class RightHandMouvBehave(pypot.primitive.LoopPrimitive): def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.r_elbow_y], amp=20, freq=1, offset=-40) self.my_cosinus = Cosinus(self.robot, 50, [self.robot.r_arm_z], amp=20, freq=1, offset=-20) def setup(self): robot = self.robot for m in robot.r_arm: m.compliant = False robot.r_shoulder_x.goto_position(-20, 1, wait=False) robot.r_shoulder_y.goto_position(-30, 1, wait=False) robot.r_arm_z.goto_position(100, 2, wait=False) robot.r_elbow_y.goto_position(-100, 2, wait=True) self.my_sinus.start() self.my_cosinus.start() def teardown(self): robot = self.robot self.my_sinus.stop() self.my_cosinus.stop() for m in robot.r_arm: m.compliant = True time.sleep(1) def update(self): pass
def setup(self): self.idle = IdlePosture(self.robot, 1.0) self.idle.start() self.idle.wait_to_stop() self.sinus = [ Sinus(self.robot, 10., [ self.robot.m3, ], amp=5, freq=.1, offset=self.robot.m3.present_position), Sinus(self.robot, 10., [self.robot.m5], amp=10, freq=.1, offset=self.robot.m5.present_position, phase=3.14), ] import time time.sleep(2) [s.start() for s in self.sinus] for m in self.robot.motors: m.led = 'blue'
def __init__(self, robot): LoopPrimitive.__init__(self, robot, 1) self.freq = 0.1 self.sinus = [ Sinus(self.robot, 50, [self.robot.shoulder_pitch], amp=30, freq=self.freq, offset=15), Sinus(self.robot, 50, [self.robot.shoulder_roll], amp=30, freq=self.freq, offset=30), Sinus(self.robot, 50, [self.robot.elbow_pitch], amp=30, freq=self.freq, offset=30), Sinus(self.robot, 50, [self.robot.arm_yaw], amp=30, freq=self.freq, offset=40), ]
class WaveBehave(pypot.primitive.LoopPrimitive): def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.l_elbow_y, ], amp=30, freq=1, offset=-90) def setup(self): robot = self.robot for m in robot.l_arm: m.compliant = False robot.l_arm_z.goto_position(90, 1, wait=False) robot.l_shoulder_x.goto_position(90,1, wait=True) self.my_sinus.start() def teardown(self): robot = self.robot self.my_sinus.stop() self.robot.normal_behave.start() def update(self): pass
class ComeMouvBehave(pypot.primitive.LoopPrimitive): def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.r_elbow_y, self.robot.r_arm_z], amp=20, freq=1, offset=-20) def setup(self): robot = self.robot for m in robot.r_arm: m.compliant = False robot.r_shoulder_x.goto_position(-20, 1, wait=False) robot.r_shoulder_y.goto_position(-30, 1, wait=False) robot.r_arm_z.goto_position(100, 2, wait=False) robot.r_elbow_y.goto_position(-100, 2, wait=True) self.my_sinus.start() def teardown(self): robot = self.robot self.my_sinus.stop() for m in robot.r_arm: m.goto_position(0, 1, wait=False) time.sleep(1) def update(self): pass
def setup(self): for m in self.robot.motors: m.compliant = False self.sinus = [ Sinus(self.robot, 25., [self.robot.m1], amp=90., freq=0.25), Sinus(self.robot, 25., [self.robot.m4], amp=90., freq=0.25, phase=180.), Sinus(self.robot, 25., [self.robot.m5], amp=30, freq=.8), Sinus(self.robot, 25., [self.robot.m6], amp=30, freq=.8, phase=180), Sinus(self.robot, 25., self.robot.motors, amp=10, freq=.1) ] init_pos = dict([(m.name, 0.0) for m in self.robot.motors]) self.robot.goto_position(init_pos, 3., wait=True) for m in self.robot.motors: m.moving_speed = 150. for m in self.robot.motors: m.led = 'green' [s.start() for s in self.sinus]
def setup(self): for m in self.robot.motors: m.compliant = False pos = {m.name: 0 for m in self.robot.motors} pos['elbow_pitch'] = 30 self.robot.goto_position(pos, 2.0, wait=True) for m in self.robot.motors: m.moving_speed = 50.0 self.sinus = [ Sinus(self.robot, 50.0, [self.robot.elbow_pitch], amp=15, freq=0.25, offset=30), Sinus(self.robot, 50.0, [self.robot.shoulder_roll], amp=10, freq=0.1, offset=10), Sinus(self.robot, 50.0, [self.robot.arm_yaw], amp=3, freq=0.12) ] for s in self.sinus: s.start()
