API tools faq
paste
Advertisement
Guest User

totototototottotodsfgvfg

a guest
Jun 13th, 2017
148
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 14.37 KB | None | 0 0
raw download clone embed print report
  1. from naoqi import ALProxy
  2. import scipy.io.wavfile as wave
  3. from numpy import NaN, Inf, arange, isscalar, asarray, array, size
  4. import time
  5. import sys
  6. import os
  7. import pysftp
  8. import numpy
  9.  
  10.  
  11. #record = ALProxy("ALAudioRecorder", "169.254.28.144", 9559)
  12. #record = None
  13.  
  14. def soundRecord(robot_IP, robot_PORT=9559, temp=5):
  15. global record
  16. record = ALProxy("ALAudioRecorder", "169.254.28.144", 9559)
  17. record_path = '/home/nao/danseavec.wav'
  18. record.stopMicrophonesRecording()
  19. record.startMicrophonesRecording(record_path, 'wav', 16000, (1,0,0,0))
  20. time.sleep(temp)
  21. record.stopMicrophonesRecording()
  22.  
  23. def peakdet(v, delta, x = None):
  24.  
  25. maxtab = []
  26. mintab = []
  27.  
  28. if x is None:
  29. x = arange(len(v))
  30.  
  31. v = asarray(v)
  32.  
  33. if len(v) != len(x):
  34. sys.exit('Input vectors v and x must have same length')
  35.  
  36. if not isscalar(delta):
  37. sys.exit('Input argument delta must be a scalar')
  38.  
  39. if delta <= 0:
  40. sys.exit('Input argument delta must be positive')
  41.  
  42. mn, mx = Inf, -Inf
  43. mnpos, mxpos = NaN, NaN
  44.  
  45. lookformax = True
  46.  
  47. for i in arange(len(v)):
  48. this = v[i]
  49. if this > mx:
  50. mx = this
  51. mxpos = x[i]
  52. if this < mn:
  53. mn = this
  54. mnpos = x[i]
  55.  
  56. if lookformax:
  57. if this < mx-delta:
  58. maxtab.append((mxpos, mx))
  59. mn = this
  60. mnpos = x[i]
  61. lookformax = False
  62.  
  63. else:
  64. if this > mn+delta:
  65. mintab.append((mnpos, mn))
  66. mx = this
  67. mxpos = x[i]
  68. lookformax = True
  69.  
  70. return array(maxtab)
  71.  
  72. def moveUp(T, N, givenPos):
  73. names = ['RShoulderPitch', 'LShoulderPitch','RShoulderRoll', 'LShoulderRoll', 'RElbowRoll','LElbowRoll', 'RElbowYaw', 'LElbowYaw', 'RWristYaw', 'LWristYaw', 'RHand', 'LHand', 'RHipYawPitch', 'LHipYawPitch', 'RHipRoll', 'LHipRoll', 'RHipPitch', 'LHipPitch', 'RKneePitch', 'LKneePitch', 'RAnklePitch', 'LAnklePitch', 'RAnkleRoll', 'LAnkleRoll', 'HeadPitch','HeadYaw']
  74. nbPoses = len(givenPos)
  75. nbMoteur = len(names)
  76. temps = list()
  77. tableTemps = list()
  78. for i in range (N):
  79. temps.append((i+1)*T)
  80. for i in range(nbMoteur):
  81. tableTemps.append(temps)
  82. allPos = list()
  83. j=0
  84. for i in range(N):
  85. if j == nbPoses:
  86. j = 0
  87. allPos.append(givenPos[j])
  88. j = j+1
  89. allPos = zip(*allPos)
  90. motionProxy.angleInterpolationBezier(names, tableTemps, allPos)
  91. pass
  92.  
  93. def debout():
  94. f = open("/home/nao/deboutDegre.txt", "r")
  95. lignes = f.readlines()
  96. pos = list()
  97. for L in lignes[1:]:
  98. L = L.split(',')
  99. for i in range(len(L)):
  100. L[i] = float(L[i])*(pi/180)
  101. pos.append(L)
  102. f.close()
  103. moveUp(p,1,pos)
  104. pass
  105.  
  106. def analyseSon(ipp, port, temp=5):
  107. soundRecord(ipp, port, temp)
  108.  
  109. curdir = os.getcwd()
  110. dir = curdir + '/audio/danseavec.wav'
  111. with pysftp.Connection('169.254.28.144', username = 'nao', password = 'stark') as sftp :
  112. sftp.get('/home/nao/danseavec.wav', dir)
  113.  
