
self.leds[6].set(rgb & 0xFF)
def setHandsAngle(self, angle):
for i in range(0, self.PHALANX_MAX):
clampedAngle = angle
if clampedAngle > self.maxPhalanxMotorPosition[i]:
clampedAngle = self.maxPhalanxMotorPosition[i]
elif clampedAngle < self.minPhalanxMotorPosition[i]:
clampedAngle = self.minPhalanxMotorPosition[i]
if len(self.rphalanx) > i and self.rphalanx[i] is not None:
self.rphalanx[i].setPosition(clampedAngle)
if len(self.lphalanx) > i and self.lphalanx[i] is not None:
self.lphalanx[i].setPosition(clampedAngle)
def printHelp(self):
print('----------nao_demo_python----------')
print('Use the keyboard to control the robots (one at a time)')
print('(The 3D window need to be focused)')
print('[Up][Down]: move one step forward/backwards')
print('[<-][->]: side step left/right')
print('[Shift] + [<-][->]: turn left/right')
print('[U]: print ultrasound sensors')
print('[A]: print accelerometers')
print('[G]: print gyros')
print('[S]: print gps')
print('[I]: print inertial unit (roll/pitch/yaw)')
print('[F]: print foot sensors')
print('[B]: print foot bumpers')
print('[Home][End]: print scaled top/bottom camera image')
print('[PageUp][PageDown]: open/close hands')
print('[7][8][9]: change all leds RGB color')
print('[0]: turn all leds off')
print('[H]: print this help message')
def findAndEnableDevices(self):
# get the time step of the current world.
self.timeStep = int(self.getBasicTimeStep())
# camera
self.cameraTop = self.getCamera("CameraTop")
self.cameraBottom = self.getCamera("CameraBottom")
self.cameraTop.enable(4 * self.timeStep)
self.cameraBottom.enable(4 * self.timeStep)
# accelerometer
self.accelerometer = self.getAccelerometer('accelerometer')
self.accelerometer.enable(4 * self.timeStep)
# gyro
self.gyro = self.getGyro('gyro')
self.gyro.enable(4 * self.timeStep)
# gps
self.gps = self.getGPS('gps')
self.gps.enable(4 * self.timeStep)
# inertial unit
self.inertialUnit = self.getInertialUnit('inertial unit')
self.inertialUnit.enable(self.timeStep)
# ultrasound sensors
self.us = []
usNames = ['Sonar/Left', 'Sonar/Right']
for i in range(0, len(usNames)):
self.us.append(self.getDistanceSensor(usNames[i]))
self.us[i].enable(self.timeStep)
# foot sensors
self.fsr = []
fsrNames = ['LFsr', 'RFsr']
for i in range(0, len(fsrNames)):
self.fsr.append(self.getTouchSensor(fsrNames[i]))
self.fsr[i].enable(self.timeStep)
# foot bumpers
self.lfootlbumper = self.getTouchSensor('LFoot/Bumper/Left')
self.lfootrbumper = self.getTouchSensor('LFoot/Bumper/Right')
self.rfootlbumper = self.getTouchSensor('RFoot/Bumper/Left')
self.rfootrbumper = self.getTouchSensor('RFoot/Bumper/Right')
self.lfootlbumper.enable(self.timeStep)
self.lfootrbumper.enable(self.timeStep)
self.rfootlbumper.enable(self.timeStep)
self.rfootrbumper.enable(self.timeStep)
# there are 7 controlable LED groups in Webots
self.leds = []
self.leds.append(self.getLED('ChestBoard/Led'))
self.leds.append(self.getLED('RFoot/Led'))
self.leds.append(self.getLED('LFoot/Led'))
self.leds.append(self.getLED('Face/Led/Right'))
self.leds.append(self.getLED('Face/Led/Left'))
self.leds.append(self.getLED('Ears/Led/Right'))
self.leds.append(self.getLED('Ears/Led/Left'))
# get phalanx motor tags
# the real Nao has only 2 motors for RHand/LHand
# but in Webots we must implement RHand/LHand with 2x8 motors
self.lphalanx = []
self.rphalanx = []
self.maxPhalanxMotorPosition = []
self.minPhalanxMotorPosition = []
for i in range(0, self.PHALANX_MAX):
self.lphalanx.append(self.getMotor("LPhalanx%d" % (i + 1)))
self.rphalanx.append(self.getMotor("RPhalanx%d" % (i + 1)))
# assume right and left hands have the same motor position bounds
self.maxPhalanxMotorPosition.append(
self.rphalanx[i].getMaxPosition())
self.minPhalanxMotorPosition.append(
