Two loops complete and tested: build 4 stories high and small pyramid
This commit is contained in:
Michael Soukup
parent
fc7149240e
commit
5ee0353e01
186
unittesting.py
186
unittesting.py
@ -178,139 +178,117 @@ def test_movec(controller):
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def four_stories(controller):
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print "Initial block placement."
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print "On each side"
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print "\t(r0, edge, z0)"
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print "\t(r1, edge, z0)"
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def check_theta_edges(controller):
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controller.movec_hax(config.R_LVL0 - config.BLOCK_DIM, config.THETA_EDGE_RIGHT, config.Z_MIN)
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controller.movel(config.R_LVL0 - config.BLOCK_DIM, config.THETA_EDGE_RIGHT, config.Z_MIN)
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print 'Theta edge right.'
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_LVL0 - config.BLOCK_DIM, config.THETA_EDGE_LEFT, config.Z_MIN)
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controller.movel(config.R_LVL0 - config.BLOCK_DIM, config.THETA_EDGE_LEFT, config.Z_MIN)
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print 'Theta edge left.'
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dummy = raw_input('Press any key to continue...')
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def test_pick_place(controller):
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dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 + math.pi/64 #medium gap
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# #dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 #small gap
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#dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 - math.pi/200#no gap
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# Initial: 1x2 left side
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#speed = 0.7
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speed = 0.2
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# buffer some params
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edge_left = config.THETA_EDGE_LEFT
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edge_right = config.THETA_EDGE_RIGHT
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r_startpick = 1.3
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r_endpick = 0.1
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z_endpick = 0.5
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vel = 0.2
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acc = 1.1*vel
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moves = []
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moves += controller.pick_block(1, config.THETA_EDGE_LEFT, 0, speed)
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moves += controller.place_block(0, dtheta_lvl0/2, 0, speed)
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moves += controller.pick_block(0, config.THETA_EDGE_LEFT, 0, speed)
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moves += controller.place_block(0, -dtheta_lvl0/2, 0, speed)
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controller.movels(moves, wait=False)
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moves.append(controller.blocklevel2move(0.5, 0, 0, acc, vel, 0))
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moves += controller.pick_block(1, edge_left, 0, acc, vel)
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moves += controller.place_block(0, 0, 0, acc, vel)
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moves += controller.pick_block(1, edge_right, 0, acc, vel)
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moves.append(controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 1, acc, vel)
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moves += controller.pick_block(0, edge_left, 0, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_left/2, 3, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 2, acc, vel)
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moves += controller.pick_block(0, edge_right, 0, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_right/2, 4, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 3, acc, vel)
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moves.append(controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
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dummy = raw_input("Press enter to start...")
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print 'Exectuting loop'
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controller.exec_moves(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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moves.reverse()
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controller.movels(moves, wait=True)
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# Shit is smooth!
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controller.exec_moves(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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def small_pyramid(controller):
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# Initial block placement.
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# On each side
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# (r0, edge, z0)
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# (r1, edge, z0)
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# (r0, edge, z1)
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print "Initial block placement."
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print "On each side"
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print "\t(r0, edge, z0)"
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print "\t(r1, edge, z0)"
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print "\t(r0, edge, z1)"
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dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 + math.pi/64 #medium gap
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speed = 0.2
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acc = config.ACCELERATION
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# buffer some params
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edge_left = config.THETA_EDGE_LEFT
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edge_right = config.THETA_EDGE_RIGHT
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r_startpick = 1.3
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r_endpick = 0.1
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z_endpick = 0.5
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vel = 0.2
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acc = 1.1*vel
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dtheta_lvl0 = config.BLOCK_DIM/config.R_LVL0 + math.pi/64 #medium gap
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moves = []
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# Pick left (r0, edge, z1), place in middle
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moves += controller.pick_block(0, config.THETA_EDGE_LEFT, 1, speed)
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tmp_pose = controller.blocklvl2pose(0.2, -dtheta_lvl0, 1.1)
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moves.append(tmp_pose + [acc, speed, 0.05])
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moves += controller.place_block(0, 0, 0, speed)
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moves.append(controller.blocklevel2move(0.5, 0, 0, acc, vel, 0)) #initial
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moves += controller.pick_block(0, edge_left, 1, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 0, acc, vel)
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# Pick left (r1, edge, z0), place left
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moves += controller.pick_block(1, config.THETA_EDGE_LEFT, 0, speed)
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tmp_pose = controller.blocklvl2pose(1.1, config.THETA_EDGE_LEFT+dtheta_lvl0, 0.5)
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moves.append(tmp_pose + [acc, speed, 0.05])
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moves += controller.place_block(0, -dtheta_lvl0, 0, speed)
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moves += controller.pick_block(0, edge_right, 1, acc, vel)
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moves.append(controller.blocklevel2move(0.1, (edge_right+dtheta_lvl0)/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, dtheta_lvl0, 0, acc, vel)
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# Pick right (r0, edge, z1), place right
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tmp_pose = controller.blocklvl2pose(1.3, config.THETA_EDGE_RIGHT-dtheta_lvl0, 1.2)
