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import time
from cherry import Cherry
from poppy.creatures import PoppyHumanoid
from pypot.primitive.move import MoveRecorder, Move, MovePlayer



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cherry = Cherry(simulator='vrep')
cherry.setup()
poppy = cherry.robot

compliance



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for m in poppy.arms + poppy.head:
    m.compliant = True

Exemple de discours



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cherry.robot.disc_med.start()

mouvements de base



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cherry.robot.normal_behave.start()



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cherry.robot.wave_behave.stop()

exemple : copy arm



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#montre la capacité des moteurs à "savoir où ils sont"
poppy.copy_arm_behave.start()



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poppy.copy_arm_behave.stop()

Vision



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poppy.run_look.start()



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poppy.tracking_behave.start()



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poppy.tracking_behave.stop()

voix



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poppy.speak.start('Bonjour! Je suis Cherry, le robot compagnon des enfants hospitalisés.')



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#changer filename
filename = '../utils/text_to_say.txt'



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poppy.say_text.start(filename)

voix+mouvement



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cherry.robot.disc_med.start()



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cherry.robot.multip_rand.start()



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cherry.robot.vrai1.start()



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cherry.robot.faux.start()

enregistrement de mvmt



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filename_record = '../utils/move_recorded/move10'



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#n'enregistre que les mvmts des bras
r_motors_group = poppy.arms









    



---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-2-44558a2c1d31> in <module>()
----> 1 r_motors_group = poppy.arms

NameError: name 'poppy' is not defined



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move_recorder = MoveRecorder(poppy, 50, r_motors_group)
for m in poppy.l_arm:
    m.compliant = True

for m in poppy.r_arm:
    m.compliant = True
    
for m in poppy.torso:
    m.compliant = False
    
for m in poppy.head:
    m.compliant = True



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move_recorder.start()



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move_recorder.stop()

with open(filename_record, 'w') as f:
    move_recorder.move.save(f)

On le rejoue



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with open(filename_record) as f:
    m = Move.load(f)

poppy.compliant = False

move_player = MovePlayer(poppy, m)
move_player.start()