self.rphalanx[i].getMinPosition())
# shoulder pitch motors
self.RShoulderPitch = self.getMotor("RShoulderPitch")
self.LShoulderPitch = self.getMotor("LShoulderPitch")
# keyboard
self.keyboard = self.getKeyboard()
self.keyboard.enable(10 * self.timeStep)
def __init__(self):
Robot.__init__(self)
self.currentlyPlaying = False
# initialize stuff
self.findAndEnableDevices()
self.loadMotionFiles()
self.printHelp()
def run(self):
self.handWave.setLoop(True)
self.handWave.play()
# until a key is pressed
key = -1
while robot.step(self.timeStep) != -1:
key = self.keyboard.getKey()
if key > 0:
break
self.handWave.setLoop(False)
while True:
key = self.keyboard.getKey()
if key == Keyboard.LEFT:
self.startMotion(self.sideStepLeft)
elif key == Keyboard.RIGHT:
self.startMotion(self.sideStepRight)
elif key == Keyboard.UP:
self.startMotion(self.forwards)
elif key == Keyboard.DOWN:
self.startMotion(self.backwards)
elif key == Keyboard.LEFT | Keyboard.SHIFT:
self.startMotion(self.turnLeft60)
elif key == Keyboard.RIGHT | Keyboard.SHIFT:
self.startMotion(self.turnRight60)
elif key == ord('A'):
self.printAcceleration()
elif key == ord('G'):
self.printGyro()
elif key == ord('S'):
self.printGps()
elif key == ord('I'):
self.printInertialUnit()
elif key == ord('F'):
self.printFootSensors()
elif key == ord('B'):
self.printFootBumpers()
elif key == ord('U'):
self.printUltrasoundSensors()
elif key == Keyboard.HOME:
self.printCameraImage(self.cameraTop)
elif key == Keyboard.END:
self.printCameraImage(self.cameraBottom)
elif key == Keyboard.PAGEUP:
self.setHandsAngle(0.96)
elif key == Keyboard.PAGEDOWN:
self.setHandsAngle(0.0)
elif key == ord('7'):
self.setAllLedsColor(0xff0000) # red
elif key == ord('8'):
self.setAllLedsColor(0x00ff00) # green
elif key == ord('9'):
self.setAllLedsColor(0x0000ff) # blue
elif key == ord('0'):
self.setAllLedsColor(0x000000) # off
elif key == ord('H'):
self.printHelp()
if robot.step(self.timeStep) == -1:
break
def get_rest_position(robot):
rest_position = Motion(path_movement + 'rest_position.motion')
rest_position.play()
while not rest_position.isOver():
robot.step(robot.timeStep)
class Nao(Robot):
PHALANX_MAX = 8
def startMindwave(self):
self.outfile = "data_eeg.csv"
p = subprocess.Popen([sys.executable, 'nao_mindwave_reader.py'],
stdout=subprocess.PIPE,
stderr=subprocess.STDOUT)
# load motion files
def loadMotionFiles(self):
self.handWave = Motion('../../motions/HandWave.motion')
self.forwards = Motion('../../motions/Forwards50.motion')
self.backwards = Motion('../../motions/Backwards.motion')
self.sideStepLeft = Motion('../../motions/SideStepLeft.motion')
self.sideStepRight = Motion('../../motions/SideStepRight.motion')
self.turnLeft60 = Motion('../../motions/TurnLeft60.motion')
self.turnRight60 = Motion('../../motions/TurnRight60.motion')
def startMotion(self, motion):
# interrupt current motion
if self.currentlyPlaying:
self.currentlyPlaying.stop()
# start new motion
motion.play()
self.currentlyPlaying = motion
def setAllLedsColor(self, rgb):
# these leds take RGB values
for i in range(0, len(self.leds)):
self.leds[i].set(rgb)
# ear leds are single color (blue)
# and take values between 0 - 255
self.leds[5].set(rgb & 0xFF)
self.leds[6].set(rgb & 0xFF)
def setHandsAngle(self, angle):
for i in range(0, self.PHALANX_MAX):
clampedAngle = angle
if clampedAngle > self.maxPhalanxMotorPosition[i]:
clampedAngle = self.maxPhalanxMotorPosition[i]
elif clampedAngle < self.minPhalanxMotorPosition[i]:
clampedAngle = self.minPhalanxMotorPosition[i]
if len(self.rphalanx) > i and self.rphalanx[i] is not None:
self.rphalanx[i].setPosition(clampedAngle)
if len(self.lphalanx) > i and self.lphalanx[i] is not None:
self.lphalanx[i].setPosition(clampedAngle)
def findAndEnableDevices(self):
