注釈
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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
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}')
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。
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)。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)。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。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。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。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。