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gameStart.py
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gameStart.py
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from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
from naoqi import ALProxy
import numpy as np
import almath
import time
import math
import cv2
import sys
import os
import threading
from ConfigureNao import *
from visualTask import *
import vision_definitions as vd
from stepStatus import *
rad = almath.TO_RAD
class GolfGame(ConfigureNao):
def __init__(self, robotIP, port):
super(GolfGame, self).__init__(robotIP, port)
self.robotIP = robotIP
self.port = port
self.ball_info = [0, 0, 0]
self.landmark_info = [0, 0, 0, 0]
self.stickAngle = 0.01
self.pitchAngle = -10
self.yawAngle = 0
self.hitballtimes = 0
self.flag = True
self.firstHitSpeed_1_blue = 0.57
self.firstHitSpeed_1_red = 0.61
self.firstHitSpeed_2_blue = 0.64
self.firstHitSpeed_2_red = 0.53
self.firstHitSpeed_3_blue = 0.412
self.firstHitSpeed_3_red = 0.38
self.ballDetect = BallDetect(robotIP, cameraId=vd.kBottomCamera)
self.stickDetect = StickDetect(robotIP, cameraId=vd.kTopCamera)
self.landmarkDetect = LandMarkDetect(robotIP, cameraId=vd.kTopCamera)
self.walkconfiguration = WalkConfiguration()
time.sleep(10)
def gameStart(self):
while True:
FrontFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Front/Sensor/Value")
MiddleFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Middle/Sensor/Value")
RearFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Rear/Sensor/Value")
if FrontFlag == 1:
self.prepare()
self.gameTask_1()
if MiddleFlag == 1:
self.prepare()
self.gameTask_2()
if RearFlag == 1:
self.prepare()
self.gameTask_3()
def prepare(self):
self.motionProxy.wakeUp()
self.postureProxy.goToPosture("Standing", 0.5)
self.motionProxy.setStiffnesses("Body", 1.0)
def findball(self, pitchAngle=-10, yawAngle=0, isShowFlag=False):
Names = ["HeadPitch", "HeadYaw"]
Angles = [pitchAngle * rad, yawAngle * rad]
self.pitchAngle = pitchAngle
self.yawAngle = yawAngle
self.motionProxy.angleInterpolationWithSpeed(Names, Angles, 0.1)
time.sleep(0.5)
self.ballDetect.updateBallData(client="findball55", colorSpace="HSV", color="red", fitting=True)
self.ball_info = self.ballDetect.getBallPosition()
if isShowFlag is True:
print("picture show:")
self.ballDetect.showBallPosition()
cv2.waitKey(2)
if self.ball_info[0] > 0:
self.tts.say("find ball")
return True
else:
self.tts.say("no ball")
return False
def findStick(self, pitchAngle=-10, yawAngle=0, isShowFlag=False):
Names = ["HeadPitch", "HeadYaw"]
Angles = [pitchAngle * rad, yawAngle * rad]
self.motionProxy.angleInterpolationWithSpeed(Names, Angles, 0.1)
time.sleep(0.5)
self.stickDetect.updateStickData(minHSV=np.array([32, 75, 7]), maxHSV=np.array([40, 255, 255]))
self.stickAngle = self.stickDetect.stickAngle
if isShowFlag:
self.stickDetect.showStickPosition()
cv2.waitKey(2)
if self.stickAngle > 0.002 or self.stickAngle < -0.002:
self.tts.say("find stick")
print("find stick:", self.stickAngle * almath.TO_DEG)
return True
else:
self.tts.say("no stick")
return False
def findStcik2(self, pitchAngle=-10, yawAngle=0, isShowFlag=False):
Names = ["HeadPitch", "HeadYaw"]
Angles = [pitchAngle * rad, yawAngle * rad]
self.motionProxy.angleInterpolationWithSpeed(Names, Angles, 0.1)
time.sleep(0.5)
self.stickDetect.updateStickData(minHSV=np.array([27, 55, 84]), maxHSV=np.array([43, 255, 255]))
self.stickAngle = self.stickDetect.stickAngle
if isShowFlag:
self.stickDetect.showStickPosition()
cv2.waitKey(2)
if self.stickAngle > 0.002 or self.stickAngle < -0.002:
self.tts.say("find stick")
print("find stick:", self.stickAngle * almath.TO_DEG)
return True
else:
self.tts.say("no stick")
return False
def findLandmark(self, pitchAngle=-10, yawAngle=0):
Names = ["HeadPitch", "HeadYaw"]
Angles = [pitchAngle * rad, yawAngle * rad]
self.motionProxy.angleInterpolationWithSpeed(Names, Angles, 0.1)
time.sleep(0.5)
self.landmarkDetect.updateLandMarkData()
self.landmark_info = self.landmarkDetect.getLandMarkData()
if abs(self.landmark_info[3]) > 0.0001:
self.tts.say("find mark")
print("find mark:", self.landmark_info[3] * almath.TO_DEG)
print("find mark all", self.landmark_info)
return True
else:
self.tts.say("no mark")
return False
def forehandToHitball(self, hitSpeed):
self.AddressingTheBall()
self.Batting(hitSpeed)
self.ReceivingPole()
def backhandToHitball(self, hitSpeed):
self.AddressingTheBall2()
self.Batting2(hitSpeed)
self.ReceivingPole()
def moveheadToFindball(self, pitchAngles=[-10], yawAngles=[-40, -15, 15, 40]):
isfindBall = False
for pitchAngle in pitchAngles:
for yawAngle in yawAngles:
isfindBall = self.findball(pitchAngle=pitchAngle, yawAngle=yawAngle)
if isfindBall:
break
if isfindBall:
break
self.motionProxy.angleInterpolationWithSpeed("HeadYaw", 0, 0.1)
return isfindBall
def moveheadToFindstick(self, yawAngles):
isfindStick = False
for yawAngle in yawAngles:
isfindStick = self.findStick(pitchAngle=-10, yawAngle=yawAngle)
if isfindStick:
break
return isfindStick
def moveheadTofindstick2(self, yawAngles):
isfindStick = False
for yawAngle in yawAngles:
isfindStick = self.findStick(pitchAngle=-10, yawAngle=yawAngle)
if isfindStick:
break
return isfindStick
def moveheadToFindLandmark(self, yawAngles):
isfindLandmark = False
for yawAngle in yawAngles:
isfindLandmark = self.findLandmark(pitchAngle=-10, yawAngle=yawAngle)
if isfindLandmark:
break
return isfindLandmark
def moveheadToFindLandmarkandStick(self, yawAngles):
targetDis = 0
targetAngle = 0
compensateAngle = 0
for yawAngle in yawAngles:
isfindLandmark = self.findLandmark(pitchAngle=0, yawAngle=yawAngle)
if isfindLandmark:
targetDis = self.landmark_info[2]
targetAngle = self.landmark_info[3]
cmpensateAngle = 10 * rad
break
isfindStick = self.findStick(pitchAngle=0, yawAngle=yawAngle)
if isfindStick:
targetDis = -999
targetAngle = self.stickAngle
compensateAngle = self.compensateAngle1(self.hitballtimes)
break
print("compensateAngle", compensateAngle)
return [targetDis, targetAngle, compensateAngle]
def walkToBall(self, min_ball_d=0.4, max_ball_theta=0.15):
isfindBall = self.findball()
degree = 0
if isfindBall is False:
while True:
isfindBall = self.moveheadToFindball(pitchAngles=[-20, -15, 0, 10, 20])
if isfindBall is False:
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0.5, 0, 0, self.walkconfiguration.WalkCircleLittle_blue())
else:
break
self.motionProxy.moveTo(0, 0, self.ball_info[2], self.walkconfiguration.WalkLineLittle_blue())
self.motionProxy.angleInterpolationWithSpeed("HeadYaw", 0, 0.1)
moveTask_1 = self.motionProxy.post.moveTo(1.5 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineLittle_blue())
while True:
isfindBall = self.findball(self.pitchAngle, 0)
if isfindBall is False:
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
isfindBall_2 = self.moveheadToFindball(
pitchAngles=[self.pitchAngle, self.pitchAngle + 10, self.pitchAngle + 20, self.pitchAngle - 10],
yawAngles=[-15, 15])
if isfindBall_2:
moveTask_1 = self.motionProxy.post.moveTo(1.5 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineLittle_blue())
ball_d = ((self.ball_info[0] ** 2 + self.ball_info[1] ** 2) ** 0.5)
ball_theta = abs(self.ball_info[2])
time.sleep(0.5)
Names = ["HeadPitch"]
if ball_d > 0.6:
self.pitchAngle = 0
elif 0.4 < ball_d < 0.6:
self.pitchAngle = 10
elif 0.15 < ball_d < 0.4:
self.pitchAngle = 20
self.motionProxy.angleInterpolationWithSpeed(Names, self.pitchAngle * rad, 0.1)
if min_ball_d / 3 < self.ball_info[0] < 0.4:
self.tts.say("I am right")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
if 0.13 < ball_d < min_ball_d:
self.tts.say("I am right.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
elif 0.22 < abs(ball_theta) < max_ball_theta:
if min_ball_d / 3 < ball_d < min_ball_d:
self.tts.say("I am right.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
else:
continue
elif abs(ball_theta) > max_ball_theta:
self.tts.say("I am wrong.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
self.motionProxy.moveTo(0, 0, self.ball_info[2], self.walkconfiguration.WalkLineMiddle_blue())
moveTask_1 = self.motionProxy.post.moveTo(1 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineMiddle_blue())