# get the time step of the current world.
self.timeStep = int(self.getBasicTimeStep())
# camera
self.cameraTop = self.getCamera("CameraTop")
self.cameraBottom = self.getCamera("CameraBottom")
self.cameraTop.enable(4 * self.timeStep)
self.cameraBottom.enable(4 * self.timeStep)
# accelerometer
self.accelerometer = self.getAccelerometer('accelerometer')
self.accelerometer.enable(4 * self.timeStep)
# gyro
self.gyro = self.getGyro('gyro')
self.gyro.enable(4 * self.timeStep)
# gps
self.gps = self.getGPS('gps')
self.gps.enable(4 * self.timeStep)
# inertial unit
self.inertialUnit = self.getInertialUnit('inertial unit')
self.inertialUnit.enable(self.timeStep)
# ultrasound sensors
self.us = []
usNames = ['Sonar/Left', 'Sonar/Right']
for i in range(0, len(usNames)):
self.us.append(self.getDistanceSensor(usNames[i]))
self.us[i].enable(self.timeStep)
# foot sensors
self.fsr = []
fsrNames = ['LFsr', 'RFsr']
for i in range(0, len(fsrNames)):
self.fsr.append(self.getTouchSensor(fsrNames[i]))
self.fsr[i].enable(self.timeStep)
# foot bumpers
self.lfootlbumper = self.getTouchSensor('LFoot/Bumper/Left')
self.lfootrbumper = self.getTouchSensor('LFoot/Bumper/Right')
self.rfootlbumper = self.getTouchSensor('RFoot/Bumper/Left')
self.rfootrbumper = self.getTouchSensor('RFoot/Bumper/Right')
self.lfootlbumper.enable(self.timeStep)
self.lfootrbumper.enable(self.timeStep)
self.rfootlbumper.enable(self.timeStep)
self.rfootrbumper.enable(self.timeStep)
# there are 7 controlable LED groups in Webots
self.leds = []
self.leds.append(self.getLED('ChestBoard/Led'))
self.leds.append(self.getLED('RFoot/Led'))
self.leds.append(self.getLED('LFoot/Led'))
self.leds.append(self.getLED('Face/Led/Right'))
self.leds.append(self.getLED('Face/Led/Left'))
self.leds.append(self.getLED('Ears/Led/Right'))
self.leds.append(self.getLED('Ears/Led/Left'))
# get phalanx motor tags
# the real Nao has only 2 motors for RHand/LHand
# but in Webots we must implement RHand/LHand with 2x8 motors
self.lphalanx = []
self.rphalanx = []
self.maxPhalanxMotorPosition = []
self.minPhalanxMotorPosition = []
for i in range(0, self.PHALANX_MAX):
self.lphalanx.append(self.getMotor("LPhalanx%d" % (i + 1)))
self.rphalanx.append(self.getMotor("RPhalanx%d" % (i + 1)))
# assume right and left hands have the same motor position bounds
self.maxPhalanxMotorPosition.append(
self.rphalanx[i].getMaxPosition())
self.minPhalanxMotorPosition.append(
self.rphalanx[i].getMinPosition())
# shoulder pitch motors
self.RShoulderPitch = self.getMotor("RShoulderPitch")
self.LShoulderPitch = self.getMotor("LShoulderPitch")
# keyboard
self.keyboard = self.getKeyboard()
self.keyboard.enable(10 * self.timeStep)
def __init__(self):
Robot.__init__(self)
self.currentlyPlaying = False
# initialize stuff
self.findAndEnableDevices()
self.loadMotionFiles()
self.startMindwave()
def getWaves(self):
poorSignalLevel = blinkStrength = attention = meditation = 0
with open(self.outfile, 'rb') as f:
lines = f.readlines()
f.close()
last5 = np.genfromtxt(lines[-3:], delimiter=',')
poorSignalLevel = last5[:, 0]
blinkStrength = last5[:, 1]
attention = last5[:, 2]
meditation = last5[:, 3]
poors = sum(poorSignalLevel > 0)
blinks = sum(blinkStrength > 40)
att = sum(attention > 50)
med = sum(meditation < 40)
#print(str(blinks)+","+str(att))
return poors, blinks, att, med
def run(self):
#self.handWave.setLoop(True)
self.handWave.play()
self.handWave.setLoop(False)
turnAround = True
while True:
poorSignalLevel, blink_count, attention_count, meditation_count = self.getWaves(
)
if poorSignalLevel > 0:
self.setAllLedsColor(0xff0000) # red
print("poor signal!!!")