def __init__(self, poppy_robot, freq): pypot.primitive.LoopPrimitive.__init__(self, poppy_robot, freq) self.poppy_robot = poppy_robot self.head = [ Sinus(self.poppy_robot, 50, [ self.poppy_robot.head_z, ], amp=20, freq=0.05), Sinus(self.poppy_robot, 50, [ self.poppy_robot.head_z, ], amp=15, freq=0.01), Sinus(self.poppy_robot, 50, [ self.poppy_robot.head_y, ], amp=20, freq=0.04), Sinus(self.poppy_robot, 50, [ self.poppy_robot.head_y, ], amp=5, freq=0.09), ]
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.r_elbow_y, self.robot.r_arm_z], amp=20, freq=1, offset=-20)
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [ self.robot.head_y, ], amp=8, freq=1, offset=10)
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) sinus_args = [{ 'motor_list': [ self.robot.head_z, ], 'amp': 20, 'freq': 0.05 }, { 'motor_list': [ self.robot.head_z, ], 'amp': 15, 'freq': 0.1 }, { 'motor_list': [ self.robot.head_y, ], 'amp': 20, 'freq': 0.04 }, { 'motor_list': [ self.robot.head_y, ], 'amp': 5, 'freq': 0.09 }] self.head_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]
class NoBehave(pypot.primitive.LoopPrimitive): def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.head_z, ], amp=20, freq=0.9, offset=0, phase=0) def setup(self): self.robot.head_y.compliant = False self.my_sinus.start() def teardown(self): self.my_sinus.stop() def update(self): pass
class YesBehave(pypot.primitive.LoopPrimitive): def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.head_y, ], amp=8, freq=1, offset=10) def setup(self): self.robot.head_y.compliant = False self.my_sinus.start() def teardown(self): self.my_sinus.stop() def update(self): pass
def run(self): self.robot.goto_position({ 'm21': 120, 'm22': 45, 'm23': 0, 'm24': 30, }, 1, wait=True) self.robot.m24.moving_speed = 0 s = Sinus(self.robot, 25., [self.robot.m24], amp=50, offset=30, freq=0.75) s.start() time.sleep(3) s.stop() self.robot.goto_position({ 'm21': 0, 'm22': 0, 'm23': 0, 'm24': 0, }, 1, wait=True)
def __init__(self, poppy_robot, swing_frequency=0.5): pypot.primitive.LoopPrimitive.__init__(self, poppy_robot, 10) self.poppy_robot = poppy_robot amp = 50 offset = 60 motors_list = [self.poppy_robot.l_knee_y, self.poppy_robot.r_knee_y] self.legs_sinus = [Sinus(self.poppy_robot, 50, motors_list, amp, swing_frequency, offset), ]
def run(self): self.robot.goto_position({ 'r_shoulder_x': 120, 'r_shoulder_motor_y': 45, 'r_upper_arm_z': 0, 'r_forearm_y': 30, }, 1, wait=True) self.robot.r_forearm_y.moving_speed = 0 s = Sinus(self.robot, 25., [self.robot.r_forearm_y], amp=50, offset=30, freq=0.75) s.start() time.sleep(3) s.stop() self.robot.goto_position({ 'r_shoulder_x': 0, 'r_shoulder_motor_y': 0, 'r_upper_arm_z': 0, 'r_forearm_y': 0, }, 1, wait=True)
def run(self): self.robot.goto_position( { 'r_shoulder_x': 120, 'r_shoulder_motor_y': 45, 'r_upper_arm_z': 0, 'r_forearm_y': 30, }, 1, wait=True) self.robot.r_forearm_y.moving_speed = 0 s = Sinus(self.robot, 25., [self.robot.r_forearm_y], amp=50, offset=30, freq=0.75) s.start() time.sleep(3) s.stop() self.robot.goto_position( { 'r_shoulder_x': 0, 'r_shoulder_motor_y': 0, 'r_upper_arm_z': 0, 'r_forearm_y': 0, }, 1, wait=True)
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) sinus_args = [{ 'motor_list': [ self.robot.abs_z, ], 'amp': 4, 'freq': 0.2 }, { 'motor_list': [ self.robot.bust_x, ], 'amp': 4, 'freq': 0.1 }] self.head_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) sinus_args = [{ 'motor_list': [ self.robot.r_shoulder_x, ], 'amp': 2, 'freq': 0.2, 'offset': 0, 'phase': 66 }, { 'motor_list': [ self.robot.r_shoulder_x, ], 'amp': 0.8, 'freq': 0.5, 'offset': 0, 'phase': 66 }, { 'motor_list': [ self.robot.r_elbow_y, ], 'amp': 2, 'freq': 0.5, 'offset': 0, 'phase': 75 }, { 'motor_list': [ self.robot.r_elbow_y, ], 'amp': 0.3, 'freq': 0.2, 'phase': 75 }, { 'motor_list': [ self.robot.r_arm_z, ], 'amp': 3, 'freq': 0.2, 'phase': 78 }] self.all_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]
