.. note::
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.. _py_action_gallery:
14. Galería de acciones
=========================
Este ejemplo proporciona un menú interactivo que le permite activar una
variedad de acciones preprogramadas para PiCrawler, incluyendo saludar,
estrechar la mano, luchar, asentir con la cabeza, hacer flexiones y más.
**Ejecutar el código**
.. raw:: html
.. code-block::
cd ~/picrawler/examples
sudo python3 14_action_gallery.py
Después de ejecutar el programa, se imprime una lista numerada de las acciones
disponibles en el terminal. Escriba el número de la acción que desee y presione
**Enter** para ejecutarla. Presione **Enter** de nuevo para repetir la última
acción.
Si se presiona **Ctrl+C**, el programa sale de forma segura y el robot vuelve
a la posición sentada.
**Código**
.. note::
Puede **Modificar/Restablecer/Copiar/Ejecutar/Detener** el código siguiente.
Pero antes, debe ir a la ruta del código fuente como ``picrawler\examples``.
Después de modificar el código, puede ejecutarlo directamente para ver el efecto.
.. raw:: html
.. code-block:: python
from time import sleep
BODY_LENGTH = 77
BODY_WIDTH = 77
BODY_DIAGONAL = 108.9
DELTA = 45
def sit(spider):
spider.do_action('sit', speed=40)
def stand(spider):
spider.do_action('stand', speed=40)
def look_up(spider):
coords = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
[[45, 45, -76], [45, 0, -76], [45, 0, -38], [45, 45, -30]],
]
for coord in coords:
spider.do_step(coord, 60)
def look_down(spider):
coords = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
[[45, 45, -28], [45, 0, -40], [45, 0, -68], [45, 45, -76]],
]
for coord in coords:
spider.do_step(coord, 60)
def dance(spider):
spider.do_action('dance', speed=60)
def wave_hand(spider):
coords = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
# wave hand
[[45, 45, -70], [60, 0, 120], [45, 0, -60], [45, 45, -30]],
[[45, 45, -70], [-20, 60, 120], [45, 0, -60], [45, 45, -30]],
[[45, 45, -70], [60, 0, 120], [45, 0, -60], [45, 45, -30]],
[[45, 45, -70], [-20, 60, 120], [45, 0, -60], [45, 45, -30]],
# return to stand
[[45, 45, -50], [45, 0, -30], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 0, -40], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in coords:
spider.do_step(coord, 58)
def shake_hand(spider):
coords = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
# shake hand
[[45, 45, -65], [5, 280, 80], [45, 0, -60], [45, 45, -40]],
[[45, 45, -65], [5, 280, 100], [45, 0, -60], [45, 45, -40]],
[[45, 45, -65], [5, 280, -10], [45, 0, -60], [45, 45, -40]],
[[45, 45, -65], [5, 280, 100], [45, 0, -60], [45, 45, -40]],
[[45, 45, -65], [5, 280, -10], [45, 0, -60], [45, 45, -40]],
[[45, 45, -65], [5, 280, 100], [45, 0, -60], [45, 45, -40]],
[[45, 45, -65], [5, 280, -10], [45, 0, -60], [45, 45, -40]],
[[45, 45, -65], [5, 100, 10], [45, 0, -60], [45, 45, -40]],
[[45, 45, -65], [5, 100, 10], [45, 0, -60], [45, 45, -40]],
# return to stand
[[45, 45, -50], [45, 0, -30], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 0, -40], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in coords:
spider.do_step(coord, 52)
def fighting(spider):
ready = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
# fighting ready
[[45, 45, -40], [45, 0, -40], [50, 20, -20], [45, 45, -50]],
[[45, 45, -40], [45, 0, -40], [40, 20, -45], [45, 45, -50]],