elif (blink_count > 0) and turnAround:
print("turn around")
self.setAllLedsColor(0x00ff00) # green
while turnAround:
for k in range(3 * self.timeStep):
self.startMotion(self.turnRight60)
robot.step(self.timeStep)
poorSignalLevel, blink_count, attention_count, meditation_count = self.getWaves(
)
if blink_count > 0:
print("exit loop")
turnAround = False
elif attention_count > 0:
print("go forward")
turnAround = True
self.setAllLedsColor(0x0000ff) # blue
for k in range(3 * self.timeStep):
self.startMotion(self.forwards)
robot.step(self.timeStep)
elif meditation_count > 0:
self.setAllLedsColor(0x000000) # off
#print("i am not cool")
if robot.step(self.timeStep) == -1:
break
self.sock.close()
class Nao(Robot):
PHALANX_MAX = 8
# load motion files
def loadMotionFiles(self):
self.handWave = Motion('../../motions/HandWave.motion')
self.forwards = Motion('../../motions/Forwards50.motion')
self.backwards = Motion('../../motions/Backwards.motion')
self.sideStepLeft = Motion('../../motions/SideStepLeft.motion')
self.sideStepRight = Motion('../../motions/SideStepRight.motion')
self.turnLeft60 = Motion('../../motions/TurnLeft60.motion')
self.turnRight60 = Motion('../../motions/TurnRight60.motion')
def startMotion(self, motion):
# interrupt current motion
# if self.currentlyPlaying:
# self.currentlyPlaying.stop()
if (self.currentlyPlaying and self.currentlyPlaying != self.turnLeft60
and self.currentlyPlaying != self.turnRight60):
self.currentlyPlaying.stop()
self.updateOdometry()
motion.play()
self.currentlyPlaying = motion
else:
motion.play()
self.currentlyPlaying = motion
# start new motion
# motion.play()
# self.currentlyPlaying = motion
# the accelerometer axes are oriented as on the real robot
# however the sign of the returned values may be opposite
def printAcceleration(self):
acc = self.accelerometer.getValues()
print '----------accelerometer----------'
print 'acceleration: [ x y z ] = [%f %f %f]' % (acc[0], acc[1], acc[2])
# the gyro axes are oriented as on the real robot
# however the sign of the returned values may be opposite
def printGyro(self):
vel = self.gyro.getValues()
print '----------gyro----------'
# z value is meaningless due to the orientation of the Gyro
print 'angular velocity: [ x y ] = [%f %f]' % (vel[0], vel[1])
def printGps(self):
p = self.gps.getValues()
print '----------gps----------'
print 'position: [ x y z ] = [%f %f %f]' % (p[0], p[1], p[2])
p = self.HeadPitchS.getValue()
print '----------HeadPitchS----------'
print 'HeadPitchS : %f' % p
p = self.RElbowRollS.getValue()
print '----------RElbowRollS----------'
print 'RElbowRollS : %f' % p
p = self.LElbowRollS.getValue()
a = self.LElbowRollS.getType()
print '----------LElbowRollS----------'
print 'LElbowRollS : %f %f' % (p, a)
p = self.RShoulderPitchS.getValue()
print '----------RShoulderPitchS----------'
print 'RShoulderPitchS : %f' % p
p = self.RAnklePitchS.getValue()
print '----------RAnklePitchS----------'
print 'RAnklePitchS : %f' % p
# the InertialUnit roll/pitch angles are equal to naoqi's AngleX/AngleY
def printInertialUnit(self):
rpy = self.inertialUnit.getRollPitchYaw()
print '----------inertial unit----------'
print 'roll/pitch/yaw: [%f %f %f]' % (rpy[0], rpy[1], rpy[2])
def printFootSensors(self):
newtons = 0.0
fsv = [] # force sensor values
fsv.append(self.fsr[0].getValues())
fsv.append(self.fsr[1].getValues())
#a = self.getMotor("HeadYaw")
l = []
r = []
