def __init__(self, position, rotation=90, scale=1, size=50, speed=300, turn_speed=5):
Creature.__init__(self, position, rotation, scale, size, speed, turn_speed)
self.head = Body(self, self.position, self.rotation, self.size, self.size, Categories.PLAYER, head=True, speed=speed)
self.bodies.append(self.head)
for i in range(0):
size = self.size
b = Body(self, self.position, self.rotation, size, size, Categories.PLAYER, speed=10)
b.attach_to(self.bodies[i])
self.bodies.append(b)
#arm1 = Leg(self.head, 10, 90, 30, offset=(self.head.width/2, 0), foot_size=10, walk=False)
#self.head.add_leg(arm1)
#arm2 = Leg(self.head, 10, -90, 30, offset=(-self.head.width/2, 0), foot_size=10, walk=False)
#self.head.add_leg(arm2)
#self.arms.append(arm1)
#self.arms.append(arm2)
for body in self.bodies:
body.add_leg(Leg(body, self.size*2, 15, 15, offset=(body.width/2 + 1, 0), foot_size=3))
body.add_leg(Leg(body, self.size*2, -15, 15, offset=(-body.width/2 - 1, 0), foot_size=3))
self.arm_counter = 0
def potential_routes(start_coords,
closest_cars,
end_coords,
method='driving',
service='modo'):
first_legs = [
Leg(start_coords, car[1][0], 'walking', None) for car in closest_cars
]
last_legs = [
Leg(car[1][0], end_coords, method, service, additional_data=car[1][1])
for car in closest_cars
]
full_routes = zip(first_legs, last_legs)
return [Route(r) for r in full_routes]
def __init__(self):
'''
Legs
'''
self.leg1 = Leg(1, Vector3(-61.167, 24, 98), 300)
self.leg2 = Leg(2, Vector3(61.167, 24, 98), 60)
self.leg3 = Let(3, Vector3(81, 24, 0), 0)
self.leg4 = Leg(4, Vector3(61.167, 24, -98), 120)
self.leg5 = Leg(5, Vector3(-61.167, 24, -98), 240)
self.leg6 = Leg(6, Vector3(-81, 24, 0), 270)
#leg collection
self.legs = {
"FL" : self.leg1,
"FR" : self.leg2,
"MR" : self.leg3,
"BR" : self.leg4,
"BL" : self.leg5,
"ML" : self.leg6
}
'''
Feets
'''
self.foot1 = self.homeFootPosition(Vector3(), leg1, Pose())
self.foot2 = self.homeFootPosition(Vector3(), leg2, Pose())
self.foot3 = self.homeFootPosition(Vector3(), leg3, Pose())
self.foot4 = self.homeFootPosition(Vector3(), leg4, Pose())
self.foot5 = self.homeFootPosition(Vector3(), leg5, Pose())
self.foot6 = self.homeFootPosition(Vector3(), leg6, Pose())
#feet collection
self.feet = {
"FL" : self.foot1,
"FR" : self.foot2,
"MR" : self.foot3,
"BR" : self.foot4,
"BL" : self.foot5,
"ML" : self.foot6
}
'''
Poses
'''
self.target = Pose()
self.lastPose = Pose()
self.lastFeet = []
self.nextFeet = []
def main():
# instantiate dynamics
dyn = Dynamics()
# instantiate leg
leg = Leg(dyn, alpha=0, bound=True)
# set boudaries
t0 = 0
s0 = np.array([1000, 1000, *np.random.randn(4)], dtype=float)
l0 = np.random.randn(len(s0))
tf = 1000
sf = np.zeros(len(s0))
leg.set(t0, s0, l0, tf, sf)
# define problem
udp = Problem(leg, atol=1e-8, rtol=1e-8)
prob = pg.problem(udp)
# instantiate algorithm
uda = pg7.snopt7(True, "/usr/lib/libsnopt7_c.so")
uda.set_integer_option("Major iterations limit", 4000)
uda.set_integer_option("Iterations limit", 40000)
uda.set_numeric_option("Major optimality tolerance", 1e-2)
uda.set_numeric_option("Major feasibility tolerance", 1e-4)
algo = pg.algorithm(uda)
# instantiate population with one chromosome
pop = pg.population(prob, 1)