[[45, 45, -40], [45, 0, -40], [60, 40, -60], [45, 45, -40]],
#
[[45, 45, -40], [45, 30, -30], [60, 40, -60], [45, 45, -40]],
[[45, 45, -30], [45, 30, -30], [60, 40, -60], [60, 40, -60]],
]
twist_butt = [
# twist butt
[[55, 7, -30], [19, 48, -30], [77, 12, -60], [36, 63, -60]],
[[19, 48, -30], [55, 7, -30], [36, 63, -60], [77, 12, -60]],
#
[[55, 7, -30], [19, 48, -30], [77, 12, -60], [36, 63, -60]],
[[19, 48, -30], [55, 7, -30], [36, 63, -60], [77, 12, -60]],
#
[[40, 30, -30], [40, 30, -30], [60, 40, -60], [60, 40, -60]],
# shrink
[[40, 50, -30], [40, 50, -30], [60, 20, -60], [60, 20, -60]],
]
pounce_bite = [
[[40, 40, -60], [20, 60, 110], [60, 60, -60], [60, 60, -60]],
[[40, 40, -40], [20, 30, -40], [60, 60, -60], [60, 60, -60]],
[[20, 60, 110], [20, 30, -60], [60, 60, -60], [60, 60, -60]],
[[20, 30, -40], [20, 30, -40], [60, 60, -60], [60, 60, -60]],
]
return_stand = [
[[45, 45, -50], [45, 0, -30], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 0, -40], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in ready:
spider.do_step(coord, 50)
for coord in twist_butt:
spider.do_step(coord, 52)
sleep(0.2)
for coord in pounce_bite:
spider.do_step(coord, 40)
sleep(0.1)
sleep(1)
for coord in return_stand:
spider.do_step(coord, 52)
def excited(spider):
coords = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
#
[[45, 45, -30], [45, 0, -30], [45, 0, -30], [45, 45, -30]],
[[45, 45, -80], [45, 0, -80], [45, 0, -80], [45, 45, -80]],
[[45, 45, -30], [45, 0, -30], [45, 0, -30], [45, 45, -30]],
[[45, 45, -80], [45, 0, -80], [45, 0, -80], [45, 45, -80]],
[[45, 45, -30], [45, 0, -30], [45, 0, -30], [45, 45, -30]],
[[45, 45, -80], [45, 0, -80], [45, 0, -80], [45, 45, -80]],
#
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in coords:
spider.do_step(coord, 40)
sleep(0.08)
def play_dead(spider):
sit = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
#
[[45, 45, -10], [45, 0, -10], [45, 0, -10], [45, 45, -10]],
]
play_dead = [
[[45, 45, 100], [45, 45, 100], [45, 45, 100], [45, 45, 100]],
#
[[45, 35, 60], [35, 45, 80], [35, 45, 80], [45, 35, 60]],
[[35, 45, 80], [45, 35, 60], [45, 35, 60], [35, 45, 80]],
[[45, 35, 60], [35, 45, 80], [35, 45, 80], [45, 35, 60]],
[[35, 45, 80], [45, 35, 60], [45, 35, 60], [35, 45, 80]],
[[45, 35, 60], [35, 45, 80], [35, 45, 80], [45, 35, 60]],
[[35, 45, 80], [45, 35, 60], [45, 35, 60], [35, 45, 80]],
[[45, 35, 60], [35, 45, 80], [35, 45, 80], [45, 35, 60]],
[[35, 45, 80], [45, 35, 60], [45, 35, 60], [35, 45, 80]],
[[45, 35, 60], [35, 45, 80], [35, 45, 80], [45, 35, 60]],
[[35, 45, 80], [45, 35, 60], [45, 35, 60], [35, 45, 80]],
#
[[45, 45, 100], [45, 45, 100], [45, 45, 100], [45, 45, 100]],
]
return_stand = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in sit:
spider.do_step(coord, 60)
for coord in play_dead:
spider.do_step(coord, 55)
for coord in return_stand:
spider.do_step(coord, 60)
def nod(spider):
stand = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
nod = [
[[45, 45, -80], [45, 0, -50], [45, 0, -20], [45, 45, -30]],
[[45, 45, -20], [45, 0, -36], [45, 20, -52], [40, 20, -80]],
[[45, 45, -80], [45, 0, -50], [45, 0, -20], [45, 45, -30]],
[[45, 45, -20], [45, 0, -36], [45, 20, -52], [40, 20, -80]],
[[45, 45, -80], [45, 0, -50], [45, 0, -20], [45, 45, -30]],
]
return_stand = [
[[45, 45, -80], [45, 0, -50], [45, 0, -40], [45, 45, -40]],
[[45, 45, -60], [45, 0, -50], [45, 0, -40], [45, 45, -40]],
