def setup(self):
off = Offense()
diag = Diagnostic()
action_blocks = {
"forward": stepForward(),
"back": stepBack(),
"turnleft": turnLeft(),
"turnright": turnRight(),
"left": stepLeft(),
"right": stepRight(),
"forwardleft": stepForwardLeft(),
"forwardright": stepForwardRight(),
"none": NoneClass(),
"stop": stopStill(),
"kick": Kick(),
"wheelleft": wheelLeft(),
"wheelright": wheelRight()
}
kicklist = ["kick"]
time_step = 2.0
for name in action_blocks:
b = action_blocks[name]
print("Block module: ", b)
if name in kicklist:
self.add_transition(off, S(name), b, T(10.5), off)
else:
self.add_transition(off, S(name), b, T(time_step), off)
def setup(self):
turner = Turner()
localizer = Localizer()
walker = Walker()
beacon_walker = BeaconWalker()
sitter = pose.Sit()
walkTowardsBeacon = WalkTowardsBeacon()
nodes = {
'turn': turner,
'move': walker,
'sit': sitter,
'walk_towards_beacon': walkTowardsBeacon,
}
for signal, node in nodes.iteritems():
if signal == 'sit':
self.add_transition(localizer, S(signal), node, T(10),
localizer)
elif signal == 'walk_towards_beacon':
self.add_transition(localizer, S(signal), node, C, localizer)
else:
self.add_transition(localizer, S(signal), node, T(0.1),
localizer)
self.add_transition(walkTowardsBeacon, S('no_towards_beacon'),
localizer)
self.add_transition(walkTowardsBeacon, S('stop_towards_beacon'),
localizer)
self.add_transition(walkTowardsBeacon, S('keep_towards_beacon'),
beacon_walker, T(0.1), walkTowardsBeacon)
def setup(self):
stand = self.Stand()
walk = self.Walk()
walk_turn = self.Walk_Turn()
sit = pose.Sit()
off = self.Off()
self.trans(stand, C, walk, T(5.0), walk_turn, T(5.0), sit, C, off)
def setup(self):
raiseArm = RaiseArms()
sit = pose.SittingPose()
wait = Wait
arms = {
"left": pose.RaiseLeftArm(time=1.),
"right": pose.RaiseRightArm(time=1.),
"center": pose.RaiseBothArms(time=1.),
"unseen": NotSeen(),
"nomove": pose.SittingPose(time=0.3),
}
# arms = {"left": RaiseLeft(),
# "right": RaiseRight(),
# "center": RaiseBoth(),
# "not_seen": NotSeen()
# }
# self.add_transition(sit, T(0.5), pose.RaiseRightArm(), T(5), sit)
# self.trans(raiseArm, S("nomove"), sit, T(0.3), pose.RaiseBothArms(), T(5), raiseArm)
for direction in arms:
arm = arms[direction]
if direction in ["left", "right", "center"]:
self.add_transition(raiseArm, S(direction), arm, T(0.1),
raiseArm)
else:
self.add_transition(raiseArm, S(direction), arm, T(0.1),
raiseArm)
def setup(self):
off = Offense()
diag = Diagnostic()
blocks = {
"approach": Approach(),
"ballsearch": BallSearch(),
"circle_anti": CircleWalkAnti(),
"circle": CircleWalk(),
"dribbler": DribbleRight(),
"dribblel": DribbleLeft(),
"none": NoneClass(),
"sit": reinit(),
"walkball": Walk2Ball(),
"kick": Kick()
}
kicklist = ["kick"]
drib = ["dribbler", "dribblel"]
# sit = reinit()
# self.trans(self.Stand(),C)
for name in blocks:
b = blocks[name]
print("Block module: ", b)
if name in kicklist:
self.add_transition(off, S(name), b, T(10.5), off)
elif name in drib:
print(name)
self.add_transition(off, S(name), b, T(15.0), off)
else:
self.add_transition(off, S(name), b, T(0.5), off)
def setup(self):
ball = memory.world_objects.getObjPtr(core.WO_BALL)
goal = memory.world_objects.getObjPtr(core.WO_UNKNOWN_GOAL)
rdy = GetReady()
moveHeadLeft = MoveHeadLeft(-15.0)
moveHeadRight = MoveHeadRight(-45.0)
turnInPlace = TurnInPlace()
goToBall = GoToBall(ball, 0.0)
moveHeadLeftGoal = MoveHeadLeft(0.0)
moveHeadRightGoal = MoveHeadRight(0.0)
turnAroundBall = TurnAroundBall(ball,200.0)
lookDown = LookDown()
align200 = Align(ball,goal,200.0, -15.0)
dribble = Align(ball,goal,-200.0, -20.0)