newtonsLeft = 0
newtonsRight = 0
# The coefficients were calibrated against the real
# robot so as to obtain realistic sensor values.
l.append(fsv[0][2] / 3.4 + 1.5 * fsv[0][0] +
1.15 * fsv[0][1]) # Left Foot Front Left
l.append(fsv[0][2] / 3.4 + 1.5 * fsv[0][0] -
1.15 * fsv[0][1]) # Left Foot Front Right
l.append(fsv[0][2] / 3.4 - 1.5 * fsv[0][0] -
1.15 * fsv[0][1]) # Left Foot Rear Right
l.append(fsv[0][2] / 3.4 - 1.5 * fsv[0][0] +
1.15 * fsv[0][1]) # Left Foot Rear Left
r.append(fsv[1][2] / 3.4 + 1.5 * fsv[1][0] +
1.15 * fsv[1][1]) # Right Foot Front Left
r.append(fsv[1][2] / 3.4 + 1.5 * fsv[1][0] -
1.15 * fsv[1][1]) # Right Foot Front Right
r.append(fsv[1][2] / 3.4 - 1.5 * fsv[1][0] -
1.15 * fsv[1][1]) # Right Foot Rear Right
r.append(fsv[1][2] / 3.4 - 1.5 * fsv[1][0] +
1.15 * fsv[1][1]) # Right Foot Rear Left
for i in range(0, len(l)):
l[i] = max(min(l[i], 25), 0)
r[i] = max(min(r[i], 25), 0)
newtonsLeft += l[i]
newtonsRight += r[i]
print '----------foot sensors----------'
print '+ left ---- right +'
print '+-------+ +-------+'
print '|' + str(round(l[0],1)) + \
' ' + str(round(l[1],1)) + \
'| |'+ str(round(r[0],1)) + \
' ' + str(round(r[1],1)) + \
'| front'
print '| ----- | | ----- |'
print '|' + str(round(l[3],1)) + \
' ' + str(round(l[2],1)) + \
'| |'+ str(round(r[3],1)) + \
' ' + str(round(r[2],1)) + \
'| back'
print '+-------+ +-------+'
print 'total: %f Newtons, %f kilograms' \
% ((newtonsLeft + newtonsRight), ((newtonsLeft + newtonsRight)/9.81))
def printFootBumpers(self):
ll = self.lfootlbumper.getValue()
lr = self.lfootrbumper.getValue()
rl = self.rfootlbumper.getValue()
rr = self.rfootrbumper.getValue()
print '----------foot bumpers----------'
print '+ left ------ right +'
print '+--------+ +--------+'
print '|' + str(ll) + ' ' + str(lr) + '| |' + str(rl) + ' ' + str(
rr) + '|'
print '| | | |'
print '| | | |'
print '+--------+ +--------+'
def printUltrasoundSensors(self):
dist = []
for i in range(0, len(self.us)):
dist.append(self.us[i].getValue())
print '-----ultrasound sensors-----'
print 'left: %f m, right %f m' % (dist[0], dist[1])
def printCameraImage(self, camera):
scaled = 2 # defines by which factor the image is subsampled
width = camera.getWidth()
height = camera.getHeight()
# read rgb pixel values from the camera
image = camera.getImage()
focal = camera.getFov()
print "field of view ",
print focal
print '----------camera image (gray levels)---------'
print 'original resolution: %d x %d, scaled to %d x %f' \
% (width, height, width/scaled, height/scaled)
for y in range(0, height / scaled):
line = ''
for x in range(0, width / scaled):
gray = camera.imageGetGray(
image, width, x * scaled, y *
scaled) * 9 / 255 # between 0 and instead of 0 and 255
line = line + str(int(gray))
print line
def setAllLedsColor(self, rgb):
# these leds take RGB values
for i in range(0, len(self.leds)):
self.leds[i].set(rgb)
# ear leds are single color (blue)
# and take values between 0 - 255
self.leds[5].set(rgb & 0xFF)
self.leds[6].set(rgb & 0xFF)
def setHandsAngle(self, angle):
for i in range(0, self.PHALANX_MAX):
clampedAngle = angle
if clampedAngle > self.maxPhalanxMotorPosition[i]:
clampedAngle = self.maxPhalanxMotorPosition[i]
elif clampedAngle < self.minPhalanxMotorPosition[i]:
clampedAngle = self.minPhalanxMotorPosition[i]
if len(self.rphalanx) > i and self.rphalanx[i] is not None:
self.rphalanx[i].setPosition(clampedAngle)
if len(self.lphalanx) > i and self.lphalanx[i] is not None:
self.lphalanx[i].setPosition(clampedAngle)
def printHelp(self):
print '----------nao_demo_python----------'
print 'Use the keyboard to control the robots (one at a time)'
print '(The 3D window need to be focused)'
print '[Up][Down]: move one step forward/backwards'
print '[<-][->]: side step left/right'
print '[Shift] + [<-][->]: turn left/right'
print '[U]: print ultrasound sensors'
print '[A]: print accelerometers'
print '[G]: print gyros'
print '[S]: print gps'
print '[I]: print inertial unit (roll/pitch/yaw)'
print '[F]: print foot sensors'
print '[B]: print foot bumpers'
print '[Home][End]: print scaled top/bottom camera image'
print '[PageUp][PageDown]: open/close hands'
print '[7][8][9]: change all leds RGB color'
print '[0]: turn all leds off'
print '[H]: print this help message'
def findAndEnableDevices(self):
