def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == "Back":
self.keyframes = leftBackToStand()
elif posture == "Belly":
self.keyframes = leftBellyToStand()
elif posture == "Stand":
self.keyframes = leftBellyToStand()
elif posture == "Left":
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == "Back":
self.keyframes = leftBackToStand()
elif posture == "Belly":
self.keyframes = leftBellyToStand()
elif posture == "Stand":
self.keyframes = leftBellyToStand()
elif posture == "Left":
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Back':
self.keyframes = kf.rightBackToStand()
elif posture == 'Belly':
self.keyframes = kf.leftBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Back':
self.set_keyframes(leftBackToStand())
elif posture == 'Belly':
self.set_keyframes(leftBellyToStand())
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Back':
self.keyframes = leftBackToStand()
else: # 'Belly'
self.keyframes = leftBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if (posture == 'Back'):
agent.keyframes = leftBackToStand()
elif (posture == 'Belly'):
agent.keyframes = leftBellyToStand()
def standing_up(self):
posture = self.posture
actions = {'Back': leftBackToStand(), 'Belly': leftBellyToStand()}
if posture in actions:
self.keyframes = actions[posture]
def standing_up(self):
posture = self.posture
if posture == 'Back':
self.keyframes = leftBackToStand()
elif posture == 'Belly':
self.keyframes = leftBellyToStand()
def standing_up(self, perception):
posture = self.posture
if posture == "Back":
new_keyframes = leftBackToStand()
elif posture == "Belly":
new_keyframes = leftBellyToStand()
elif posture == "Left":
new_keyframes = leftBellyToStand()
elif posture == "Right":
new_keyframes = rightBellyToStand()
else:
#do nothing
return
if new_keyframes != self.keyframes:
self.init_time = perception.time
self.keyframes = new_keyframes
def standing_up(self):
posture = self.posture
if (posture == 'Belly'):
self.keyframes = leftBellyToStand()
elif (posture == 'Back' or posture == 'Left'):
self.keyframes = leftBackToStand()
elif (posture == 'Right'):
self.keyframes = rightBackToStand()
elif (posture == 'Stand'):
self.keyframes = hello()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
# Keyframe based movement is started by pressing k in SimSpark
# Unfixed Problem, when the robot falls on its belly it makes a headstand when stiffness is set to 1
# I did not make Keyframes for standing up from that position
if (posture == 'Back'):
self.keyframes = leftBackToStand()
if (posture == 'Belly'):
self.keyframes = leftBellyToStand()
def standing_up(self):
posture = self.posture
print posture
if posture == "Belly":
self.keyframes = leftBellyToStand()
if posture == "Back":
self.keyframes = leftBackToStand()
if posture == "Left":
self.keyframes = leftBackToStand()
if posture == "Right":
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture == 'Left':
self.keyframe = leftBackToStand()
if posture in ['Back', 'Headback', 'Sit', 'Right']:
self.keyframe = rightBackToStand()
if posture in ['Crouch', 'Belly', 'Frog']:
self.keyframe = leftBellyToStand()
def standing_up(self):
posture = self.posture
if posture == "Belly":
self.keyframes = leftBellyToStand()
if posture == "Left":
self.keyframes = leftBackToStand()
if posture == "Back":
self.keyframes = leftBackToStand()
if posture == "Stand":
self.keyframes = self.keyframes
else:
self.keyframes = rightBellyToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
#print(posture == 0)
# ['Back', 'Belly', 'Crouch', 'Frog', 'HeadBack',
# 'Knee', 'Left', 'Right', 'Sit', 'Stand', 'StandInit']
# 0 = back , 1 = belly etc
if posture == 1 or posture == 2 or posture == 5 or posture == 6:
self.keyframes = leftBellyToStand()
if posture == 0 or posture == 3 or posture == 7 or posture == 8:
#print('test')
self.keyframes = rightBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
ROBOT_POSE_DATA_DIR = 'robot_pose_data'
classes = listdir(ROBOT_POSE_DATA_DIR)
if posture == 'Back':
self.keyframes = leftBackToStand()
if posture == 'Belly':
self.keyframes = leftBellyToStand()
self.keyframes = leftBackToStand()
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
if posture in ['Stand', 'StandInit', 'Sit']:
return
if posture == 'Back':
self.keyframes = kf.leftBellyToStand()
elif posture == 'Belly':
self.keyframes = kf.rightBellyToStand()
print(posture)
pass
def standing_up(self):
posture = self.posture
# only update keyframe if the agent is in on mode and no other keyframe is being executed
if self.is_on and self.t0==-1 :
self.posture = self.recognize_posture(self.perception) # regonize posture
# select keyframe based on the posture
if posture=='Belly':
self.keyframes=leftBellyToStand()
elif posture=='Back' or posture=='Left' or posture=='HeadBack':
self.keyframes=leftBackToStand()
elif posture=='Right' or posture=='Sit':
self.keyframes=rightBackToStand()
elif posture=='Stand' or posture =='StandInit':
self.keyframes=([],[],[])
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
print posture
if self.started:
if posture == 'Belly':
print 'start belly'
self.keyframes = leftBellyToStand()
self.set_time()
self.started = 0
elif posture == 'Back':
print 'start back'
self.keyframes = leftBackToStand()
self.set_time()
self.started = 0
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
leftBackToStand_classes = ['Back', 'HeadBack', 'Left', 'Sit']
leftBellyToStand_classes = ['Belly']
rightBackToStand_classes = ['Right']
if (self.perception.time -
self.stiffness_on_off_time) > self.stiffness_off_cycle:
if posture in leftBackToStand_classes:
self.keyframes = leftBackToStand()
elif posture in leftBellyToStand_classes:
self.keyframes = leftBellyToStand()
elif posture in rightBackToStand_classes:
self.keyframes = rightBackToStand()
else:
self.keyframes = ([], [], [])
def standing_up(self):
posture = self.posture
# YOUR CODE HERE
# print(f"{posture}")
if self.old_posture != "unknown" and self.old_posture != posture and posture in ["Belly", "Back", "Left", "Right"] :
logging.info(f"{self.old_posture} != {posture}!!!")
self.start_time = -1
if self.start_time == -1:
if posture == "Left":
self.keyframes = kf.leftBackToStand()
elif posture == "Right":
self.keyframes = kf.rightBackToStand()
elif posture == "Belly":
self.keyframes = kf.leftBellyToStand()
elif posture == "Back":
self.keyframes = kf.rightBackToStand()
self.old_posture = posture
def standing_up(self):
posture = self.posture
#print(posture)
# YOUR CODE HERE
leftBack = ['HeadBack', 'Left']
rightBack = ['Back', 'Right']
leftBelly = ['Belly', 'knee']
rightBelly = ['Crouch', 'Frog', 'Sit']
standing = ['Stand', 'StandInit']
#if (self.stiffness_on_off_time + self.stiffness_off_cycle - self.perception.time <= 0.1):
if not self.keyframes[0]:
if posture in leftBack:
self.keyframes = keyframes.leftBackToStand()
elif posture in rightBack:
self.keyframes = keyframes.rightBackToStand()
elif posture in leftBelly:
self.keyframes = keyframes.leftBellyToStand()
elif posture in rightBelly:
self.keyframes = keyframes.rightBellyToStand()
elif posture in standing:
pass
dt = (current_time - t_0) / (t_3 - t_0)
# Angles
p0 = keys[j][t][0]
p3 = keys[j][t + 1][0]
# Control angles
p1 = p0 + keys[j][t][1][2]
p2 = p3 + keys[j][t][1][2]
return self.cubic_bezier_interpolation(p0, p1, p2, p3, dt)
@staticmethod
def cubic_bezier_interpolation(p0, p1, p2, p3, i):
t0 = (1 - i)**3
t1 = 3 * i * (1 - i)**2
t2 = 3 * (1 - i) * i**2
t3 = i**3
return t0 * p0 + t1 * p1 + t2 * p2 + t3 * p3
if __name__ == '__main__':
agent = AngleInterpolationAgent()
