.. _py_action_gallery:
14. 动作展示
===================
本示例提供一个交互式菜单，可触发 PiCrawler 的多种预编程动作，包括挥手、
握手、战斗、点头、俯卧撑等。
**运行代码**
.. raw:: html
.. code-block::
cd ~/picrawler/examples
sudo python3 14_action_gallery.py
运行后，终端会打印编号的动作列表。输入动作编号并按 **Enter** 即可执行。
再次按 **Enter** 可重复上一个动作。按 **Ctrl+C** 安全退出，机器人返回坐姿。
**代码**
.. note::
您可以**修改/重置/复制/运行/停止**\ 以下代码。但在此之前，您需要进入源代码
路径，如 ``picrawler\examples``。修改代码后，可以直接运行以查看效果。
.. 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 = [
[[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 = [
[[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 = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
[[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]],
[[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 = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
[[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]],
[[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 = [
[[45, 45, -50], [45, 0, -50], [45, 0, -50], [45, 45, -50]],
[[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 = [
[[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]],
[[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 = [
[[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 = [
[[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 = [[[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 = [
[[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 = [
[[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 = [
[[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,
}
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("无效按键")
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)
**工作原理**
#. 程序启动时构建可用动作字典并打印编号菜单。
.. code-block:: python
actions_dict = {"sit": sit, "stand": stand, ...}
for i, key in enumerate(actions): print(f'{i} {key}')
#. 交互式菜单循环
输入编号选择并执行动作，按 **Enter** 重复上一个动作，按 **Ctrl+C** 退出。
#. 什么是坐标步？
每个姿态定义为四条腿坐标的列表：``[[x, y, z], ...]``，对应右前腿(0)、
左前腿(1)、左后腿(2)、右后腿(3)。X 为前后，Y 为左右，Z 为上下（越负越高）。
#. 播放姿态序列 — ``do_step()`` 平滑插值舵机从当前姿态到目标姿态。速度参数
从 40（慢）到 80（快）。
#. 内置 vs 自定义动作 — ``do_action()`` 使用内置动作，``do_step()`` 手动构建
姿态。
#. 添加延迟 — ``sleep()`` 在运动阶段之间插入暂停，让每个阶段视觉上完成。
#. ``move_body_absolute()`` 循环运动 — 通过正弦/余弦值在圆上步进，执行圆形
身体摇摆。
#. 安全退出 — ``finally`` 块确保无论程序如何退出，机器人都会返回安全的坐姿。