# get the time step of the current world.
self.timeStep = int(self.getBasicTimeStep())
# camera
self.cameraTop = self.getCamera("CameraTop")
self.cameraBottom = self.getCamera("CameraBottom")
self.cameraTop.enable(4 * self.timeStep)
self.cameraBottom.enable(4 * self.timeStep)
# accelerometer
self.accelerometer = self.getAccelerometer('accelerometer')
self.accelerometer.enable(4 * self.timeStep)
# gyro
self.gyro = self.getGyro('gyro')
self.gyro.enable(4 * self.timeStep)
# gps
self.gps = self.getGPS('gps')
self.gps.enable(4 * self.timeStep)
# inertial unit
self.inertialUnit = self.getInertialUnit('inertial unit')
self.inertialUnit.enable(self.timeStep)
# ultrasound sensors
self.us = []
usNames = ['Sonar/Left', 'Sonar/Right']
for i in range(0, len(usNames)):
self.us.append(self.getDistanceSensor(usNames[i]))
self.us[i].enable(self.timeStep)
# foot sensors
self.fsr = []
fsrNames = ['LFsr', 'RFsr']
for i in range(0, len(fsrNames)):
self.fsr.append(self.getTouchSensor(fsrNames[i]))
self.fsr[i].enable(self.timeStep)
# foot bumpers
self.lfootlbumper = self.getTouchSensor('LFoot/Bumper/Left')
self.lfootrbumper = self.getTouchSensor('LFoot/Bumper/Right')
self.rfootlbumper = self.getTouchSensor('RFoot/Bumper/Left')
self.rfootrbumper = self.getTouchSensor('RFoot/Bumper/Right')
self.lfootlbumper.enable(self.timeStep)
self.lfootrbumper.enable(self.timeStep)
self.rfootlbumper.enable(self.timeStep)
self.rfootrbumper.enable(self.timeStep)
# there are 7 controlable LED groups in Webots
self.leds = []
self.leds.append(self.getLED('ChestBoard/Led'))
self.leds.append(self.getLED('RFoot/Led'))
self.leds.append(self.getLED('LFoot/Led'))
self.leds.append(self.getLED('Face/Led/Right'))
self.leds.append(self.getLED('Face/Led/Left'))
self.leds.append(self.getLED('Ears/Led/Right'))
self.leds.append(self.getLED('Ears/Led/Left'))
# get phalanx motor tags
# the real Nao has only 2 motors for RHand/LHand
# but in Webots we must implement RHand/LHand with 2x8 motors
self.lphalanx = []
self.rphalanx = []
self.maxPhalanxMotorPosition = []
self.minPhalanxMotorPosition = []
for i in range(0, self.PHALANX_MAX):
self.lphalanx.append(self.getMotor("LPhalanx%d" % (i + 1)))
self.rphalanx.append(self.getMotor("RPhalanx%d" % (i + 1)))
# assume right and left hands have the same motor position bounds
self.maxPhalanxMotorPosition.append(
self.rphalanx[i].getMaxPosition())
self.minPhalanxMotorPosition.append(
self.rphalanx[i].getMinPosition())
#head
self.HeadYaw = self.getMotor("HeadYaw")
self.HeadPitch = self.getMotor("HeadPitch")
#leftarm
self.LShoulderPitch = self.getMotor("LShoulderPitch")
self.LShoulderRoll = self.getMotor("LShoulderRoll")
self.LElbowYaw = self.getMotor("LElbowYaw")
self.LElbowRoll = self.getMotor("LElbowRoll")
#shouldarm
self.RShoulderPitch = self.getMotor("RShoulderPitch")
self.RShoulderRoll = self.getMotor("RShoulderRoll")
self.RElbowYaw = self.getMotor("RElbowYaw")
self.RElbowRoll = self.getMotor("RElbowRoll")
#left leg
self.LHipYawPitch = self.getMotor("LHipYawPitch")
self.LHipRoll = self.getMotor("LHipRoll")
self.LHipPitch = self.getMotor("LHipPitch")
self.LKneePitch = self.getMotor("LKneePitch")
self.LAnklePitch = self.getMotor("LAnklePitch")
self.LAnkleRoll = self.getMotor("LAnkleRoll")