wait = Stand()
align50 = Align(ball,goal,50.0,-15.0)
alignForKick = Align(ball,goal, 0.0, -30.0)
positionForKick = PositionForKick(ball, 0.28, 140.0)
stand = Stand()
stand_again = Stand()
kick = Kick()
# Keep turning head and turning in place till ball is found and then go to ball
self.add_transition(rdy,C,moveHeadLeft,C,moveHeadRight,C,turnInPlace,C,moveHeadLeft)
self.add_transition(moveHeadLeft,B(ball),goToBall)
self.add_transition(moveHeadRight,B(ball),goToBall)
self.add_transition(turnInPlace,B(ball),goToBall)
self.add_transition(goToBall,NB(ball),moveHeadLeft)
# After Robot reaches near the ball, maintain distance to ball and find the goal
self.add_transition(goToBall,BD(ball,200.0),moveHeadLeftGoal,C,moveHeadRightGoal,C,lookDown,C,turnAroundBall,C,moveHeadLeftGoal)
self.add_transition(moveHeadLeftGoal,GB(goal,ball),align200)
self.add_transition(moveHeadRightGoal,GB(goal,ball),align200)
self.add_transition(lookDown,GB(goal,ball),align200)
self.add_transition(turnAroundBall,GB(goal,ball),align200)
self.add_transition(align200,NGB(goal,ball),turnAroundBall)
self.add_transition(turnAroundBall,NB(ball),rdy)
# If the ball and goal are aligned with the robot, proceed to stopping, judging distance and dribbling/shooting
self.add_transition(align200,A(ball,goal),dribble)
self.add_transition(dribble,A(ball,goal,0.2).negation(),align50)
self.add_transition(align50,A(ball,goal),dribble)
self.add_transition(dribble,D(ball,goal,1300.0).negation(),wait)
self.add_transition(wait,D(ball,goal,1300.0),dribble)
# After it's dribbled, align between ball and goal again and then shift left
self.add_transition(wait,T(1.0),alignForKick)
self.add_transition(alignForKick, BD(ball,150.0), positionForKick)
self.add_transition(positionForKick, BB(ball,0.28), stand)
self.add_transition(stand, T(1.0), kick)
self.add_transition(kick, C, stand_again)
self.add_transition(stand_again, T(3.0), rdy)
def setup(self):
stand = self.Stand()
sit = pose.Sit()
headturn = self.HeadTurn()
headturnback = self.HeadTurnBack()
forwardwalk = self.ForwardWalk()
turninplace = self.TurnInPlace()
curvewalk = self.CurveWalk()
off = self.Off()
self.trans(stand, C, headturn, T(3.0), headturnback,
T(3.0), forwardwalk, T(5.0), turninplace, T(5.0), curvewalk,
T(5.0), sit, C, off)
def setup(self):
defense = Defense()
blocks = {"kick":Kick()
}
savelist = ["left","right","center"]
# sit = reinit()
# self.trans(self.Stand(),C)
for name in blocks:
b = blocks[name]
print("Block module: ",b)
if name in savelist:
self.add_transition(defense, S(name), b, T(2.5), defense)
else:
self.add_transition(defense, S(name), b, T(10.5), defense)
def setup(self):
stand = self.Stand()
walk = self.Walk()
turn = self.Turn()
sit = pose.Sit()
seen = self.Seen()
panleft = self.HeadPanL()
panright = self.HeadPanR()
panstraight = self.HeadPanZ()
tiltup = self.TiltHeadUp()
tiltdown = self.TiltHeadDown()
fwdturn = self.ForwardTurn()
off = self.Off()
self.trans(stand, C, panleft, T(2.0), panright, T(2.0), panstraight,
T(2.0), tiltup, T(2.0), tiltdown, T(2.0), sit, C, off)
def setup(self):
stand = self.Stand()
walk = self.Walk()
sit = pose.Sit()
off = self.Off()
raise_right = pose.RaiseRightArm()
self.trans(sit, C, raise_right, T(5.0), sit, C, off)
def setup(self):
stand = self.Stand()
sit = pose.Sit()
Goalseen = self.GoalSeen()
Ballseen = self.BallSeen()
off = self.Off()
self.trans(stand, C, Ballseen, T(20.0), sit, C, off)
def setup(self):
global vx
global vy
global vtheta
global goal_side
global ball_side
global dribble
global left_offset
global play_mode
global FACTOR
vx = 0.
