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),
]
def __init__(self, robot, freq, face_detector):
LoopPrimitive.__init__(self, robot, freq)
self.face_detector = face_detector
self.dx, self.dy = 60, 50
self._tracked_face = None
def __init__(self, robot, move_file):
LoopPrimitive.__init__(self, robot, 50)
with open(move_file) as f:
self.reader = csv.DictReader(f)
self.data = [row for row in self.reader]
self.i = 0
def __init__(self, environment, freq, motors, mov, primitive_duration, log):
LoopPrimitive.__init__(self, environment.robot, freq)
self.motors = motors
self.mov = mov
self.primitive_duration = primitive_duration
self.one_step_duration = primitive_duration / mov.shape[0]
self.log = log
self.env = environment
def __init__(self, environment, freq, motors, mov, primitive_duration,
log):
LoopPrimitive.__init__(self, environment.robot, freq)
self.motors = motors
self.mov = mov
self.primitive_duration = primitive_duration
self.one_step_duration = primitive_duration / mov.shape[0]
self.log = log
self.env = environment
def __init__(self, robot, freq=0.5, temp_limit=40,
time_reduce_torque=5, small_torque=20,
time_compliant=10, player='aplay', sound=None):
LoopPrimitive.__init__(self, robot, freq)
self.temp_limit = temp_limit
self.time_reduce_torque = time_reduce_torque
self.time_compliant = time_compliant
self.small_torque = small_torque
self.player = player
self.sound = sound
self._overheat_time = {}
def __init__(self, robot, leg, refresh_freq=50):
LoopPrimitive.__init__(self, robot, refresh_freq)
# you should never access directly to the motors in a primitive, because this is the goal of the Primitives manager
# to manage this acces for all the primitives : https://poppy-project.github.io/pypot/primitive.html
fake_motors = getattr(self.robot, leg)
self.knee = fake_motors[2]
self.hip = fake_motors[1]
self.hip_lateral = fake_motors[0]
self.motors = fake_motors
# size of segment's leg
self.shin = 63
self.thigh = 55
self.pelvis = 38
def __init__(self, robot, command_freq = 40):
LoopPrimitive.__init__(self, robot, command_freq)
self.legs = []
self.all_leg_motors = []
for i in range(4):
leg_motors = getattr(self.robot, DiploTurnLeft.leg_names[i])
self.legs.append(DiploLeg(leg_motors, DiploTurnLeft.is_front[i]))
self.all_leg_motors.extend(leg_motors)
self.command_freq = command_freq
self.dt = 1. / command_freq
def __init__(self, robot, distance, step_duration, frequency=50):
LoopPrimitive.__init__(self, robot, frequency)
self.step_length = 0.1
self.step_height = 0.01
self.pelvis_height = 0.098
self.motors = dict([(m.name, self.get_mockup_motor(m))
for m in self.robot.motors])
self.distance_left = distance
self.step_duration = step_duration
ssp_ratio = .75
self.ssp_duration = ssp_ratio * step_duration
self.dsp_duration = (1 - ssp_ratio) * step_duration
self.dt = 1. / frequency
self.pos = None
def __init__(self, robot, freq, detector, tracked_id):
LoopPrimitive.__init__(self, robot, freq)
self.dx, self.dy = 60, 50
def get_marker_pos():
marker = [m.position for m in getattr(detector, 'markers')
if m.id == tracked_id]
if len(marker) == 1:
return marker[0]
return None
self.get_marker_pos = get_marker_pos
def __init__(self, robot, freq, detector, tracked_id):
LoopPrimitive.__init__(self, robot, freq)
self.dx, self.dy = 60, 50
def get_marker_pos():
marker = [
m.position for m in getattr(detector, 'markers')
if m.id == tracked_id
]
if len(marker) == 1:
return marker[0]
return None
self.get_marker_pos = get_marker_pos
def __init__(self,
robot,
freq=0.5,
temp_limit=40,
time_reduce_torque=5,
small_torque=20,
time_compliant=10,
player='aplay',
sound=None):
LoopPrimitive.__init__(self, robot, freq)
self.temp_limit = temp_limit
self.time_reduce_torque = time_reduce_torque
self.time_compliant = time_compliant
self.small_torque = small_torque
self.player = player
self.sound = sound
self._overheat_time = {}
def __init__(self, robot, move):
LoopPrimitive.__init__(self, robot, move.framerate)
self.move = move
def __init__(self, robot):
LoopPrimitive.__init__(self, robot, 1.)
def __init__(self, robot, refresh_freq):
self.robot = robot
LoopPrimitive.__init__(self, robot, refresh_freq)
def __init__(self, robot, freq, tracked_motors):
LoopPrimitive.__init__(self, robot, freq)
self.freq = freq
self.tracked_motors = map(self.get_mockup_motor, tracked_motors)
def __init__(self, robot, move):
LoopPrimitive.__init__(self, robot, move.framerate)
self.positions = move.positions()
self.motors = robot.motors
self.maxPreviousPos = 10
self.previousPoses = []
def __init__(self, robot, freq=5):
LoopPrimitive.__init__(self, robot, freq)
def __init__(self, robot):
LoopPrimitive.__init__(self, robot, 1.0)
def __init__(self, robot):
LoopPrimitive.__init__(self, robot, 50.0)
self.motors = [self.robot.arm_yaw]
def __init__(self, robot):
LoopPrimitive.__init__(self, robot, 1)
self.record_name = "demo_example"
def __init__(self, robot, freq=5):
LoopPrimitive.__init__(self, robot, freq)
def __init__(self, robot, motors):
LoopPrimitive.__init__(self, robot, 50)
self.motors = motors