def setup(self): for m in self.robot.motors: m.compliant = False self.move_freq = 0.5 self.sinus = [ Sinus(self.robot, 25., [self.robot.m6], amp=30., freq=self.move_freq), Sinus(self.robot, 25., [self.robot.m5], amp=30., freq=self.move_freq), Sinus(self.robot, 25., [self.robot.m4], amp=15., freq=self.move_freq), Sinus(self.robot, 25., [self.robot.m3], amp=5., freq=self.move_freq), Sinus(self.robot, 25., [self.robot.m2], amp=10., freq=self.move_freq), Sinus(self.robot, 25., [self.robot.m1], amp=15., freq=self.move_freq), # Sinus(self.robot, 25., [self.robot.m5], amp=30, freq=.8), # Sinus(self.robot, 25., [self.robot.m6], amp=30, freq=.8, phase=180), # Sinus(self.robot, 25., self.robot.motors, amp=10, freq=.1) ] self.init_pos = { 'm1': 0.0, 'm2': -110., 'm3': 65.0, 'm4': 0.0, 'm5': 34.0, 'm6': 20.0, } #dict([(m.name, 0.0) for m in self.robot.motors]) self.robot.goto_position(self.init_pos, 1., wait=True) for m in self.robot.motors: m.moving_speed = 10.#15. for m in self.robot.motors: m.led = 'green' [s.start() for s in self.sinus]
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.r_elbow_y], amp=20, freq=1, offset=-40) self.my_cosinus = Cosinus(self.robot, 50, [self.robot.r_arm_z], amp=20, freq=1, offset=-20)
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.l_elbow_y, ], amp=30, freq=1, offset=-90)
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.head_y, ], amp=8, freq=1, offset=10)
def __init__(self, poppy_robot, freq): pypot.primitive.LoopPrimitive.__init__(self, poppy_robot, freq) self.poppy_robot = poppy_robot self.body = [ Sinus(self.poppy_robot, 50, [ self.poppy_robot.abs_z, ], amp=3, freq=0.2), Sinus(self.poppy_robot, 50, [ self.poppy_robot.abs_z, ], amp=0.8, freq=0.5), Sinus(self.poppy_robot, 50, [ self.poppy_robot.l_shoulder_x, ], amp=2, freq=0.2, offset=5), Sinus(self.poppy_robot, 50, [ self.poppy_robot.l_shoulder_x, ], amp=0.8, freq=0.5), Sinus(self.poppy_robot, 50, [ self.poppy_robot.r_shoulder_x, ], amp=2, freq=0.2, offset=-5, phase=66), Sinus(self.poppy_robot, 50, [ self.poppy_robot.r_shoulder_x, ], amp=0.8, freq=0.5, phase=66), Sinus(self.poppy_robot, 50, [ self.poppy_robot.l_shoulder_y, ], amp=3, freq=0.2, offset=15), Sinus(self.poppy_robot, 50, [ self.poppy_robot.l_shoulder_y, ], amp=0.8, freq=0.5), Sinus(self.poppy_robot, 50, [ self.poppy_robot.r_shoulder_y, ], amp=3, freq=0.1, offset=15, phase=123), Sinus(self.poppy_robot, 50, [ self.poppy_robot.r_shoulder_y, ], amp=0.8, freq=0.5, phase=123), Sinus(self.poppy_robot, 50, [ self.poppy_robot.l_elbow_y, ], amp=2, freq=0.5, offset=-25), Sinus(self.poppy_robot, 50, [ self.poppy_robot.l_elbow_y, ], amp=0.3, freq=0.2), Sinus(self.poppy_robot, 50, [ self.poppy_robot.r_elbow_y, ], amp=2, freq=0.5, offset=-25, phase=75), Sinus(self.poppy_robot, 50, [ self.poppy_robot.r_elbow_y, ], amp=0.3, freq=0.2, phase=75), Sinus(self.poppy_robot, 50, [ self.poppy_robot.l_arm_z, ], amp=3, freq=0.2), Sinus(self.poppy_robot, 50, [ self.poppy_robot.r_arm_z, ], amp=3, freq=0.2, phase=78) ]
def setup(self): self.all_sinus = [Sinus(self.robot, 50, **s) for s in self.sinus_args] [all_sinus.start() for all_sinus in self.all_sinus]
def __init__(self, robot, freq): pypot.primitive.LoopPrimitive.__init__(self, robot, freq) self.my_sinus = Sinus(self.robot, 50, [self.robot.head_z, ], amp=20, freq=0.9, offset=0, phase=0)