class Inmoov(object):
"""
This class are Inmoov!
"""
def __init__(self):
"""
Build all of Inmoov's parts.
"""
#open the file json file
with open(INMOOV_FILE) as json_file:
json.load(json_file, object_hook=parse)
self.head = Head(
filter(lambda x: x.name == "head_x", servos)[0],
filter(lambda x: x.name == "head_y", servos)[0])
#Right side
self.right_wrist = Wrist(
filter(lambda x: x.name == "left_wrist", servos)[0])
self.right_hand = Hand(
Finger(filter(lambda x: x.name == "right_pinky", servos)[0]),
Finger(filter(lambda x: x.name == "right_ring", servos)[0]),
Finger(filter(lambda x: x.name == "right_mid", servos)[0]),
Finger(filter(lambda x: x.name == "right_index", servos)[0]),
Finger(filter(lambda x: x.name == "right_thumb", servos)[0]))
self.right_forearm = Forearm(self.right_hand, self.right_wrist)
self.right_shoulder = Shoulder(
filter(lambda x: x.name == "right_shoulder_flexion", servos)[0],
filter(lambda x: x.name == "right_shoulder_abduction", servos)[0],
filter(lambda x: x.name == "right_shoulder_rotation_x", servos)[0],
filter(lambda x: x.name == "right_shoulder_rotation_y", servos)[0])
self.right_arm = Arm(self.right_forearm, self.right_shoulder)
#Left side
self.left_wrist = Wrist(
filter(lambda x: x.name == "left_wrist", servos)[0])
self.left_hand = Hand(
Finger(filter(lambda x: x.name == "left_pinky", servos)[0]),
Finger(filter(lambda x: x.name == "left_ring", servos)[0]),
Finger(filter(lambda x: x.name == "left_middle", servos)[0]),
Finger(filter(lambda x: x.name == "left_index", servos)[0]),
Finger(filter(lambda x: x.name == "left_thumb", servos)[0]))
self.left_forearm = Forearm(self.left_hand, self.left_wrist)
self.left_shoulder = Shoulder(
filter(lambda x: x.name == "left_shoulder_flexion", servos)[0],
filter(lambda x: x.name == "left_shoulder_abduction", servos)[0],
filter(lambda x: x.name == "left_shoulder_rotation_x", servos)[0],
filter(lambda x: x.name == "left_shoulder_rotation_y", servos)[0])
self.left_arm = Arm(self.left_forearm, self.left_shoulder)
self.initialize()
def do_motion(self, motion_id):
"""
Make InMoov do one of these motions
"""
if motion_id == 0:
self.wave()
elif motion_id == 1:
self.point()
time.sleep(5)
self.wave()
elif motion_id == 2:
self.initialize()
def wave(self):
self.left_arm.forearm.hand.off()
self.left_arm.shoulder.rotation_up(-20)
self.left_arm.shoulder.rotation_internal(60)
self.left_arm.shoulder.abduction_up(-90)
time.sleep(2)
self.left_arm.shoulder.abduction_up(60)
time.sleep(0.5)
time.sleep(2)
self.left_arm.shoulder.abduction_up(90)
time.sleep(1.5)
self.left_arm.shoulder.abduction_up(0)
time.sleep(2)
self.left_arm.shoulder.abduction_up(90)
time.sleep(1.5)
self.left_arm.shoulder.abduction_up(0)
self.left_arm.shoulder.rotation_up(-20)
self.left_arm.shoulder.flex(90)
self.left_arm.shoulder.rotation_internal(60)
def point(self):
self.left_arm.shoulder.rotation_up(-20)
self.left_arm.shoulder.rotation_internal(60)
time.sleep(3)
self.left_arm.shoulder.rotation_internal(90)
self.left_arm.forearm.hand.make_fist()
self.left_arm.shoulder.rotation_up(60)
self.left_arm.forearm.hand.straighten_all_fingers()
def thumbs_down(self):
pass
def goodbye(self):
pass
def initialize(self):
"""initializes InMoov"""
self.head.initialize()
self.left_arm.initialize()
def off(self):
"""Turns InMoov off"""
self.head.off()
self.left_arm.off()
self.right_arm.off()
