Note

Hello, welcome to the SunFounder Raspberry Pi & Arduino & ESP32 Enthusiasts Community on Facebook! Dive deeper into Raspberry Pi, Arduino, and ESP32 with fellow enthusiasts.

Why Join?

Expert Support: Solve post-sale issues and technical challenges with help from our community and team.
Learn & Share: Exchange tips and tutorials to enhance your skills.
Exclusive Previews: Get early access to new product announcements and sneak peeks.
Special Discounts: Enjoy exclusive discounts on our newest products.
Festive Promotions and Giveaways: Take part in giveaways and holiday promotions.

👉 Ready to explore and create with us? Click [here] and join today!

13. Emotional Robot

This example shows several interesting custom actions of PiCrawler.

Run the Code

cd ~/picrawler/examples
sudo python3 13_emotional_robot.py

After running the program, the robot first stands up slowly to reach a stable posture.

It then performs a series of motions, including swimming-like movements, push-ups, waving gestures with the front legs, and a twisting dance. These actions are executed sequentially, creating a dynamic and expressive behavior.

If Ctrl+C is pressed, the program exits safely and the robot returns to a sitting position.

Code

Note

You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like picrawler\examples. After modifying the code, you can run it directly to see the effect.

from picrawler import Picrawler
from time import sleep

crawler = Picrawler()


def get_sit_step():
    # Get a valid sit step used as the base pose for hand actions
    try:
        return crawler.move_list['sit'][0]
    except Exception:
        return None


def handwork(speed):
    base = get_sit_step()

    # If a valid sit step cannot be retrieved, just perform a sit action
    if not base or len(base) < 4:
        crawler.do_step('sit', speed)
        sleep(0.6)
        return

    # Generate hand poses by modifying the sit step
    left_hand = crawler.mix_step(base, 0, [0, 50, 80])
    right_hand = crawler.mix_step(base, 1, [0, 50, 80])
    two_hand = crawler.mix_step(left_hand, 1, [0, 50, 80])

    crawler.do_step('sit', speed)
    sleep(0.6)

    crawler.do_step(left_hand, speed)
    sleep(0.6)

    crawler.do_step(two_hand, speed)
    sleep(0.6)

    crawler.do_step(right_hand, speed)
    sleep(0.6)

    crawler.do_step('sit', speed)
    sleep(0.6)

def twist(speed):
    # Initialize the base position for all four legs
    new_step = [[50, 50, -80], [50, 50, -80], [50, 50, -80], [50, 50, -80]]

    # Create a twisting motion by alternating rise and drop movements
    for i in range(4):
        for inc in range(30, 60, 5):
            rise = [50, 50, (-80 + inc * 0.5)]
            drop = [50, 50, (-80 - inc)]

            new_step[i] = rise
            new_step[(i + 2) % 4] = drop
            new_step[(i + 1) % 4] = rise
            new_step[(i - 1) % 4] = drop

            crawler.do_step(new_step, speed)
            sleep(0.02)

def pushup(speed):
    # Two poses used to simulate a push-up motion
    up = [[80, 0, -100], [80, 0, -100], [0, 120, -60], [0, 120, -60]]
    down = [[80, 0, -30], [80, 0, -30], [0, 120, -60], [0, 120, -60]]

    crawler.do_step(up, speed)
    sleep(0.6)

    crawler.do_step(down, speed)
    sleep(0.6)

def swimming(speed, loops=100):
    # Simulate a swimming-like motion by gradually adjusting leg coordinates
    for i in range(loops):
        crawler.do_step(
            [
                [100 - i, i, 0],
                [100 - i, i, 0],
                [0, 120, -60 + i / 5],
                [0, 100, -40 - i / 5]
            ],
            speed
        )
        sleep(0.01)

def main():
    speed = 100

    try:
        # Stand up slowly before performing actions
        crawler.do_step('stand', 40)
        sleep(1.0)

        swimming(speed)
        pushup(speed)
        handwork(speed)
        twist(speed)

    except KeyboardInterrupt:
        print("\nCtrl+C detected, exiting...")

    finally:
        # Return to a sitting posture before exiting
        try:
            crawler.do_step('sit', 40)
            sleep(1.0)
        except Exception:
            pass

if __name__ == "__main__":
    main()

How it works?

When the program starts, the robot first stands up slowly to reach a stable posture.
```
crawler.do_step('stand', 40)
sleep(1.0)
```
After standing, the program executes several predefined motions in sequence.

Swimming Motion

The robot performs a swimming-like movement by gradually adjusting the leg coordinates.

for i in range(loops):
    crawler.do_step([
        [100-i, i, 0],
        [100-i, i, 0],
        [0,120,-60+i/5],
        [0,100,-40-i/5]
    ], speed)

Push-up Motion

Two poses are defined to simulate a push-up movement.

up = [[80,0,-100],[80,0,-100],[0,120,-60],[0,120,-60]]
down = [[80,0,-30],[80,0,-30],[0,120,-60],[0,120,-60]]

crawler.do_step(up, speed)
crawler.do_step(down, speed)

Handwork Motion

The program modifies the coordinates of the front legs using mix_step() to create a waving gesture.
```
left_hand = crawler.mix_step(base,0,[0,50,80])
right_hand = crawler.mix_step(base,1,[0,50,80])
```

Twist Motion

The robot twists its body by raising and lowering diagonal legs.

rise = [50,50,(-80+inc*0.5)]
drop = [50,50,(-80-inc)]
crawler.do_step(new_step, speed)

If Ctrl+C is pressed, the program exits safely and the robot returns to a sitting position.
```
crawler.do_step('sit', 40)
```