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moves.append(tmp_pose + [acc, speed, 0.05])
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#moves += controller.blocklvl2arc(1.3, config.THETA_EDGE_RIGHT - math.pi/16, 1, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_RIGHT, 1, speed)
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tmp_pose = controller.blocklvl2pose(0, config.THETA_EDGE_RIGHT-dtheta_lvl0, 1.2)
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moves.append(tmp_pose + [acc, speed, 0.03])
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moves += controller.place_block(0, dtheta_lvl0, 0, speed)
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moves.append(controller.blocklevel2move(1.1, (edge_left+dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
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moves += controller.pick_block(1, edge_left, 0, acc, vel)
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moves += controller.place_block(0, -dtheta_lvl0, 0, acc, vel)
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# Pick right (r1, edge, z0), place lvl1 right
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moves += controller.pick_block(1, config.THETA_EDGE_RIGHT, 0, speed)
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tmp_pose = controller.blocklvl2pose(1.1, config.THETA_EDGE_RIGHT-dtheta_lvl0, 1.1)
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moves.append(tmp_pose + [acc, speed, 0.03])
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moves += controller.place_block(0, 0.5*dtheta_lvl0, 1, speed)
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moves.append(controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
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moves += controller.pick_block(1, edge_right, 0, acc, vel)
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moves.append(controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, 0.5*dtheta_lvl0, 1, acc, vel)
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# Pick left (r0, edge, z0), place lvl1 left
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moves += controller.blocklvl2arc(1.3, config.THETA_EDGE_LEFT + math.pi/16, 0.1, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_LEFT, 0, speed)
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tmp_pose = controller.blocklvl2pose(0, config.THETA_EDGE_LEFT+dtheta_lvl0, 1.1)
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moves.append(tmp_pose + [acc, speed, 0.03])
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moves += controller.place_block(0, -0.5*dtheta_lvl0, 1, speed)
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moves += controller.pick_block(0, edge_left, 0, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, -0.5*dtheta_lvl0, 1, acc, vel)
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# Pick right (r0, edge, z0), place on top
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moves += controller.blocklvl2arc(1.3, config.THETA_EDGE_RIGHT - math.pi/16, 0, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_RIGHT, 0, speed)
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tmp_pose = controller.blocklvl2pose(0, config.THETA_EDGE_RIGHT-dtheta_lvl0, 2.1)
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moves.append(tmp_pose + [acc, speed, 0.03])
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moves += controller.place_block(0, 0, 2, speed)
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moves.append(controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
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moves += controller.pick_block(0, edge_right, 0, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_right/2, 3, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 2, acc, vel)
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# Execute moves
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controller.movels(moves, wait=False)
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moves.append(controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
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dummy = raw_input("Press enter to start...")
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print 'Exectuting loop'
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controller.exec_moves(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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moves.reverse()
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controller.movels(moves, wait=True)
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controller.exec_moves(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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def big_pyramid(controller):
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dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 + math.pi/64 #medium gap
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#dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 #small gap
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#dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 - math.pi/200#no gap
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# Initial block placement.
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# On each side
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# (r0, edge, z0)
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# (r1, edge, z0)
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# (r0, edge, z1)
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# (r1, edge, z1)
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# (r0, edge, z2)
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# (r1, edge, z2)
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speed = 0.2
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moves = []
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#move += controller.blocklvl2arc(0, config.THETA_EDGE_LEFT + math.pi/16, 1, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_LEFT, 1, speed) # Pick left (r0, edge, z1)
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moves += controller.place_block(0, -0.5*dtheta_lvl0, 0)
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moves += controller.pick_block(1, config.THETA_EDGE_LEFT, 0, speed) # Pick left (r1, edge, z0)
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moves += controller.place_block(0, -1.5*dtheta_lvl0, 0)
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moves += controller.blocklvl2arc(0.1, config.THETA_EDGE_RIGHT - math.pi/16, 1, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_RIGHT, 1, speed) # Pick right (r0, edge, z1)
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moves += controller.place_block(0, 0.5*dtheta_lvl0, 0)
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moves += controller.pick_block(1, config.THETA_EDGE_RIGHT, 0, speed) # Pick right (r1, edge, z0)
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moves += controller.place_block(0, 1.5*dtheta_lvl0, 0)
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def unit_tests(func_list, controller):
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running = True
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@ -345,7 +323,9 @@ if __name__ == '__main__':
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("Test unitary moves.", test_unitary_moves),
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("Test multi-directional moves", test_multi_moves),
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("Check loop constraints", check_loop_constraints),
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("Test URScript's movec", test_movec)
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("Test URScript's movec", test_movec),
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("Build four stories high", four_stories),
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("Build small pyramid", small_pyramid)
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]
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unit_tests(tests, controller)
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@ -272,11 +272,10 @@ class DemoController(object):
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return sum(map(abs, v)) > threshold
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def blocklevel2move(self, r_lvl, theta, z_lvl, acc=0.5, vel=0.1, r=0):
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# loop acc/vel
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def blocklevel2move(self, r_lvl, theta, z_lvl, acc, vel, blend):
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r = self.r_lvl0 - r_lvl*self.block_dim
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z = self.z_lvl0 + z_lvl*self.block_dim
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move = self.cylinder2cartesian(r, theta, z) + [acc, vel, r]
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move = self.cylinder2cartesian(r, theta, z) + [acc, vel, blend]
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return move
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