def setup(cls, robot):
robot._primitive_manager._filter = partial(numpy.sum, axis=0)
if robot.simulated:
cls.vrep_hack(robot)
for m in robot.motors:
m.compliant_behavior = 'dummy'
m.goto_behavior = 'minjerk'
# Add Kinematic chains for each arm
lc = IKChain.from_poppy_creature(robot,
motors=robot.torso + robot.l_arm,
passiv=robot.torso,
tip=[0, 0.18, 0])
rc = IKChain.from_poppy_creature(robot,
motors=robot.torso + robot.r_arm,
passiv=robot.torso,
tip=[0, 0.18, 0],
reversed_motors=[robot.r_shoulder_x])
robot.l_arm_chain = lc
robot.r_arm_chain = rc
robot.attach_primitive(LimitTorque(robot, torque_max=80),
'limit_torque')
#robot.limit_torque.start()
# Temperature monitoring if not in vrep
if not robot.simulated:
sound_file = os.path.join(
os.path.dirname(os.path.abspath(__file__)), 'media', 'sounds',
'error.wav')
robot.attach_primitive(TemperatureMonitor(robot, sound=sound_file),
'temperature_monitoring')
robot.temperature_monitoring.start()
robot.attach_primitive(SimpleBodyBeatMotion(robot, 50),
'dance_beat_motion')
# Idle primitives
robot.attach_primitive(UpperBodyIdleMotion(robot, 50),
'upper_body_idle_motion')
robot.attach_primitive(HeadIdleMotion(robot, 50), 'head_idle_motion')
# Interaction primitives
robot.attach_primitive(TorsoTurnCompliant(robot, 300),
'torso_turn_compliant')
robot.attach_primitive(ArmsTurnCompliant(robot, 50),
'arms_turn_compliant')
robot.attach_primitive(PuppetMaster(robot, 50), 'arms_copy_motion')
def setup(cls, robot):
robot._primitive_manager._filter = partial(sum, axis=0)
c = IKChain.from_poppy_creature(robot,
motors=robot.motors,
passiv=[],
tip=[0, 0, -0.07])
robot.chain = c
robot.attach_primitive(SafePowerUp(robot), 'safe_power_up')
robot.attach_primitive(Dance(robot), 'dance')
robot.attach_primitive(BasePosture(robot, 2.), 'base_posture')
robot.attach_primitive(RestPosture(robot, 2.), 'rest_posture')
robot.attach_primitive(CuriousPosture(robot, 2.), 'curious_posture')
robot.attach_primitive(TetrisPosture(robot, 2.), 'tetris_posture')
if not robot.simulated and hasattr(robot, 'marker_detector'):
robot.attach_primitive(TrackingFeedback(robot, 25.),
'tracking_feedback')
for m in robot.motors:
m.pid = (4, 2, 0)
m.torque_limit = 70.
m.led = 'off'
if not robot.simulated and hasattr(robot, 'face_tracking'):
robot.attach_primitive(
FaceTracking(robot, 10, robot.face_detector), 'face_tracking')
def setup(cls, robot):
robot._primitive_manager._filter = partial(sum, axis=0)
c = IKChain.from_poppy_creature(robot,
motors=robot.motors,
passiv=[],
tip=[0, 0, -0.07])
robot.chain = c
robot.attach_primitive(SafePowerUp(robot), 'safe_power_up')
robot.attach_primitive(Dance(robot), 'dance')
robot.attach_primitive(Jump(robot), 'jump')
robot.attach_primitive(BasePosture(robot, 2.), 'base_posture')
robot.attach_primitive(RestPosture(robot, 2.), 'rest_posture')
robot.attach_primitive(CuriousPosture(robot, 2.), 'curious_posture')
robot.attach_primitive(TetrisPosture(robot, 2.), 'tetris_posture')
if not robot.simulated and hasattr(robot, 'marker_detector'):
robot.attach_primitive(TrackingFeedback(robot, 25.),
'tracking_feedback')
robot.tracking_feedback.start()
for m in robot.motors:
m.pid = (4, 2, 0)
m.torque_limit = 70.
m.led = 'off'
if not robot.simulated and hasattr(robot, 'face_tracking'):
robot.attach_primitive(FaceTracking(robot, 10,
robot.face_detector),
'face_tracking')
def setup(cls, robot):
robot._primitive_manager._filter = partial(numpy.sum, axis=0)
if robot.simulated:
cls.vrep_hack(robot)
for m in robot.motors:
m.compliant_behavior = 'dummy'
m.goto_behavior = 'minjerk'
# Add Kinematic chains for each arm
lc = IKChain.from_poppy_creature(robot,
motors=robot.torso + robot.l_arm,
passiv=robot.torso,
tip=[0, 0.18, 0])
rc = IKChain.from_poppy_creature(robot,
motors=robot.torso + robot.r_arm,
passiv=robot.torso,
tip=[0, 0.18, 0],
reversed_motors=[robot.r_shoulder_x])
robot.l_arm_chain = lc
robot.r_arm_chain = rc
robot.attach_primitive(LimitTorque(robot, torque_max=80), 'limit_torque')
#robot.limit_torque.start()
# Temperature monitoring if not in vrep
if not robot.simulated:
sound_file = os.path.join(os.path.dirname(os.path.abspath(__file__)),
'media', 'sounds', 'error.wav')
robot.attach_primitive(TemperatureMonitor(robot, sound=sound_file), 'temperature_monitoring')
robot.temperature_monitoring.start()
robot.attach_primitive(SimpleBodyBeatMotion(robot, 50), 'dance_beat_motion')
# Idle primitives
robot.attach_primitive(UpperBodyIdleMotion(robot, 50), 'upper_body_idle_motion')
robot.attach_primitive(HeadIdleMotion(robot, 50), 'head_idle_motion')
# Interaction primitives
robot.attach_primitive(TorsoTurnCompliant(robot, 300), 'torso_turn_compliant')
robot.attach_primitive(ArmsTurnCompliant(robot, 50), 'arms_turn_compliant')
robot.attach_primitive(PuppetMaster(robot, 50), 'arms_copy_motion')