  114. rate,data = wave.read('/home/eleve/Bureau/audio/danseavec.wav')
  115. #print rate
  116. #print data
  117. if len(data) != size(data) :
  118. data=data[:,0]
  119.  
  120.  
  121. Debut = 0
  122. duree = 5
  123. N = duree*rate
  124. zzrot = data[ Debut : N + Debut]
  125.  
  126. fvi = numpy.fft.fft(zzrot, n=2*N)
  127. acf = numpy.real( numpy.fft.ifft( fvi * numpy.conjugate(fvi) )[:N] )
  128. acf = acf/N
  129.  
  130.  
  131. acfcarre=acf*acf
  132.  
  133.  
  134. moy = 2000
  135.  
  136. rate1 = rate / moy
  137. ajf = []
  138. count = 0
  139. ajfa = 0
  140. while size(ajf) != size (acfcarre) / moy :
  141. for it in range (moy) :
  142. ajfa = acfcarre[it+count*moy] + ajfa
  143. ajf = ajf + [ajfa]
  144.  
  145. ajfa = 0
  146. count = count + 1
  147.  
  148.  
  149. ajf=ajf/ajf[0] * 100
  150. axex = numpy.arange(size(ajf))/rate1
  151. Npic=len(peakdet(ajf, 0.1, axex))
  152. TPP = Npic / duree
  153. return TPP
  154.  
  155.  
  156. while True :
  157. ipp = "169.254.28.144"
  158. port = 9559
  159. temp = 5
  160. TPP = analyseSon(ipp, port, temp)
  161. print TPP
  162.  
  163. if len(sys.argv) < 2:
  164. print("veuillez passer une ip en cli")
  165. sys.exit(1)
  166.  
  167. ip = sys.argv[1]
  168. postureProxy = ALProxy("ALRobotPosture", ipp, port)
  169. postureProxy.goToPosture("Stand", 0.5)
  170. motionProxy = ALProxy ("ALMotion", ipp, port)
  171.  
  172. TPP= analyseSon(ipp, port)
  173.  
  174. motionProxy=ALProxy("ALMotion")
  175. self.framemanager = ALProxy("ALFrameManager")
  176.  
  177. #0 0
  178. #-1 1
  179. #1 -1
  180. #1 -1
  181. #1 1
  182. #f = open("C:\Users\comte\Documents\ISEP\Cours\NaoDance\NaoDanceMouvement\balanceTete.txt", "r")
  183.  
  184.  
  185. f = open("/home/nao/poseStable1degre.txt", "r")
  186. lignes = f.readlines()
  187. pos = list()
  188. for L in lignes[1:]:
  189. L = L.split(',')
  190. for i in range(len(L)):
  191. L[i] = float(L[i])*(pi/180)
  192. pos.append(L)
  193. f.close()
  194. moveUp(TPP,4,pos)
  195. debout()
  196.  
  197. TPP= analyseSon(ipp, port)
  198.  
  199. f = open("/home/nao/poseStable2degre.txt", "r")
  200. lignes = f.readlines()
  201. pos = list()
  202. for L in lignes[1:]:
  203. L = L.split(',')
  204. for i in range(len(L)):
  205. L[i] = float(L[i])*(pi/180)
  206. pos.append(L)
  207. f.close()
  208. moveUp(TPP,4,pos)
  209. debout()
  210.  
  211. TPP= analyseSon(ipp, port)
  212.  
  213. f = open("/home/nao/hanches.txt", "r")
  214. lignes = f.readlines()
  215. pos = list()
  216. for L in lignes[1:]:
  217. L = L.split(',')
  218. for i in range(len(L)):
  219. L[i] = float(L[i])#*(pi/180)
  220. pos.append(L)
  221. f.close()
  222. moveUp(TPP,4,pos)
  223. debout()
  224.  
  225. TPP= analyseSon(ipp, port)
  226.  
  227. f = open("/home/nao/discodegre.txt", "r")
  228. lignes = f.readlines()
  229. pos = list()
  230. for L in lignes[1:]:
  231. L = L.split(',')
  232. for i in range(len(L)):
  233. L[i] = float(L[i])#*(pi/180)
  234. pos.append(L)
  235. f.close()
  236. moveUp(TPP,4,pos)
  237. debout()
  238.  
  239.  
  240.  
