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()
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
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.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_z, ], amp=20, freq=0.9, offset=0, phase=0)
