注釈

こんにちは！SunFounder Raspberry Pi & Arduino & ESP32 Enthusiasts Communityへようこそ！Raspberry Pi、Arduino、ESP32について、他の愛好者と共にさらに深く学びましょう。

参加する理由

• 専門家のサポート: 購入後の問題や技術的な課題を、コミュニティやチームのサポートで解決できます。

• 学びと共有: ヒントやチュートリアルを交換して、スキルを向上させましょう。

• 特別なプレビュー: 新製品の発表や先行公開に早期アクセスできます。

• 特別割引: 新しい製品に対する限定割引をお楽しみください。

• 祝祭プロモーションとプレゼント: プレゼントや祝祭プロモーションに参加できます。

👉 私たちと一緒に探求し、創造する準備はできましたか？[ここ]をクリックして、今すぐ参加しましょう！

14. アクションギャラリー

この例では、PiCrawler のさまざまなプリプログラム済みアクション（手を振る、 握手、ファイティング、うなずき、腕立て伏せなど）をトリガーできる対話型 メニューを提供します。

コードを実行する

cd ~/picrawler/examples
sudo python3 14_action_gallery.py

実行後、利用可能なアクションの番号付きリストが端末に表示されます。実行したい アクションの番号を入力して Enter を押します。再度 Enter を押すと直前の アクションを繰り返します。Ctrl+C で安全に終了し、ロボットは座った姿勢に 戻ります。

コード

注釈

以下のコードは 変更/リセット/コピー/実行/停止 できます。ただし、まずソースコードのパス（例: picrawler\examples ）に移動する必要があります。コードを修正した後、直接実行して効果を確認できます。

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("無効なキー")
                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)

仕組み

1. プログラム開始時に利用可能なアクションの辞書を構築し、番号付きメニューを 表示します。

   actions_dict = {"sit": sit, "stand": stand, ...}
   for i, key in enumerate(actions): print(f'{i} {key}')
   

2. 対話型メニューループ — 番号を入力してアクション選択・実行、Enter で 直前のアクションを繰り返し、Ctrl+C で終了。

3. 座標ステップとは？ — 各ポーズは [[x, y, z], ...] 形式の 4 脚座標 リストで定義。右前脚(0)、左前脚(1)、左後脚(2)、右後脚(3)。X=前後、 Y=左右、Z=上下（より負で高い）。

4. ポーズシーケンスの再生 — do_step() がサーボを現在のポーズから目標 ポーズへ滑らかに補間。速度パラメータは 40（遅い）〜 80（速い）。

5. 組み込み vs カスタムアクション — do_action() は組み込みアクションを 使用、do_step() で手動ポーズ構築。

6. 遅延の追加 — sleep() で動作フェーズ間に一時停止を挿入。各フェーズが 視覚的に完了してから次に進みます。

7. move_body_absolute() による円運動 — サイン/コサイン値で円上の点を ステップ実行し、円形のボディスウェイを実行。

8. 安全な終了 — finally ブロックでプログラムの終了方法に関わらずロボット が安全な座位に戻ります。