vy = 0.
vtheta = 0.
goal_side = 1
ball_side = 1
play_mode = 1
dribble = 0.
left_offset = 0.
findball = FindBall()
followball = FollowBall()
stand = Stand()
self.add_transition(stand, C, findball)
self.add_transition(findball, C, followball, T(DELAY), findball)
def setup(self):
off = Offense()
diag = Diagnostic()
blocks = {"approach": Approach(),
"ballsearch":BallSearch(),
"circle_anti":CircleWalkAnti(),
"circle":CircleWalk(),
"dribble":Dribble(),
"none": NoneClass(),
"sit": reinit(),
"walkball": Walk2Ball(),
"kick":Kick()
}
kicklist = ["kick"]
# sit = reinit()
# self.trans(self.Stand(),C)
for name in blocks:
b = blocks[name]
print("Block module: ",b)
if name in kicklist:
self.add_transition(off, S(name), b, T(10.5), off)
else:
self.add_transition(off, S(name), b, T(0.5), off)
# stand = self.Stand()
# sit = pose.Sit()
# # Goalseen = self.GoalSeen()
# # Ballseen = self.BallSeen()
# off = self.Off()
# srch = self.BallSearch()
# trn = self.Turn2Ball()
# wlk = self.Walk2Ball()
# ball = memory.world_objects.getObjPtr(core.WO_BALL)
# crc = self.CircleWalk()
# diag = self.Diagnostic()
# app = self.Approach()
# drb = self.Dribble()
# #self.trans(stand,C)
# #print("a")
# # self.trans(stand,C,diag,T(120.0),sit,C,off)
# # self.trans(stand,C,crc,C,app,C,sit,C,off)
# #self.trans(stand,C,app,C,self.Stable(),C,self.Kick(),C,sit,C,off)
# # self.trans(stand,C,srch,C,trn,C, wlk,C,crc,C,app,C,self.Kick(),C,sit,C,off)
# self.trans(stand,C,srch,C,trn,C, wlk,C,crc,C,drb,C,self.Stable(),C,app,C,self.Stable(),C,self.Kick(),C,sit,C,off)
def setup(self):
blocker = Blocker()
blocks = {"left": BlockLeft(),
"right": BlockRight(),
"center": BlockCenter()
}
for name in blocks:
b = blocks[name]
self.add_transition(blocker, S(name), b, T(5), blocker)
def setup(self):
stand = self.Stand()
turn_head = self.Turn_Head()
walk = self.Walk()
walk_turn = self.Walk_Turn();
turn_in_place = self.Turn_In_Place();
sit = pose.Sit()
off = self.Off()
self.trans(stand, C, turn_head, S("done"), sit, C, walk, T(5.0), turn_in_place, T(3.0), walk_turn, T(5.0), off)
def setup(self):
stand = self.Stand()
sit = pose.Sit()
diag = self.Diagnostic()
locdiag = self.localization_diag()
panleft = self.HeadLeft()
#self.trans(stand,C)
#print("a")
self.trans(stand, C, locdiag, T(120.0), sit)
def setup(self):
defense = Defense()
blocks = {"LineUp":ApproachToLine(),
"stop":StopStill(),
"rotate": Rotate(),
"ball search": BallSearch(),
"left":BlockLeft(),
"right":BlockRight(),
"center":BlockCenter()
}
savelist = ["left","right","center"]
# sit = reinit()
# self.trans(self.Stand(),C)
for name in blocks:
b = blocks[name]
print("Block module: ",b)
if name in savelist:
self.add_transition(defense, S(name), b, T(1.7), defense)
else:
self.add_transition(defense, S(name), b, T(0.5), defense)
def setup(self):
stand = self.Stand()
walk = self.Walk()