  241. # ##COUDES EN L'AIR GAUCHE
  242. #
  243. # names = ['RElbowRoll' ,'RShoulderRoll','LShoulderRoll','LElbowRoll','RShoulderPitch','LShoulderPitch','RElbowYaw', 'LElbowYaw', 'HeadYaw', 'HeadPitch']
  244. # times = [[x],[x],[x],[x],[x],[x],[x],[x],[x],[x]]
  245. #
  246. # for i in range (4):
  247. # motionProxy.angleInterpolation(names,[1.15,-1.13,1.17,-1.18,1.6,1.6,0.13,-0.13,1.45,-0.28],times, True)
  248. # motionProxy.angleInterpolation(names,[0.045,-0.045,-0.06,-0.04537,1.6,1.6,0.13,-0.13,1.45,0.21],times, True)
  249. #
  250. #
  251. #
  252. # ##COUDES EN L'AIR DROITE
  253. #
  254. #
  255. # names = ['RElbowRoll' ,'RShoulderRoll','LShoulderRoll','LElbowRoll','RShoulderPitch','LShoulderPitch','RElbowYaw', 'LElbowYaw', 'HeadYaw', 'HeadPitch']
  256. # times = [[x],[x],[x],[x],[x],[x],[x],[x],[x],[x]]
  257. #
  258. # for i in range (4):
  259. # motionProxy.angleInterpolation(names,[1.15,-1.13,1.17,-1.18,1.6,1.6,0.13,-0.13,-1.45,-0.28],times, True)
  260. # motionProxy.angleInterpolation(names,[0.045,-0.045,-0.06,-0.04537,1.6,1.6,0.13,-0.13,-1.45,0.21],times, True)
  261. #
  262. #
  263. # ##DAB
  264. # BPM = analyseSon()
  265. # x=BPM/100
  266. #
  267. # names = ['RElbowRoll' ,'RShoulderRoll','RShoulderPitch','RElbowYaw','LShoulderPitch','LShoulderRoll','LElbowYaw','HeadPitch','HeadYaw','LHipPitch','RHipPitch','LKneePitch','RKneePitch','LAnklePitch','RAnklePitch']
  268. # times = [[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x]]
  269. #
  270. # for i in range (2):
  271. # motionProxy.angleInterpolation(names,[0.035,-0.28,0.91,-0.4,1.2,0,-0.17,-0.21,0,0,0,0,0,0,0],times, True)
  272. # motionProxy.angleInterpolation(names,[1.38,0.28,0.4,0.47,1.11,1.3,2.08,0.51,-0.4,-0.994,-0.994,1.24,1.24,-0.49,-0.49],times, True)
  273. # motionProxy.angleInterpolation(names,[0.035,-0.28,0.91,-0.4,1.2,0,-0.17,-0.21,0,0,0,0,0,0,0],times, True)
  274. #
  275. # ##COUCOU
  276. #
  277. # BPM = analyseSon()
  278. # x=BPM/100
  279. #
  280. # names = ['RElbowRoll' ,'RShoulderRoll','LShoulderRoll','LElbowRoll','RShoulderPitch','LShoulderPitch','RElbowYaw', 'LElbowYaw',]
  281. # times = [[3*x],[3*x],[3*x],[3*x],[3*x],[3*x],[3*x],[3*x]]
  282. #
  283. # for i in range (2):
  284. # motionProxy.angleInterpolation(names,[0.98,-0.07,1.1,-0.05,-1.46,-1.6,0,0],times, True)
  285. # motionProxy.angleInterpolation(names,[0.034,-1.06,-0.07,-1,-1.6,-1.6,0,0],times, True)
  286. #
  287. #
  288. # ##GENOU
  289. #
  290. # BPM = analyseSon()
  291. # x=BPM/100
  292. #
  293. # names = ['RElbowRoll' ,'RShoulderRoll','RShoulderPitch','RElbowYaw','LElbowRoll','LShoulderRoll','LShoulderPitch','LElbowYaw','RAnklePitch','LAnklePitch', 'LKneePitch', 'RKneePitch','LHipPitch','RHipPitch']
  294. # times = [[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x]]
  295. #
  296. # for i in range (4):
  297. # motionProxy.angleInterpolation(names,[1.45,0.23,0,0,-1.33,-0.07,0.87,-0.2,0.09,0.09,-0.09,-0.09,0.13,0.13],times, True)