#right leg
self.RHipYawPitch = self.getMotor("RHipYawPitch")
self.RHipRoll = self.getMotor("RHipRoll")
self.RHipPitch = self.getMotor("RHipPitch")
self.RKneePitch = self.getMotor("RKneePitch")
self.RAnklePitch = self.getMotor("RAnklePitch")
self.RAnkleRoll = self.getMotor("RAnkleRoll")
self.RElbowRollS = self.getPositionSensor("RElbowRollS")
self.RElbowRollS.enable(self.timeStep)
self.LElbowRollS = self.getPositionSensor("LElbowRollS")
self.LElbowRollS.enable(self.timeStep)
self.HeadPitchS = self.getPositionSensor("HeadPitchS")
self.HeadPitchS.enable(self.timeStep)
self.RShoulderPitchS = self.getPositionSensor("RShoulderPitchS")
self.RShoulderPitchS.enable(self.timeStep)
self.RAnklePitchS = self.getPositionSensor("RAnklePitchS")
self.RAnklePitchS.enable(self.timeStep)
# keyboard
self.keyboard = self.getKeyboard()
self.keyboard.enable(10 * self.timeStep)
#self.gps esta retornando nan
#possivel fix: passar as coordenadas direto e nao o objeto gps como referencia
self.odometryProvider = None
# values = self.gps.getValues()
# print("Values: %f %f" % (values[0], values[2]))
# values = self.gps.getValues()
# self.odometryProvider = BasicOdometryProvider(float(values[0]), float(values[2]))
self.lastOdometry = OdometryData(0, 0, 0)
# self.particleFilter = ParticleFilter()
def __init__(self):
Robot.__init__(self)
self.currentlyPlaying = False
self.shouldTurn120Degrees = False
self.turnsMade = 0
# initialize stuff
self.findAndEnableDevices()
self.loadMotionFiles()
self.printHelp()
def testSocketColor(self):
# s.send("RECEBEESSAPORRA")
# image = np.array(self.cameraTop.getImageArray())
# dump = pickle.dumps(image)
# compactLen = struct.pack("i", len(dump))
# s.send(compactLen)
# s.send(dump)
stringImage = "GPS"
dump = pickle.dumps(stringImage)
compactLen = struct.pack("i", len(dump))
s.send(compactLen)
s.send(dump)
p = self.gps.getValues()
dump = pickle.dumps(p)
compactLen = struct.pack("i", len(dump))
s.send(compactLen)
s.send(dump)
# p = [self.lastOdometry.x, self.lastOdometry.z, self.lastOdometry[2])
stringImage = "IMAGE"
dump = pickle.dumps(stringImage)
compactLen = struct.pack("i", len(dump))
s.send(compactLen)
s.send(dump)
image = np.array(self.cameraTop.getImageArray())
dump = pickle.dumps(image)
compactLen = struct.pack("i", len(dump))
s.send(compactLen)
s.send(dump)
def updateOdometry(self):
# self.currentlyPlaying = None
# print("updateOdometry")
if (self.currentlyPlaying == self.turnLeft60):
#send message
self.lastOdometry = self.odometryProvider.rotationUpdate(False)
elif (self.currentlyPlaying == self.turnRight60):
self.lastOdometry = self.odometryProvider.rotationUpdate(True)
else:
values = self.gps.getValues()
self.lastOdometry = self.odometryProvider.linearMovementUpdate(
float(values[0]), float(values[2]))
self.currentlyPlaying = False
# print(self.lastOdometry)
# stringImage = "ODOMETRY"
# dump = pickle.dumps(stringImage)
# compactLen = struct.pack("i", len(dump))
# s.send(compactLen)
# s.send(dump)
# data = [self.lastOdometry.x, self.lastOdometry.z, self.lastOdometry.angle]
# dump = pickle.dumps(data)
# compactLen = struct.pack("i", len(dump))
# s.send(compactLen)
# s.send(dump)
# self.particleFilter.updateParticlesWithOdometry(self.lastOdometry)
def automaticMovement(self, currentX, currentZ):