turn = self.Turn()
sit = pose.Sit()
seen = self.Seen()
panleft = self.HeadPanL()
panright = self.HeadPanR()
panstraight = self.HeadPanZ()
fwdturn = self.ForwardTurn()
off = self.Off()
self.trans(stand, C, fwdturn, T(20.0), sit, C, off)
def setup(self):
ball = mem_objects.world_objects[core.WO_BALL]
blocker = Blocker()
lookStraight = MoveHead(0.0, -10.0, 2.5)
moveHeadLeft = MoveHead(85.0, -10.0, 2.5)
moveHeadRight = MoveHead(-85.0, -10.0, 5.0)
reset = Reset()
rdy = GetReady()
blocks = {
"left": BlockLeft(),
"right": BlockRight(),
"center": BlockCenter(),
"miss": DontBlock()
}
reset = DontBlock()
for name in blocks:
b = blocks[name]
self.add_transition(blocker, S(name), b, T(2), reset, T(3.0),
blocker)
def setup(self):
gazer = Gazer()
stand = Stand()
actions = {
'left': TurnLeft(),
'right': TurnRight(),
'front': WalkFront(),
'stop': Stop(),
}
self.add_transition(stand, C, gazer)
for name, action in actions.items():
self.add_transition(gazer, S(name), action, T(0.2), gazer)
def setup(self):
blocker = Blocker()
blocks = {"left": BlockLeft(),
"right": BlockRight(),
"center": BlockCenter(),
"sit": reinit()
}
# sit = reinit()
# self.trans(self.Stand(),C)
for name in blocks:
b = blocks[name]
print("Block module: ",b)
self.add_transition(blocker, S(name), b, T(2), blocker)
def setup(self):
blocker = Blocker()
blocks = {
"left": pose.BlockLeft(),
"right": pose.BlockRight(),
"center": pose.Squat() # Does not get up after squatting
}
for name in blocks:
b = blocks[name]
stand = pose.Stand()
# Time less than 6 turns off robot after squatting
#self.add_transition(blocker, S(name), b, T(3.25), blocker)
self.add_transition(blocker, S(name), b, T(6.0), blocker)
def setup(self):
sit = pose.Sit()
head_left = self.TurnHead()
body_left_in_place = self.TurnBodyLeftInPlace()
body_right_in_place = self.TurnBodyRightInPlace()
body_left_walking = self.TurnBodyLeftWalking()
walk = self.Walk()
stand = self.Stand()
off = self.Off()
# self.trans(stand, C, walk, T(2.0), head_left, C, sit, C, off) # walk, turn head left
# self.trans(stand, C, body_left_walking, T(4.0), sit, C, off) # walk in a curve
# self.trans(stand, C, walk, T(2.0), body_left_in_place, T(2.0), sit, C, off) # walk forward and then turn in place
# all the motions (walk forward, turn left in place, walk and turn left simultaneously, sit, turn head left
self.trans(stand, C,
walk, T(2.0),
body_left_in_place, T(2.0),
body_left_walking, T(6.0),
body_right_in_place, T(5.5),
sit, C,
head_left, C,
off)
def setup(self):
ball = mem_objects.world_objects[core.WO_BALL]
robot = world_objects.getObjPtr(core.WO_TEAM5)
localized = False
poseListX = []
poseListY = []
poseListTh = []
pose_index = 0
blocker = Blocker()
lookStraight = MoveHead(0.0, -10.0, 2.5)
moveHeadLeft = MoveHead(85.0, -10.0, 2.5)
moveHeadRight = MoveHead(-85.0, -10.0, 5.0)
reset = Reset()
rdy = GetReady()