agent.keyframes = hello() # CHANGE DIFFERENT KEYFRAMES
# By the Belly keyframes NAO not falls on the Belly ...
if agent.keyframes == leftBellyToStand(
) or agent.keyframes == rightBellyToStand():
agent.keyframes[2][0] = agent.keyframes[2][1]
agent.run()
def standing_up(self):
# Robot doesnt recognize when it falls
posture = self.posture
if( posture == 'Belly'):
self.keyframes = keyframes.leftBellyToStand()
def standing_up(self):
posture = self.posture
if posture == 'Left' or posture == 'Belly' or posture == "Crouch" or posture == "Knee":
self.keyframes = leftBellyToStand()
if posture == 'Right' or posture == 'Back' or posture == "Frog" or posture == "Sit":
self.keyframes = rightBackToStand()
self.posture = self.recognize_posture(perception)
return super(PostureRecognitionAgent, self).think(perception)
def recognize_posture(self, perception):
ROBOT_POSE_DATA_DIR = '../joint_control/robot_pose_data'
possible_postures = listdir(ROBOT_POSE_DATA_DIR)
posture = 'unknown'
''' YOUR CODE HERE
the features (e.g. each row of the data) are ['LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'AngleX', 'AngleY'], where 'AngleX' and 'AngleY' are body angle (e.g. Perception.imu) and others are joint angles.'''
features = [
'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch',
'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch'
]
unknown_posture = []
for feature in features:
unknown_posture.append(perception.joint.get(feature))
unknown_posture += perception.imu
unknown_posture = np.array(unknown_posture)
#print unknown_posture
posture_index = self.posture_classifier.predict(
unknown_posture.reshape(1, -1))
recognized_posture = possible_postures[posture_index[-1]]
#print recognized_posture
return recognized_posture
if __name__ == '__main__':
agent = PostureRecognitionAgent()
agent.set_keyframes(leftBellyToStand()) # CHANGE DIFFERENT KEYFRAMES
agent.run()
def think(self, perception):
self.posture = self.recognize_posture(perception)
return super(PostureRecognitionAgent, self).think(perception)
def recognize_posture(self, perception):
posture = 'unknown'
# YOUR CODE HERE
format = ['LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch']
postures = ['Right','Sit','Crouch','Frog','Left','Stand','HeadBack','Knee','Back','Belly','StandInit']
clf2 = pickle.load(open(self.posture_classifier))
data = []
for name in format:
data.append(perception.joint[name])
data.append(perception.imu[0]) #x
data.append(perception.imu[1]) #y
dataset = []
dataset.append(data)
predicted = clf2.predict(dataset)
posture = postures[predicted[0]]
return posture
if __name__ == '__main__':
agent = PostureRecognitionAgent()
agent.keyframes = leftBellyToStand() # CHANGE DIFFERENT KEYFRAMES
agent.run()
def __init__(self, simspark_ip='localhost',
simspark_port=3100,
teamname='DAInamite',
player_id=0,
sync_mode=True):
super(TestStandingUpAgent, self).__init__(simspark_ip, simspark_port, teamname, player_id, sync_mode)
self.stiffness_on_off_time = 0
self.stiffness_on_cycle = 10 # in seconds
self.stiffness_off_cycle = 3 # in seconds
self.stop = 1
def think(self, perception):
action = super(TestStandingUpAgent, self).think(perception)
time_now = perception.time
if self.stop:
if time_now - self.stiffness_on_off_time < self.stiffness_off_cycle:
action.stiffness = {j: 0 for j in self.joint_names} # turn off joints
else:
action.stiffness = {j: 1 for j in self.joint_names} # turn on joints
self.stop = 0
if time_now - self.stiffness_on_off_time > self.stiffness_on_cycle + self.stiffness_off_cycle:
self.stiffness_on_off_time = time_now
return action
if __name__ == '__main__':
agent = TestStandingUpAgent()
agent.set_keyframes(leftBellyToStand())
agent.run()