def walkToBall2(self, min_ball_d=0.4, max_ball_theta=0.15):
isfindBall = self.findball()
if isfindBall is False:
while True:
isfindBall = self.moveheadToFindball(pitchAngles=[0, -15, 15])
if isfindBall is False:
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0.5, 0, 0, self.walkconfiguration.WalkLineLittle_blue())
else:
break
self.motionProxy.moveTo(0, 0, self.ball_info[2], self.walkconfiguration.WalkCircleLittle_blue())
self.motionProxy.angleInterpolationWithSpeed("HeadYaw", 0, 0.1)
moveTask_1 = self.motionProxy.post.moveTo(1.5 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineLittle_blue())
while True:
isfindBall = self.findball(self.pitchAngle, 0)
if isfindBall is False:
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
isfindBall_2 = self.moveheadToFindball(
pitchAngles=[self.pitchAngle, self.pitchAngle + 10, self.pitchAngle + 20, self.pitchAngle - 10],
yawAngles=[-15, 15])
if isfindBall_2:
moveTask_1 = self.motionProxy.post.moveTo(1.5 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineLittle_blue())
ball_d = ((self.ball_info[0] ** 2 + self.ball_info[1] ** 2) ** 0.5)
ball_theta = abs(self.ball_info[2])
time.sleep(0.5)
Names = ["HeadPitch"]
if ball_d > 0.6:
self.pitchAngle = 0
elif 0.4 < ball_d < 0.6:
self.pitchAngle = 10
elif 0.15 < ball_d < 0.4:
self.pitchAngle = 20
self.motionProxy.angleInterpolationWithSpeed(Names, self.pitchAngle * rad, 0.1)
if min_ball_d / 3 < self.ball_info[0] < 0.4:
self.tts.say("I am right")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
if 0.13 < ball_d < min_ball_d:
self.tts.say("I am right.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
elif 0.22 < abs(ball_theta) < max_ball_theta:
if min_ball_d / 3 < ball_d < min_ball_d:
self.tts.say("I am right.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
else:
continue
elif abs(ball_theta) > max_ball_theta:
self.tts.say("I am wrong.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
self.motionProxy.moveTo(0, 0, self.ball_info[2], self.walkconfiguration.WalkLineMiddle_blue())
moveTask_1 = self.motionProxy.post.moveTo(1 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineMiddle_blue())
def walkToBall3(self, min_ball_d=0.4, max_ball_theta=0.15):
isfindBall = self.findball(self.pitchAngle)
if isfindBall is False:
while True:
isfindBall = self.moveheadToFindball(pitchAngles=[0, -15, 15])
if isfindBall is False:
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0.5, 0, 0, self.walkconfiguration.WalkLineLittle_blue())
else:
break
self.motionProxy.moveTo(0, 0, self.ball_info[2], self.walkconfiguration.WalkCircleLittle_blue())
self.motionProxy.angleInterpolationWithSpeed("HeadYaw", 0, 0.1)
moveTask_1 = self.motionProxy.post.moveTo(1.5 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineLittle_blue())
while True:
isfindBall = self.findball(self.pitchAngle, 0)
if isfindBall is False:
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
isfindBall_2 = self.moveheadToFindball(
pitchAngles=[self.pitchAngle, self.pitchAngle + 10, self.pitchAngle + 20, self.pitchAngle - 10],
yawAngles=[-15, 15])
if isfindBall_2:
moveTask_1 = self.motionProxy.post.moveTo(1.5 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineLittle_blue())
ball_d = ((self.ball_info[0] ** 2 + self.ball_info[1] ** 2) ** 0.5)
ball_theta = abs(self.ball_info[2])
time.sleep(0.5)
Names = ["HeadPitch"]
if ball_d > 0.6:
self.pitchAngle = 0
elif 0.4 < ball_d < 0.6:
self.pitchAngle = 10
elif 0.15 < ball_d < 0.4:
self.pitchAngle = 20
self.motionProxy.angleInterpolationWithSpeed(Names, self.pitchAngle * rad, 0.1)
if min_ball_d / 3 < self.ball_info[0] < 0.4:
self.tts.say("I am right")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
if 0.13 < ball_d < min_ball_d:
self.tts.say("I am right.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
elif 0.22 < abs(ball_theta) < max_ball_theta:
if min_ball_d / 3 < ball_d < min_ball_d:
self.tts.say("I am right.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
break
else:
continue
elif abs(ball_theta) > max_ball_theta:
self.tts.say("I am wrong.")