moveBtwBall = MoveBtwBall(localized, poseListX, poseListY, poseListTh,
pose_index)
checkLoc = CheckIfLocalized(localized, poseListX, poseListY,
poseListTh, pose_index)
blocks = {
"left": BlockLeft(),
"right": BlockRight(),
"center": BlockCenter(),
"miss": DontBlock()
}
locState = {"lost": moveHeadLeft, "localized": blocker}
self.add_transition(rdy, C, checkLoc)
for state in locState:
s = locState[state]
self.add_transition(checkLoc, S(state), s)
self.add_transition(moveBtwBall, S(state), s)
for name in blocks:
b = blocks[name]
self.add_transition(blocker, S(name), b, T(4.0), reset, T(3.0),
blocker)
self.add_transition(blocker, S("moveBall"), moveBtwBall)
self.add_transition(moveHeadLeft, C, moveHeadRight, C, checkLoc)
def setup(self):
stand = self.Stand()
sit = pose.Sit()
Goalseen = self.GoalSeen()
Ballseen = self.BallSeen()
off = self.Off()
turn = self.Turn()
ball = memory.world_objects.getObjPtr(core.WO_BALL)
print(ball.seen)
#self.trans(stand,C)
#print("a")
self.trans(turn)
print("sad")
self.trans(Ballseen, T(20.0), sit, C, off)
def setup(self):
blocker = Blocker()
penalty = ApproachBall()
blocks = {
"left": pose.BlockLeft(),
"right": pose.BlockRight(),
#"center": pose.SitBlock(),
"center": pose.BlockCenter(),
}
for name in blocks:
b = blocks[name]
self.add_transition(blocker, S(name), b, T(4.25), blocker)
self.add_transition(blocker, S("penalty"), penalty)
self.add_transition(penalty, S("blocker"), blocker)
def setup(self):
finder = Finder()
diag = Diagnostic()
blocks = {"lookleft": HeadLeft(),
"lookright": HeadRight(),
"holdlook": HeadStill(),
"movecenter": MoveCenter(),
"movepoint": MoveToPoint(),
"reachedcenter":ReachCenter(),
"turn":TurnInPlace(),
"sit": reinit()
}
# sit = reinit()
# self.trans(self.Stand(),C)
for name in blocks:
b = blocks[name]
print("Block module: ",b)
self.add_transition(finder, S(name), b, T(0.5), finder)
def setup(self):
raiseArm = RaiseArms()
arms = {
"left": pose.RaiseLeftArm(),
"right": pose.RaiseRightArm(),
"center": pose.RaiseBothArms(),
"not_seen": pose.SittingPose()
}
# arms = {"left": RaiseLeft(),
# "right": RaiseRight(),
# "center": RaiseBoth(),
# "not_seen": NotSeen()
# }
for direction in arms:
arm = arms[direction]
self.add_transition(raiseArm, S(direction), arm, T(1), raiseArm)
def setup(self):
stand = self.Stand()
walk = self.Walk()
turnL = self.TurnL()
turnR = self.TurnR()
sit = pose.Sit()
fwdturn = self.ForwardTurn()
targ = self.WalkTarget()
ped = self.WalkP()
panL = self.HeadPanL()
panR = self.HeadPanR()
panZ = self.HeadPanZ()
off = self.Off()
tilt = self.HeadTilt()
# self.trans(stand, C, tilt, T(5.0),turnL,T(10.0),turnR,T(10.0) ,sit, C, off)
self.trans(stand, C, walk, T(5.0), sit, C, off)
def setup(self):
gazer = Gazer()
gaze = Gaze()
on = On()
self.add_transition(on, C, gazer)
self.add_transition(gazer, C, gaze, T(DELAY), gazer)