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in stand:
spider.do_step(coord, 60)
for coord in nod:
spider.do_step(coord, 45)
sleep(.2)
for coord in return_stand:
spider.do_step(coord, 50)
sleep(1)
def shake_head(spider):
ready = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 20, -50], [45, 45, -50]],
[[45, 45, -50], [45, 20, -30], [45, 20, -50], [45, 45, -50]],
[[45, 45, -50], [45, 45, -50], [45, 20, -50], [45, 45, -50]],
]
twist_butt = [
# twist butt
[[55, 7, -50], [19, 48, -50], [77, 12, -50], [36, 63, -50]],
[[19, 48, -50], [55, 7, -50], [36, 63, -50], [77, 12, -50]],
#
[[51, 15, -50], [27, 43, -50], [72, 22, -50], [45, 56, -50]],
[[27, 43, -50], [51, 15, -50], [45, 56, -50], [72, 22, -50]],
#
[[45, 45, -50], [45, 45, -50], [45, 45, -50], [45, 45, -50]],
]
return_stand = [
[[45, 45, -50], [45, 20, -30], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in ready:
spider.do_step(coord, 50)
for coord in twist_butt:
spider.do_step(coord, 58)
sleep(.5)
for coord in return_stand:
spider.do_step(coord, 52)
def look_left(spider):
stand = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
look_left = [
[[45, 0, -50], [45, 45, -50], [45, 45, -50], [45, 0, -50]],
[[0, 45, -50], [45, 45, -50], [45, 45, -50], [45, 0, -50]],
[[0, 45, -50], [45, 45, -35], [45, 45, -50], [45, 0, -50]],
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in stand:
spider.do_step(coord, 50)
for coord in look_left:
spider.do_step(coord, 50)
def look_right(spider):
stand = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
look_right = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [0, 45, -50], [45, 0, -50], [45, 45, -50]],
[[45, 45, -35], [0, 45, -50], [45, 0, -50], [45, 45, -50]],
[[45, 0, -50], [45, 45, -50], [45, 45, -50], [45, 0, -50]],
]
for coord in stand:
spider.do_step(coord, 50)
for coord in look_right:
spider.do_step(coord, 50)
def warm_up(spider):
stand = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 45, -50], [45, 45, -50], [45, 45, -50]],
]
left_right = [
[[45, 37, -85], [45, 37, -14], [45, 37, -14], [45, 37, -85]],
[[45, 45, -50], [45, 45, -50], [45, 45, -50], [45, 45, -50]],
[[45, 37, -85], [45, 37, -14], [45, 37, -14], [45, 37, -85]],
[[45, 45, -50], [45, 45, -50], [45, 45, -50], [45, 45, -50]],
#
[[45, 37, -14], [45, 37, -85], [45, 37, -85], [45, 37, -14]],
[[45, 45, -50], [45, 45, -50], [45, 45, -50], [45, 45, -50]],
[[45, 37, -14], [45, 37, -85], [45, 37, -85], [45, 37, -14]],
[[45, 45, -50], [45, 45, -50], [45, 45, -50], [45, 45, -50]],
]
clockwise = []
clockwise.append(spider.move_list.move_body_absolute(0, 25, 10))
clockwise.append(spider.move_list.move_body_absolute(12.5, 21.65, 10))
clockwise.append(spider.move_list.move_body_absolute(21.65, 12.5, 10))
clockwise.append(spider.move_list.move_body_absolute(25, 0, 10))
clockwise.append(spider.move_list.move_body_absolute(21.65, -12.5, 10))
clockwise.append(spider.move_list.move_body_absolute(12.5, -21.65, 10))
clockwise.append(spider.move_list.move_body_absolute(0, -25, 10))
clockwise.append(spider.move_list.move_body_absolute(-12.5, -21.65, 10))
clockwise.append(spider.move_list.move_body_absolute(-21.65, -12.5, 10))
clockwise.append(spider.move_list.move_body_absolute(-25, 0, 10))
clockwise.append(spider.move_list.move_body_absolute(-21.65, 12.5, 10))
clockwise.append(spider.move_list.move_body_absolute(-12.5, 21.65, 10))