self.motionProxy.stop(moveTask_1)
time.sleep(0.5)
self.motionProxy.moveTo(0, 0, self.ball_info[2], self.walkconfiguration.WalkLineMiddle_blue())
moveTask_1 = self.motionProxy.post.moveTo(1 * self.ball_info[0], 0, 0,
self.walkconfiguration.WalkLineMiddle_blue())
def moveCircleWithTarget(self, target_info, ball_d):
MCAngle = 0 * rad
# MCAngle = 0 * rad
if target_info[0] > 0:
target_ball_Dis = (target_info[0] ** 2 + ball_d ** 2 - 2 * target_info[0] * ball_d * math.cos(
target_info[1])) ** 0.5
target_ball_robotAngle = math.acos(
(-target_info[0] ** 2 + ball_d ** 2 + target_ball_Dis ** 2) / (2 * ball_d * target_ball_Dis)) - \
target_info[2]
elif target_info[0] < 0:
target_ball_robotAngle = math.pi - target_info[2] * rad - abs(target_info[1]) - MCAngle
stickAngle = abs(target_info[1])
target_ball_Dis = (ball_d * math.sin(stickAngle)) / math.sin(target_info[2] * rad)
if target_info[1] > 0:
self.isbackhangFlag = False
if 0 <= target_ball_robotAngle < 0.5 * math.pi:
moveAngle = 0.5 * math.pi - target_ball_robotAngle
move_d = (ball_d ** 2 + ball_d ** 2 - 2 * ball_d * ball_d * math.cos(moveAngle)) ** 0.5
self.motionProxy.moveTo(0, -move_d, moveAngle, self.walkconfiguration.WalkCircleLittle_blue())
if self.flag is True:
self.motionProxy.moveTo(0, -ball_d, 0, self.walkconfiguration.WalkLineLittle_blue())
self.flag = False
else:
moveAngle = target_ball_robotAngle - 0.5 * math.pi
move_d = (ball_d ** 2 + ball_d ** 2 - 2 * ball_d * ball_d * math.cos(moveAngle)) ** 0.5
self.motionProxy.moveTo(0, move_d, -moveAngle, self.walkconfiguration.WalkCircleLittle_blue())
if self.flag is True:
self.motionProxy.moveTo(0, ball_d, 0, self.walkconfiguration.WalkLineLittle_blue())
self.flag = False
nextAngle = math.atan(target_ball_Dis / ball_d)
elif target_info[1] < 0:
self.isbackhangFlag = True
if 0 <= target_ball_robotAngle < 0.5 * math.pi:
moveAngle = 0.5 * math.pi - target_ball_robotAngle
move_d = (ball_d ** 2 + ball_d ** 2 - 2 * ball_d * ball_d * math.cos(moveAngle)) ** 0.5
self.motionProxy.moveTo(0, move_d, -moveAngle, self.walkconfiguration.WalkCircleLittle_blue())
if self.flag is True:
self.motionProxy.moveTo(0, ball_d, 0, self.walkconfiguration.WalkLineLittle_blue())
self.flag = False
else:
moveAngle = 1.5 * math.pi - target_ball_robotAngle
move_d = (ball_d ** 2 + ball_d ** 2 - 2 * ball_d * ball_d * math.cos(moveAngle)) ** 0.5
self.motionProxy.moveTo(0, move_d, -moveAngle + 10 * rad,
self.walkconfiguration.WalkCircleLittle_blue())
print("move To1:", move_d)
print("move angle1:", moveAngle * almath.TO_DEG)
if self.flag is True:
self.motionProxy.moveTo(0, ball_d, 0, self.walkconfiguration.WalkLineLittle_blue())
self.flag = False
nextAngle = -math.atan(target_ball_Dis / ball_d)
print("move To2:", move_d)
print("move angle2:", moveAngle * almath.TO_DEG)
return nextAngle
def makeTriangleWithTarget(self, locateTime, target_info):
hitballFlag = False
isfindBall = self.moveheadToFindball(pitchAngles=[20, 10, 0], yawAngles=[0])
if isfindBall:
pass
else:
self.moveheadToFindball(pitchAngles=[20, 10, 0], yawAngles=[-45, -15, 0, 15, 45])
ball_d = (self.ball_info[0] ** 2 + self.ball_info[1] ** 2) ** 0.5
nextAngle = 0
if ball_d > 0:
nextAngle = self.moveCircleWithTarget(target_info, ball_d) * rad
for i in range(2):
print("test1:")
if locateTime > 8:
bias_x_max = 317
bias_y_max = 424
islocate = self.locateWithImage(bias_x_max, bias_y_max)
else:
islocate = self.locateWithImage()
if islocate and locateTime >= 1:
self.tts.say("I am ready to hit ball")
hitballFlag = True
time.sleep(0.5)
break
locateTime += 1
print("nextAngle:", nextAngle)
return [hitballFlag, locateTime, nextAngle]
def locateWithImage(self, best_ball_x=317, best_ball_y=424, best_ball_radius=20):
isfindBall = self.moveheadToFindball(pitchAngles=[20, 10, 0], yawAngles=[0])
if isfindBall is False:
self.moveheadToFindball(pitchAngles=[0, 30, 20, 10], yawAngles=[0, -45, -15, 15, 45])
centerX, centerY, radius = self.ballDetect.getBallInfoInImage()
if centerX != 0 and centerY != 0:
bias_y = centerX - best_ball_x
bias_x = centerY - best_ball_y
Kpx = 0.0002
Kpy = 0.0008
if abs(radius - best_ball_radius) < 30:
if (abs(bias_x) < 40 and abs(bias_y) < 20):
