Update: in folded arm mode it can only see things on the left unless gripper moves down
@@ -96,6 +96,12 @@ def TransbotExecute(executions):
elif op == "^drop":
OpStop()
drop()
+ #to remember where it dropped the object, it needs to see it although arm is folded
+ right()
+ right()
+ right()
+ right()
+ right()
elif op == "^activate": #for later
None
elif op == "^deactivate": #for later
@@ -124,9 +130,9 @@ def TransbotPerceiveAt(obj, trans, rot):
NAR.AddInput("<(%s * %s) --> at>. :|:" % (obj, transXYrotZW))
def TransbotPerceiveVisual(obj, screenX, screenY, trans, rot):
- TransbotPerceiveAt(obj, trans, rot)
direction = "center" #640 -> 320 center
if screenX < 320-centerSize:
+ TransbotPerceiveAt(obj, trans, rot) #TODO improve
direction = "left"
elif screenX > 320+centerSize:
direction = "right"
@@ -150,7 +156,7 @@ def reset_ona():
#you need to ask the map in order to localize an object
NAR.AddInput("<(tick &/ <({SELF} * $obj) --> ^remember>) =/> <$obj --> [localized]>>.")
#once it's localized, and the location at the map is known, go to the location in order to see the object
- NAR.AddInput("<((<$obj --> [localized]> &/ <($obj * #location) --> at>) &/ <({SELF} * #location) --> ^goto>) =/> <$obj --> [see]>>.")
+ NAR.AddInput("<((<$obj --> [localized]> &/ <($obj * #location) --> at>) &/ <({SELF} * #location) --> ^goto>) =/> <$obj --> [left]>>.")
#NAR.AddInput("<(a &/ ^forward) =/> G>.")
#NAR.AddInput("a. :|:")
#for i in range(50):