if (self.turnsMade == 1):
if (self.currentlyPlaying is False):
self.startMotion(self.turnRight60)
self.turnsMade = 2
elif (self.turnsMade == 2):
if (self.currentlyPlaying is False):
self.turnsMade = 0
self.startMotion(self.forwards)
elif (currentX + 0.6 > 4.5 or currentX - 0.6 < -4.5
or currentZ + 0.6 > 3.0 or currentZ - 0.6 < -3.0):
#do two turns
# self.currentlyPlaying.stop()
self.startMotion(self.turnRight60)
self.turnsMade = 1
else:
if (self.currentlyPlaying is False):
self.startMotion(self.forwards)
def run(self):
shouldUseAutomaticMovement = True #turn to False if you want to control robot movement
self.handWave.setLoop(True)
self.handWave.play()
# until a key is pressed
key = -1
while robot.step(self.timeStep) != -1:
key = self.keyboard.getKey()
if key > 0:
break
self.handWave.setLoop(False)
limitCounter = 0
while True:
# naive counter to avoid socket overload
limitCounter = limitCounter + 1
if self.odometryProvider is None:
values = self.gps.getValues()
# print(values)
if values[0] == values[0]:
print("Initializing odometry")
self.odometryProvider = BasicOdometryProvider(
float(values[0]), float(values[2]))
if (self.currentlyPlaying and self.currentlyPlaying.isOver()):
self.updateOdometry()
if (shouldUseAutomaticMovement is True):
values = self.gps.getValues()
if values[0] == values[0]:
self.automaticMovement(float(values[0]), float(values[2]))
key = self.keyboard.getKey()
key = False
if (limitCounter > 1):
self.testSocketColor()
limitCounter = 0
if key == Keyboard.LEFT:
self.startMotion(self.sideStepLeft)
elif key == Keyboard.RIGHT:
self.startMotion(self.sideStepRight)
elif key == Keyboard.UP:
self.startMotion(self.forwards)
elif key == Keyboard.DOWN:
self.startMotion(self.backwards)
elif key == Keyboard.LEFT | Keyboard.SHIFT:
self.startMotion(self.turnLeft60)
elif key == Keyboard.RIGHT | Keyboard.SHIFT:
self.startMotion(self.turnRight60)
elif key == ord('A'):
self.testSocket()
elif key == ord('G'):
self.printGyro()
elif key == ord('S'):
self.printGps()
elif key == ord('I'):
self.printInertialUnit()
elif key == ord('F'):
self.printFootSensors()
elif key == ord('B'):
self.printFootBumpers()
elif key == ord('U'):
self.printUltrasoundSensors()
elif key == Keyboard.HOME:
self.printCameraImage(self.cameraTop)
elif key == Keyboard.END:
self.printCameraImage(self.cameraBottom)
elif key == Keyboard.PAGEUP:
self.setHandsAngle(0.96)
elif key == Keyboard.PAGEDOWN:
self.setHandsAngle(0.0)
elif key == ord('7'):
self.setAllLedsColor(0xff0000) # red
elif key == ord('8'):
self.setAllLedsColor(0x00ff00) # green
elif key == ord('9'):
self.setAllLedsColor(0x0000ff) # blue
elif key == ord('0'):
self.setAllLedsColor(0x000000) # off
elif key == ord('H'):
self.printHelp()
if robot.step(self.timeStep) == -1:
break
"""nao_test controller."""
from controller import Robot, Motion
from time import sleep
import os
# create the Robot instance.
robot = Robot()
print(os.getcwd())
# get the time step of the current world.
timestep = int(robot.getBasicTimeStep())
# get motion file
handWave = Motion('../../motions/sample.motion')
handWave.setLoop(True)
# Main loop:
# nao move by using motion file
while robot.step(timestep) != -1:
handWave.play()