print("bias_x:", bias_x)
print("bias_y:", bias_y)
self.tts.say("I am OK")
return True
else:
move_x = Kpx * bias_x
move_x = -1.0 / 100 if (move_x < 0 and move_x > -1.0 / 100) else move_x
move_x = 1.0 / 100 if (move_x > 0 and move_x < 1.0 / 100) else move_x
if bias_x > 15:
self.motionProxy.moveTo(-move_x, 0, 0, self.walkconfiguration.WalkLineLittle_blue())
time.sleep(0.5)
print("bias_x movex1:", bias_x)
print("move_x1:", -move_x)
if bias_x < -15:
self.motionProxy.moveTo(-move_x, 0, 0, self.walkconfiguration.WalkLineLittle_blue())
time.sleep(0.5)
print("bias x movex2", bias_x)
print("move_x2", -move_x)
move_y = Kpy * bias_y
move_y = -1.0 / 100 if (move_y < 0 and move_y > -1.0 / 100) else move_y
move_y = 1.0 / 100 if (move_y > 0 and move_y < 1.0 / 100) else move_y
if abs(bias_y) > 15:
self.motionProxy.moveTo(0, -move_y, 0, self.walkconfiguration.WalkSideLittle_blue())
time.sleep(0.5)
print("move_y1:", -move_y)
def compensateAngle1(self, hitballtimes):
if hitballtimes == 1:
compensateAngle1 = 5
elif hitballtimes == 2:
compensateAngle1 = 8
elif hitballtimes == 0:
compensateAngle1 = 3
else:
compensateAngle1 = 10
return compensateAngle1
def hitball(self, hitspeed):
if self.landmark_info[3] > 0:
self.forehandToHitball(hitspeed)
elif self.landmark_info[3] < 0:
self.backhandToHitball(hitspeed)
elif self.stickAngle > 0:
self.forehandToHitball(hitspeed)
elif self.stickAngle < 0:
self.backhandToHitball(hitspeed)
def hitball3(self, hitspeed):
if self.landmark_info[3] > 0:
self.forehandToHitball(hitspeed)
time.sleep(3)
self.motionProxy.moveTo(0, 0, 80 * rad, self.walkconfiguration.WalkCircleLittle_blue())
elif self.landmark_info[3] < 0:
self.backhandToHitball(hitspeed)
self.motionProxy.moveTo(0, 0, -80 * rad, self.walkconfiguration.WalkCircleLittle_blue())
time.sleep(3)
elif self.stickAngle > 0:
self.forehandToHitball(hitspeed)
time.sleep(3)
self.motionProxy.moveTo(0, 0, 80 * rad, self.walkconfiguration.WalkCircleLittle_blue())
elif self.stickAngle < 0:
self.backhandToHitball(hitspeed)
time.sleep(3)
self.motionProxy.moveTo(0, 0, -80 * rad, self.walkconfiguration.WalkCircleLittle_blue())
def trianglocation(self):
locateTime = 0
target_info = [0, 0, 0]
location_info = [0, 0, 0]
yawAnglelast = 0
while True:
if locateTime == 0:
self.moveheadToFindball(pitchAngles=[20, 10, 0], yawAngles=[0, -15, -20, 15, -20])
self.motionProxy.moveTo(0, 0, self.ball_info[2], self.walkconfiguration.WalkCircleLittle_blue())
print("move angle:", self.ball_info[2])
yawAnglelist = [0, +40, +80, +100, -40, -80, -100]
else:
yawAnglelist = [yawAnglelast + 80, yawAnglelast + 60, yawAnglelast + 20, yawAnglelast,
yawAnglelast - 20,
yawAnglelast - 60, yawAnglelast - 80]
print("yawAnglelist start")
target_info = self.moveheadToFindLandmarkandStick(yawAngles=yawAnglelist)
if target_info[0] != 0:
location_info = self.makeTriangleWithTarget(locateTime, target_info)
if location_info[0] is True:
print("self.pitch:", self.pitchAngle)
break
if location_info[1] > 10:
print("self.pitch:", self.pitchAngle)
self.tts.say("I am ready to hit ball")
break
yawAnglelast = location_info[2]
print("yawAngleLast: ", yawAnglelast * rad)
locateTime = location_info[1]
def gameTask_2WalkTask(self, moveAngle=15, distance=0.75):
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0, 0, moveAngle * rad, self.walkconfiguration.WalkCircleLittle_blue())
time.sleep(0.5)
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(distance, 0, 0, self.walkconfiguration.WalkLineBig_blue())
time.sleep(0.5)
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0, 0, 80 * rad, self.walkconfiguration.WalkCircleLittle_blue())
time.sleep(0.5)
def WalkToStick(self, distance=2, walktimes=4, min_stick_angle=10, max_stick_angle=15):
min_stick_angle = min_stick_angle * rad
max_stick_angle = max_stick_angle * rad
isfind = False
for i in range(walktimes):
isfind = self.moveheadTofindstick2(yawAngles=[0, 40, -40])
self.motionProxy.angleInterpolationWithSpeed("HeadYaw", 0, 0.1)
if isfind:
self.motionProxy.angleInterpolationWithSpeed("HeadYaw", 0, 0.1)
if min_stick_angle < self.stickAngle < max_stick_angle:
self.tts.say("I am right.")