  298. # motionProxy.angleInterpolation(names,[1.45,0.23,0,0,-1.33,-0.07,0.87,-0.2,-0.63,-0.63,1.3,1.3,-0.43,-0.43],times, True)
  299. # motionProxy.angleInterpolation(names,[1.45,0.23,0,0,-1.33,-0.07,0.87,-0.2,0.09,0.09,-0.09,-0.09,0.13,0.13],times, True)
  300. #
  301. # ##petits mouvements bras
  302. #
  303. # BPM = analyseSon()
  304. # x=BPM/100
  305. #
  306. # names = ['RElbowRoll' ,'LElbowRoll', 'RShoulderRoll','LShoulderRoll','RShoulderPitch','LShoulderPitch','HeadYaw']
  307. # times = [[x],[x],[x],[x],[x],[x],[x]]
  308. #
  309. # for i in range (8):
  310. # motionProxy.angleInterpolation(names,[0.65,-0.65,0.14,-0.14,0.3,0.71,-0.46],times, True)
  311. # motionProxy.angleInterpolation(names,[0.65,-0.65,0.14,-0.14,0.71,0.3,0.46],times, True)
  312. #
  313. # ##BRAS EN L'AIR
  314. # BPM = analyseSon()
  315. # x=BPM/100
  316. #
  317. # names = ['RElbowRoll' ,'LElbowRoll', 'RShoulderRoll','LShoulderRoll','RShoulderPitch','LShoulderPitch','HeadPitch']
  318. # times = [[3*x],[3*x],[3*x],[3*x],[3*x],[3*x],[3*x]]
  319. #
  320. # for i in range (4):
  321. # motionProxy.angleInterpolation(names,[0.06,-0.16,0.29,-0.28,0.84,0.84,0.36],times, True)
  322. # motionProxy.angleInterpolation(names,[-0.07,0.04,0.17,-0.14,-1.5,-1.5,-0.44],times, True)
  323. # motionProxy.angleInterpolation(names,[0.06,-0.16,0.29,-0.28,0.84,0.84,0.36],times, True)
  324. #
  325. #
  326. #
  327. # time.sleep(10)
  328. #
  329. #
  330. #
  331. #
  332. #
  333. #
  334. #port = 9559
  335. #if len(sys.argv) < 2:
  336. # print("veuillez passer une ip en cli")
  337. # sys.exit(1)
  338. #
  339. #ip = sys.argv[1]
  340. #
  341. #postureProxy = ALProxy("ALRobotPosture", ip, 9559)
  342. #postureProxy.goToPosture("Stand", 0.5)
  343. #motionProxy = ALProxy ("ALMotion", ip, 9559)
  344. #
  345. #
  346. #x = BPS
  347. #
  348. # ##COUDES EN L'AIR GAUCHE
  349. #
  350. #names = ['RElbowRoll' ,'RShoulderRoll','LShoulderRoll','LElbowRoll','RShoulderPitch','LShoulderPitch','RElbowYaw', 'LElbowYaw', 'HeadYaw', 'HeadPitch']
  351. #times = [[x],[x],[x],[x],[x],[x],[x],[x],[x],[x]]
  352. #
  353. #for i in range (4):
  354. # motionProxy.angleInterpolation(names,[1.15,-1.13,1.17,-1.18,1.6,1.6,0.13,-0.13,1.45,-0.28],times, True)
  355. # motionProxy.angleInterpolation(names,[0.045,-0.045,-0.06,-0.04537,1.6,1.6,0.13,-0.13,1.45,0.21],times, True)
  356. #
  357. #
  358. #
  359. # ##COUDES EN L'AIR DROITE
  360. #
  361. #
  362. #
  363. #names = ['RElbowRoll' ,'RShoulderRoll','LShoulderRoll','LElbowRoll','RShoulderPitch','LShoulderPitch','RElbowYaw', 'LElbowYaw', 'HeadYaw', 'HeadPitch']
  364. #times = [[x],[x],[x],[x],[x],[x],[x],[x],[x],[x]]
  365. #
  366. #for i in range (4):
  367. # motionProxy.angleInterpolation(names,[1.15,-1.13,1.17,-1.18,1.6,1.6,0.13,-0.13,-1.45,-0.28],times, True)
  368. # motionProxy.angleInterpolation(names,[0.045,-0.045,-0.06,-0.04537,1.6,1.6,0.13,-0.13,-1.45,0.21],times, True)
  369. #
  370. #
  371. # ##DAB
  372. #
