def setup(self):
memory.speech.say("Let's stretch!")
# Movements
sit = pose.Sit()
stand_2 = Stand()
turning_head = TurningHead()
sit_2 = pose.Sit()
off = Off()
self.trans(sit, C, stand_2, C, turning_head, C, sit_2, 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 run(self):
commands.setHeadTilt(
-10) # Tilt head up so we can see goal (default = -22)
pose.Sit()
if self.getTime() > 5.0:
memory.speech.say("Sitting complete")
self.finish()
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):
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 run(self):
pose.Sit()
commands.setHeadPan(bearing, 0.1)
ball = mem_objects.world_objects[core.WO_BALL]
bearing = ball.bearing
x = ball.loc.x
y = ball.loc.y
d = ball.distance
xv = ball.absVel.x
yv = ball.absVel.y
if x < 500:
if xv > -10:
print "ball moving too slowly"
return
print "Ball is close, blocking!\n"
if ball.bearing > 30 * core.DEG_T_RAD:
choice = "left"
print "left\n"
elif ball.bearing < -30 * core.DEG_T_RAD:
choice = "right"
print "right\n"
else:
choice = "center"
print "center\n"
self.postSignal(choice)
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):
ball = memory.world_objects.getObjPtr(core.WO_BALL)
goal = memory.world_objects.getObjPtr(core.WO_UNKNOWN_GOAL)
stand = Stand(ball, goal)
sit = pose.Sit()
off = self.Off()
self.trans(sit, C, stand, C, stand)
def setup(self):
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):
stand = self.Stand()
walk = self.Walk()
sit = pose.Sit()
off = self.Off()
turn = self.Turn()
curve = self.Curve()
self.trans(stand, C, walk, T(10.0), sit, C, off)
def setup(self): stand = self.Stand() track = self.TrackGoal() sit = pose.Sit() off = self.Off() pid_walk = self.PID_walk() self.trans(stand, C, pid_walk, C , self.Prepare(), T(5.0) ,self.Stand(), C , self.Kick() , C , stand , C) self.setFinish(None)
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):
memory.speech.say("Walking in a curve!")
# Movements
stand = Stand()
curve_walk = WalkInCurve()
sit = pose.Sit()
off = Off()
self.trans(stand, C, curve_walk, C, sit, C, 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):
memory.speech.say("Let's do the truffle shuffle!")
# Movements
stand = Stand()
walk_forward = WalkForward()
spin = Spin()
sit = pose.Sit()
stand_2 = Stand()
off = Off()
self.trans(stand, C, walk_forward, C, spin, C, sit, C, off)
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): global last_head_time last_head_time = 0 stand = self.Stand() walk = self.Walk() tip = self.TurnInPlace() curve = self.Curve() sit = pose.Sit() goa = self.GoAround() off = self.Off() #self.trans(stand, C, walk, T(5.0), curve, T(5.0), sit, C, off) self.trans(stand, C, walk, T(100.0), sit, C, off)
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)
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):
ball = memory.world_objects.getObjPtr(core.WO_BALL)
print('Seen: %d \t Top: %d\t Location: [%d,%d]\n' % (ball.seen, ball.fromTopCamera, ball.imageCenterX, ball.imageCenterY))
stand = Stand()
track = TrackBall()
moveHeadLeft = MoveHeadLeft()
moveHeadRight = MoveHeadRight()
sit = pose.Sit()
self.add_transition(stand,C,moveHeadLeft)
self.add_transition(moveHeadLeft,C,moveHeadRight)
self.add_transition(moveHeadRight,C,moveHeadLeft)
self.add_transition(moveHeadLeft,B(ball),track)
self.add_transition(moveHeadRight,B(ball),track)
self.add_transition(track,NB(ball),moveHeadLeft)
def run(self):
cooledDown = True
for joint in self.listy_thing:
if memory.sensors.getJointTemperature(joint) > 50.0:
cooledDown = False
if not cooledDown and not self.isSitting:
self.isSitting = True
return pose.Sit()
if cooledDown:
self.isSitting = False
self.postSignal("cool")
def run(self):
commands.setHeadTilt()
commands.setStiffness()
if behavior_mem.test_odom_new:
self.otimer.reset()
behavior_mem.test_odom_new = False
if self.otimer.elapsed() > behavior_mem.test_odom_walk_time:
if self.stance != core.Poses.SITTING:
self.stance = core.Poses.SITTING
return pose.Sit()
return
vel_x = behavior_mem.test_odom_fwd
vel_y = behavior_mem.test_odom_side
vel_theta = behavior_mem.test_odom_turn
reqstance = behavior_mem.test_stance
if reqstance != self.stance:
self.stance = reqstance
if reqstance == core.Poses.SITTING:
return pose.Sit()
elif not util.isStanding():
return pose.Stand()
if self.stance == core.Poses.STANDING:
commands.setWalkVelocity(vel_x, vel_y, vel_theta)
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):
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)
class Playing(StateMachine):
class Stand(Node):
def run(self):
commands.stand()
if self.getTime() > 5.0:
memory.speech.say("playing stand complete")
self.finish()
class Walk(Node):
def run(self):
commands.setWalkVelocity(0.5, 0, 0)
class Turn(Node):
def run(self):
commands.setWalkVelocity(0, 0, 0.1)
class ForwardTurn(Node):
def run(self):
commands.setWalkVelocity(0.5, 0, 0.3)
class Off(Node):
def run(self):
commands.setStiffness(cfgstiff.Zero)
if self.getTime() > 2.0:
memory.speech.say("turned off stiffness")
self.finish()
class Seen(Node):
def run(self):
ball = memory.world_objects.getObjPtr(core.WO_BALL)
#print(ball.seen)
if ball.seen:
print("I see ballz")
def setup(self):
stand = self.Stand()
walk = self.Walk()
turn = self.Turn()
sit = pose.Sit()
seen = self.Seen()
fwdturn = self.ForwardTurn()
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):
self.trans(self.Stand(), C, self.Kick(), C, self.Stand(), C,
pose.Sit(), C, self.Off())
def run(self):
pose.Sit()
if self.getTime() > 3.0:
memory.speech.say("Sitting complete")
self.finish()
def setup(self):
walk = self.Walk()
self.trans(self.Stand(), C, self.Kick(), C, self.Stand(), C, walk,
T(5.0), self.Stand(), C, pose.Sit(), C, self.Off())
def run(self):
pose.Sit()
if self.getTime() > 2.0:
memory.speech.say("playing stand complete")
self.finish()