# if min_stick_angle<self.landmark_info[2]<max_stick_angle:
else:
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0, 0, self.stickAngle - min_stick_angle,
self.walkconfiguration.WalkCircleLittle_blue())
time.sleep(0.5)
self.motionProxy.moveTo((1 / walktimes) * distance, 0, 0, self.walkconfiguration.WalkLineBig_blue())
def gameTask_1(self):
self.tts.say("Game Task One")
FrontFlagTrue = 0
MiddleFlagTrue = 0
while True:
FrontFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Front/Sensor/Value")
MiddleFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Middle/Sensor/Value")
RearFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Rear/Sensor/Value")
if FrontFlag == 1:
self.Ready()
FrontFlagTrue = 1
elif FrontFlagTrue == 1 and MiddleFlag == 1:
self.HoldingPole()
MiddleFlagTrue = 1
elif FrontFlagTrue == 1 and MiddleFlagTrue == 1 and RearFlag == 1:
self.AddressingTheBall()
time.sleep(3)
# self.Batting(self.firstHitSpeed_1_blue)
self.Batting(self.firstHitSpeed_1_red)
self.ReceivingPole()
break
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0, 0, 80 * rad, self.walkconfiguration.WalkCircleLittle_blue())
self.hitballtimes += 3
isfindBall = self.findball(pitchAngle=15)
if isfindBall is False:
self.motionProxy.moveTo(1.25, 0, 0, self.walkconfiguration.WalkLineBig_blue())
while True:
self.walkToBall()
print("test")
self.trianglocation()
self.hitball(self.firstHitSpeed_2_blue)
# self.hitball(self.firstHitSpeed_2_red)
break
def gameTask_2(self):
self.tts.say("Game Task Two")
self.hitballtimes += 2
print("hitballtimes1", self.hitballtimes)
isfindball = False
FrontFlagTrue = 0
MiddleFlagTrue = 0
while True:
FrontFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Front/Sensor/Value")
MiddleFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Middle/Sensor/Value")
RearFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Rear/Sensor/Value")
if FrontFlag == 1:
self.Ready()
FrontFlagTrue = 1
elif FrontFlagTrue == 1 and MiddleFlag == 1:
self.HoldingPole()
MiddleFlagTrue = 1
elif FrontFlagTrue == 1 and MiddleFlagTrue == 1 and RearFlag == 1:
self.AddressingTheBall()
self.Batting(0.55)
self.ReceivingPole()
break
self.gameTask_2WalkTask()
self.WalkToStick(distance=1.5, walktimes=4, min_stick_angle=12, max_stick_angle=17)
while True:
print("hitballtimes2", self.hitballtimes)
isfindball = self.moveheadToFindball(pitchAngles=[20, 10, 0, -10, -20])
if isfindball is False:
if self.hitballtimes == 2:
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0.5, 0, 0, self.walkconfiguration.WalkLineLittle_blue())
else:
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0.25, 0, 0, self.walkconfiguration.WalkLineLittle_blue())
self.hitballtimes += 1
else:
self.walkToBall2()
self.trianglocation()
if self.hitballtimes == 2:
self.hitball(0.5)
else:
self.hitball(0.6)
self.hitballtimes += 1
break
def gameTask_3(self):
self.tts.say("Game Task Three")
isfindball = False
FrontFlagTrue = 0
self.hitballtimes += 1
MiddleFlagTrue = 0
while True:
FrontFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Front/Sensor/Value")
MiddleFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Middle/Sensor/Value")
RearFlag = self.memoryProxy.getData("Device/SubDeviceList/Head/Touch/Rear/Sensor/Value")
if FrontFlag == 1:
self.Ready()
FrontFlagTrue = 1
elif FrontFlagTrue == 1 and MiddleFlag == 1:
self.HoldingPole()
MiddleFlagTrue = 1
elif FrontFlagTrue == 1 and MiddleFlagTrue == 1 and RearFlag == 1:
self.AddressingTheBall()
self.Batting(0.78)
self.ReceivingPole()
break
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0, 0, 120 * rad, self.walkconfiguration.WalkCircleLittle_blue())
self.motionProxy.waitUntilMoveIsFinished()
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(1.6, 0, 0, self.walkconfiguration.WalkLineBig_blue())
self.motionProxy.waitUntilMoveIsFinished()
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(0, 0, -120 * rad, self.walkconfiguration.WalkCircleLittle_blue())
while True:
if self.hitballtimes == 2:
self.motionProxy.setMoveArmsEnabled(False, False)
self.motionProxy.moveTo(1.25, 0, 0, self.walkconfiguration.WalkLineLittle_blue())
self.flag = True
self.walkToBall3()
self.tts.say("walk over")
self.trianglocation()
if self.hitballtimes == 1:
self.hitball3(0.60)
else:
self.hitball3(0.65)
self.hitballtimes += 1
if self.hitballtimes == 7:
break
def Ready(self):
names = list()
times = list()
keys = list()
names.append("HeadPitch")
times.append([1.36])
keys.append([[-0.135034, [3, -0.466667, 0], [3, 0, 0]]])
names.append("HeadYaw")
times.append([1.36])
keys.append([[-0.00464392, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LAnklePitch")
times.append([1.36])
keys.append([[0.0886833, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LAnkleRoll")
times.append([1.36])
keys.append([[-0.108787, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LElbowRoll")
times.append([1.36])
keys.append([[-0.80991, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LElbowYaw")
times.append([1.36])
keys.append([[-1.51563, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LHand")
times.append([1.36])
keys.append([[0.8848, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LHipPitch")
times.append([1.36])
keys.append([[0.126656, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LHipRoll")
times.append([1.36])
keys.append([[0.116344, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LHipYawPitch")
times.append([1.36])
keys.append([[-0.17046, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LKneePitch")
times.append([1.36])
keys.append([[-0.0923279, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LShoulderPitch")
times.append([1.36])
keys.append([[0.771559, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LShoulderRoll")
times.append([1.36])
keys.append([[0.0797259, [3, -0.466667, 0], [3, 0, 0]]])
names.append("LWristYaw")
times.append([1.36])
keys.append([[-0.188724, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RAnklePitch")
times.append([1.36])
keys.append([[0.0874194, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RAnkleRoll")
times.append([1.36])
keys.append([[0.109102, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RElbowRoll")
times.append([1.36])
keys.append([[0.621311, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RElbowYaw")
times.append([1.36])
keys.append([[1.52322, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RHand")
times.append([1.36])
keys.append([[0.998363, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RHipPitch")
times.append([1.36])
keys.append([[0.126321, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RHipRoll")
times.append([1.36])
keys.append([[-0.11736, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RHipYawPitch")
times.append([1.36])
keys.append([[0.737377, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RKneePitch")
times.append([1.36])
keys.append([[-0.0894577, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RShoulderPitch")
times.append([1.36])
keys.append([[0.65506, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RShoulderRoll")
times.append([1.36])
keys.append([[0.0106959, [3, -0.466667, 0], [3, 0, 0]]])
names.append("RWristYaw")
times.append([1.36])
keys.append([[0.00916195, [3, -0.466667, 0], [3, 0, 0]]])
try:
motion = ALProxy("ALMotion", self.IP, self.PORT)
motion.angleInterpolationBezier(names, times, keys)
except BaseException, err:
print
err
def HoldingPole(self):
names = list()
times = list()
keys = list()
names.append("HeadPitch")
times.append([0.4])
keys.append([[-0.135034, [3, -0.146667, 0], [3, 0, 0]]])
names.append("HeadYaw")
times.append([0.4])
keys.append([[-0.00464392, [3, -0.146667, 0], [3, 0, 0]]])
names.append("LAnklePitch")
times.append([0.4])
keys.append([[0.0886833, [3, -0.146667, 0], [3, 0, 0]]])
names.append("LAnkleRoll")
times.append([0.4])
keys.append([[-0.108787, [3, -0.146667, 0], [3, 0, 0]]])
names.append("LElbowRoll")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[-0.80991, [3, -0.146667, 0], [3, 0.186667, 0]],