clockwise.append(spider.move_list.move_body_absolute(0, 25, 10))
anticlockwise = []
anticlockwise.append(spider.move_list.move_body_absolute(0, 25, 10))
anticlockwise.append(spider.move_list.move_body_absolute(-12.5, 21.65, 10))
anticlockwise.append(spider.move_list.move_body_absolute(-21.65, 12.5, 10))
anticlockwise.append(spider.move_list.move_body_absolute(-25, 0, 10))
anticlockwise.append(spider.move_list.move_body_absolute(-21.65, -12.5, 10))
anticlockwise.append(spider.move_list.move_body_absolute(-12.5, -21.65, 10))
anticlockwise.append(spider.move_list.move_body_absolute(0, -25, 10))
anticlockwise.append(spider.move_list.move_body_absolute(12.5, -21.65, 10))
anticlockwise.append(spider.move_list.move_body_absolute(21.65, -12.5, 10))
anticlockwise.append(spider.move_list.move_body_absolute(25, 0, 10))
anticlockwise.append(spider.move_list.move_body_absolute(21.65, 12.5, 10))
anticlockwise.append(spider.move_list.move_body_absolute(12.5, 21.65, 10))
anticlockwise.append(spider.move_list.move_body_absolute(0, 25, 10))
return_stand = [
[[45, 45, -50], [45, 45, -40], [45, 0, -50], [45, 45, -50]],
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
]
for coord in stand:
spider.do_step(coord, 50)
sleep(0.5)
for coord in left_right:
spider.do_step(coord, 48)
sleep(.3)
for coord in clockwise:
spider.do_step(coord, 58)
sleep(.3)
for coord in anticlockwise:
spider.do_step(coord, 58)
sleep(.3)
for coord in return_stand:
spider.do_step(coord, 50)
def push_up(spider):
ready = [
# stand
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
#
[[60, 10, -60], [60, 0, -60], [20, 60, 10], [10, 65, -40]],
[[70, 0, -76], [70, 0, -76], [0, 130, -40], [0, 130, -40]],
]
push_up = [
[[70, 0, -40], [70, 0, -40], [0, 130, -40], [0, 130, -40]],
[[70, 0, -76], [70, 0, -76], [0, 130, -40], [0, 130, -40]],
[[70, 0, -40], [70, 0, -40], [0, 130, -40], [0, 130, -40]],
[[70, 0, -76], [70, 0, -76], [0, 130, -40], [0, 130, -40]],
[[70, 0, -40], [70, 0, -40], [0, 130, -40], [0, 130, -40]],
[[70, 0, -76], [70, 0, -76], [0, 130, -40], [0, 130, -40]],
]
for coord in ready:
spider.do_step(coord,70)
for coord in push_up:
spider.do_step(coord, 35)
sleep(0.1)
actions_dict = {
"sit": sit,
"stand": stand,
"wave_hand": wave_hand,
"shake_hand": shake_hand,
"fighting": fighting,
"excited": excited,
"play_dead": play_dead,
"nod": nod,
"shake_head": shake_head,
"look_left": look_left,
"look_right": look_right,
"look_up": look_up,
"look_down": look_down,
"warm_up": warm_up,
"push_up": push_up,
}
sounds_dict = {
}
if __name__ == "__main__":
from picrawler import Picrawler
my_spider = Picrawler()
actions = list(actions_dict.keys())
for i, key in enumerate(actions):
print(f'{i} {key}')
last_key = None
try:
while True:
key = input()
if key == '':
print(actions[last_key])
actions_dict[actions[last_key]](my_spider)
else:
key = int(key)
if key > (len(actions) - 1):
print("Invalid key")
else:
last_key = key
print(actions[key])
actions_dict[actions[key]](my_spider)
except KeyboardInterrupt:
pass
except Exception as e:
print(f'Error:\n {e}')
finally:
my_spider.do_action("sit", speed=40)
sleep(.1)
**¿Cómo funciona?**
#. Cuando el programa comienza, construye un diccionario de las acciones
disponibles e imprime un menú numerado.
.. code-block:: python
actions_dict = {
"sit": sit,
"stand": stand,
"wave_hand": wave_hand,
"shake_hand": shake_hand,
...