  373. #names = ['RElbowRoll' ,'RShoulderRoll','RShoulderPitch','RElbowYaw','LShoulderPitch','LShoulderRoll','LElbowYaw','HeadPitch','HeadYaw','LHipPitch','RHipPitch','LKneePitch','RKneePitch','LAnklePitch','RAnklePitch']
  374. #times = [[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x]]
  375. #
  376. #for i in range (2):
  377. # motionProxy.angleInterpolation(names,[0.035,-0.28,0.91,-0.4,1.2,0,-0.17,-0.21,0,0,0,0,0,0,0],times, True)
  378. # motionProxy.angleInterpolation(names,[1.38,0.28,0.4,0.47,1.11,1.3,2.08,0.51,-0.4,-0.994,-0.994,1.24,1.24,-0.49,-0.49],times, True)
  379. # motionProxy.angleInterpolation(names,[0.035,-0.28,0.91,-0.4,1.2,0,-0.17,-0.21,0,0,0,0,0,0,0],times, True)
  380. #
  381. # ##COUCOU
  382. #
  383. #
  384. #names = ['RElbowRoll' ,'RShoulderRoll','LShoulderRoll','LElbowRoll','RShoulderPitch','LShoulderPitch','RElbowYaw', 'LElbowYaw',]
  385. #times = [[3*x],[3*x],[3*x],[3*x],[3*x],[3*x],[3*x],[3*x]]
  386. #
  387. #for i in range (4):
  388. # motionProxy.angleInterpolation(names,[0.98,-0.07,1.1,-0.05,-1.46,-1.6,0,0],times, True)
  389. # motionProxy.angleInterpolation(names,[0.034,-1.06,-0.07,-1,-1.6,-1.6,0,0],times, True)
  390. #
  391. #
  392. # ##GENOU
  393. #
  394. #
  395. #names = ['RElbowRoll' ,'RShoulderRoll','RShoulderPitch','RElbowYaw','LElbowRoll','LShoulderRoll','LShoulderPitch','LElbowYaw','RAnklePitch','LAnklePitch', 'LKneePitch', 'RKneePitch','LHipPitch','RHipPitch']
  396. #times = [[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x],[2*x]]
  397. #
  398. #for i in range (8):
  399. # motionProxy.angleInterpolation(names,[1.45,0.23,0,0,-1.33,-0.07,0.87,-0.2,0.09,0.09,-0.09,-0.09,0.13,0.13],times, True)
  400. # motionProxy.angleInterpolation(names,[1.45,0.23,0,0,-1.33,-0.07,0.87,-0.2,-0.63,-0.63,1.3,1.3,-0.43,-0.43],times, True)
  401. # motionProxy.angleInterpolation(names,[1.45,0.23,0,0,-1.33,-0.07,0.87,-0.2,0.09,0.09,-0.09,-0.09,0.13,0.13],times, True)
  402. #
  403. # ##petits mouvements bras
  404. #
  405. #names = ['RElbowRoll' ,'LElbowRoll', 'RShoulderRoll','LShoulderRoll','RShoulderPitch','LShoulderPitch','HeadYaw']
  406. #times = [[x],[x],[x],[x],[x],[x],[x]]
  407. #
  408. #for i in range (8):
  409. # motionProxy.angleInterpolation(names,[0.65,-0.65,0.14,-0.14,0.3,0.71,-0.46],times, True)
  410. # motionProxy.angleInterpolation(names,[0.65,-0.65,0.14,-0.14,0.71,0.3,0.46],times, True)
  411. #
  412. # ##BRAS EN L'AIR
  413. #
  414. #
  415. #names = ['RElbowRoll' ,'LElbowRoll', 'RShoulderRoll','LShoulderRoll','RShoulderPitch','LShoulderPitch','HeadPitch']
  416. #times = [[3*x],[3*x],[3*x],[3*x],[3*x],[3*x],[3*x]]
  417. #
  418. #for i in range (4):
  419. # motionProxy.angleInterpolation(names,[0.06,-0.16,0.29,-0.28,0.84,0.84,0.36],times, True)
  420. # motionProxy.angleInterpolation(names,[-0.07,0.04,0.17,-0.14,-1.5,-1.5,-0.44],times, True)
  421. # motionProxy.angleInterpolation(names,[0.06,-0.16,0.29,-0.28,0.84,0.84,0.36],times, True)
  422. #
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!