[-0.811062, [3, -0.186667, 0.00115195], [3, 0.146667, -0.000905104]],
[-0.819703, [3, -0.146667, 0.00252602], [3, 0.2, -0.00344457]],
[-0.828973, [3, -0.2, 0], [3, 0.133333, 0]], [-0.819703, [3, -0.133333, 0], [3, 0.186667, 0]],
[-1.53923, [3, -0.186667, 0], [3, 0, 0]]])
names.append("LElbowYaw")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[-1.51563, [3, -0.146667, 0], [3, 0.186667, 0]],
[-1.52345, [3, -0.186667, 0.00331594], [3, 0.146667, -0.00260538]],
[-1.5334, [3, -0.146667, 0.00137373], [3, 0.2, -0.00187327]],
[-1.53527, [3, -0.2, 0], [3, 0.133333, 0]], [-1.5334, [3, -0.133333, 0], [3, 0.186667, 0]],
[-1.73363, [3, -0.186667, 0], [3, 0, 0]]])
names.append("LHand")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[0.8848, [3, -0.146667, 0], [3, 0.186667, 0]],
[0.884792, [3, -0.186667, 8.04663e-06], [3, 0.146667, -6.32235e-06]],
[0.00413917, [3, -0.146667, 0], [3, 0.2, 0]],
[0.00539452, [3, -0.2, -0.000549448], [3, 0.133333, 0.000366299]],
[0.00688641, [3, -0.133333, -0.00149189], [3, 0.186667, 0.00208864]],
[0.526548, [3, -0.186667, 0], [3, 0, 0]]])
names.append("LHipPitch")
times.append([0.4])
keys.append([[0.126656, [3, -0.146667, 0], [3, 0, 0]]])
names.append("LHipRoll")
times.append([0.4])
keys.append([[0.116344, [3, -0.146667, 0], [3, 0, 0]]])
names.append("LHipYawPitch")
times.append([0.4])
keys.append([[-0.17046, [3, -0.146667, 0], [3, 0, 0]]])
names.append("LKneePitch")
times.append([0.4])
keys.append([[-0.0923279, [3, -0.146667, 0], [3, 0, 0]]])
names.append("LShoulderPitch")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[0.771559, [3, -0.146667, 0], [3, 0.186667, 0]],
[0.774808, [3, -0.186667, -0.00206391], [3, 0.146667, 0.00162164]],
[0.782616, [3, -0.146667, -0.00216065], [3, 0.2, 0.00294634]],
[0.790128, [3, -0.2, 0], [3, 0.133333, 0]], [0.782616, [3, -0.133333, 0], [3, 0.186667, 0]],
[2.01497, [3, -0.186667, 0], [3, 0, 0]]])
names.append("LShoulderRoll")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[0.0797259, [3, -0.146667, 0], [3, 0.186667, 0]],
[0.0788562, [3, -0.186667, 0.000647972], [3, 0.146667, -0.000509121]],
[0.0762547, [3, -0.146667, 0.00133235], [3, 0.2, -0.00181685]],
[0.0694086, [3, -0.2, 0], [3, 0.133333, 0]], [0.0762547, [3, -0.133333, 0], [3, 0.186667, 0]],
[0.0264343, [3, -0.186667, 0], [3, 0, 0]]])
names.append("LWristYaw")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[-0.188724, [3, -0.146667, 0], [3, 0.186667, 0]], [-0.189255, [3, -0.186667, 0], [3, 0.146667, 0]],
[-0.0167174, [3, -0.146667, 0], [3, 0.2, 0]], [-1.82049, [3, -0.2, 0], [3, 0.133333, 0]],
[-1.54395, [3, -0.133333, -0.0944333], [3, 0.186667, 0.132207]],
[-1.14057, [3, -0.186667, 0], [3, 0, 0]]])
names.append("RAnklePitch")
times.append([0.4])
keys.append([[0.0874194, [3, -0.146667, 0], [3, 0, 0]]])
names.append("RAnkleRoll")
times.append([0.4])
keys.append([[0.109102, [3, -0.146667, 0], [3, 0, 0]]])
names.append("RElbowRoll")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[0.621311, [3, -0.146667, 0], [3, 0.186667, 0]],
[0.765735, [3, -0.186667, -0.0360534], [3, 0.146667, 0.0283277]],
[0.814454, [3, -0.146667, -0.00510808], [3, 0.2, 0.00696557]],
[0.82142, [3, -0.2, 0], [3, 0.133333, 0]], [0.812292, [3, -0.133333, 0], [3, 0.186667, 0]],
[1.5392, [3, -0.186667, 0], [3, 0, 0]]])
names.append("RElbowYaw")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[1.52322, [3, -0.146667, 0], [3, 0.186667, 0]], [1.53252, [3, -0.186667, 0], [3, 0.146667, 0]],
[1.53203, [3, -0.146667, 0.000492152], [3, 0.2, -0.000671117]],
[1.52334, [3, -0.2, 0], [3, 0.133333, 0]],
[1.53203, [3, -0.133333, -0.00582284], [3, 0.186667, 0.00815197]],
[1.56527, [3, -0.186667, 0], [3, 0, 0]]])
names.append("RHand")
times.append([0.4, 0.96, 1.4, 2, 2.4, 2.96])
keys.append([[0.998363, [3, -0.146667, 0], [3, 0.186667, 0]], [0.998363, [3, -0.186667, 0], [3, 0.146667, 0]],
[0.995963, [3, -0.146667, 0.000480046], [3, 0.2, -0.000654608]],