}
for i, key in enumerate(actions):
print(f'{i} {key}')
Cada clave en ``actions_dict`` es un nombre legible por humanos y cada
valor es una función. Este patrón facilita buscar y llamar a la función
correcta cuando el usuario ingresa un número.
#. Bucle de menú interactivo
.. code-block:: python
while True:
key = input()
if key == '':
actions_dict[actions[last_key]](my_spider)
else:
key = int(key)
last_key = key
actions_dict[actions[key]](my_spider)
El bucle principal espera la entrada del usuario:
- Ingrese un número para seleccionar y ejecutar inmediatamente una acción.
- Presione **Enter** (entrada vacía) para repetir la última acción.
- Presione **Ctrl+C** para salir.
#. ¿Qué es un paso de coordenadas?
Cada postura se define como una lista de cuatro coordenadas de patas en el
formato ``[[x, y, z], [x, y, z], [x, y, z], [x, y, z]]``, correspondientes a:
- Pata delantera derecha (índice 0)
- Pata delantera izquierda (índice 1)
- Pata trasera izquierda (índice 2)
- Pata trasera derecha (índice 3)
Cada coordenada tiene tres valores:
- **X**: posición adelante/atrás de la punta de la pata
- **Y**: posición izquierda/derecha de la punta de la pata
- **Z**: posición arriba/abajo (más negativo = más alto)
.. code-block:: python
# Una postura de pie para las cuatro patas
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]]
#. Reproducir una secuencia de posturas
La mayoría de las acciones se construyen a partir de una lista de fotogramas
de coordenadas. El método ``do_step()`` interpola suavemente los servos
desde la postura actual a la postura objetivo.
.. code-block:: python
coords = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
[[45, 45, -76], [45, 0, -76], [45, 0, -38], [45, 45, -30]],
]
for coord in coords:
spider.do_step(coord, 60)
El segundo argumento de ``do_step()`` es la **velocidad** (más alto = más
rápido). Los valores típicos van de 40 (lento) a 80 (rápido).
#. Acciones integradas vs. personalizadas
Algunas funciones usan acciones integradas a través de ``do_action()``:
.. code-block:: python
def sit(spider):
spider.do_action('sit', speed=40)
Otras construyen posturas manualmente con ``do_step()``, dándole control
total sobre la postura del robot.
.. code-block:: python
def wave_hand(spider):
coords = [
[[45, 45, -70], [60, 0, 120], [45, 0, -60], [45, 45, -30]],
[[45, 45, -70], [-20, 60, 120], [45, 0, -60], [45, 45, -30]],
]
for coord in coords:
spider.do_step(coord, 58)
El movimiento de saludo alterna la pata delantera derecha entre dos
posiciones extremas, creando un gesto de saludo.
#. Agregar pausas entre movimientos
La función ``sleep()`` inserta pausas entre las fases de movimiento. Esto
es útil para acciones multifase como ``fighting()`` o ``nod()``:
.. code-block:: python
for coord in twist_butt:
spider.do_step(coord, 52)
sleep(0.2)
for coord in pounce_bite:
spider.do_step(coord, 40)
sleep(0.1)
sleep(1)
for coord in return_stand:
spider.do_step(coord, 52)
Las pausas permiten que cada fase se complete visualmente antes de que
comience la siguiente.
#. Uso de ``move_body_absolute()`` para movimiento circular
La función ``warm_up()`` demuestra ``move_body_absolute()``, que desplaza
el centro del cuerpo en relación con los pies:
.. code-block:: python
clockwise = []
clockwise.append(spider.move_list.move_body_absolute(0, 25, 10))
clockwise.append(spider.move_list.move_body_absolute(12.5, 21.65, 10))
...
Al recorrer puntos en un círculo (usando valores seno/coseno), el robot
realiza un balanceo corporal circular — un ejercicio de calentamiento que
afloja todas las articulaciones.
#. Salida segura
.. code-block:: python
finally:
my_spider.do_action("sit", speed=40)
sleep(.1)
Sin importar cómo termine el programa (Ctrl+C o error), el bloque
``finally`` asegura que el robot regrese a una posición sentada segura.