#pop = pg.population(prob, 0)
#pop.push_back([1000, *l0])
# optimise
pop = algo.evolve(pop)
def __init__(self, numlegs, legjoints):
self.legs = [Leg(i, legjoints) for i in range(numlegs)]
self.direction = numlegs % 2
self.raisepos = 200
self.manual_direction = 0
self.leds = leds.Leds()
self.leds.idle()
def testSpecifics(self):
testLength: float = 12.0
leg = Leg(length=testLength)
self.assertEqual(leg.length, testLength)
self.assertEqual(leg.broken, False)
leg.broken = True
self.assertEqual(leg.broken, True)
def _create_leg(self):
download_day = datetime.datetime(year=2017, month=12, day=26)
return Leg(price=20.0,
departure_location='DEP',
arrival_location='ARR',
departure_date=download_day + datetime.timedelta(days=10),
request_time=download_day,
duration=datetime.timedelta(hours=2),
airline='Qantas')
def __init__(self, numLegs : int, material : str, length : float = Leg.DEFAULT_LENGTH):
self._legs : Sequence[Leg] = []
if numLegs < 3:
raise ValueError('Cannot create a chair with less than 3 legs.')
for _ in range (0, numLegs):
self._legs.append(Leg(length))
self._numLegs = numLegs
self._material : str = material
def copy(self):
copy = Spider()
copy.xy0 = self.xy0
copy.theta = self.theta
copy.legs = []
for leg in self.legs:
l = Leg(leg.index, leg.aa, leg.raised, leg.phi, leg.d)
copy.legs.append(l)
return copy
def __init__(self,
position,
rotation=90,
scale=1,
size=50,
speed=100,
turn_speed=5):
Creature.__init__(self, position, rotation, scale, size, speed,
turn_speed)
self.head = Body(self,
self.position,
self.rotation,
self.size * 2,
self.size * 2,
Categories.ENEMY,
head=True,
speed=speed)
self.bodies.append(self.head)
for i in range(4):
b = Body(self,
self.position,
self.rotation,
self.size,
self.size,
Categories.ENEMY,
speed=30)
b.attach_to(self.bodies[i])
self.bodies.append(b)
for body in self.bodies:
leg = Leg(body, self.size * 2, 15, 40, (body.width / 2, 0), 3)
body.add_leg(leg)
leg = Leg(body, self.size * 2, -15, 40, (-body.width / 2, 0), 3)
body.add_leg(leg)
self.wander_time = 2
self.timer = random.random() * self.wander_time
self.displacement = Vector2(0, 0)
def __init__(self,
numLegs: int = DEFAULT_NUM_LEGS,
material: str = DEFAULT_MATERIAL,
length: float = Leg.DEFAULT_LENGTH):
super(Chair, self).__init__(material)
if numLegs < 3:
raise ValueError('Cannot create a chair with less than 3 legs.')
self._numLegs: int = numLegs
self._legs: List[Leg] = []
for _ in range(0, numLegs):
self._legs.append(Leg(length))
def __init__(self):
self.vDir = Point()
self.vRot = Point()
self.legs = [
Leg(Point(0.0575, 0.0315, 0.03)),
Leg(Point(0, 0.0315, 0.03)),
Leg(Point(-0.0575, 0.0315, 0.03)),
Leg(Point(0.0575, -0.0315, 0.03)),
Leg(Point(0, -0.0315, 0.03)),
Leg(Point(-0.0575, -0.0315, 0.03))
]
#self.legs[0].position.x -= 0.04
#self.legs[0].setPosition()
self.legs[0].post = self.legs[1]
self.legs[1].ante = self.legs[0]
self.legs[1].post = self.legs[2]
self.legs[2].ante = self.legs[1]
self.legs[3].post = self.legs[4]
self.legs[4].ante = self.legs[3]
self.legs[4].post = self.legs[5]
self.legs[5].ante = self.legs[4]
#also connect front legs and rear legs to prevent them lifting at the same time
self.legs[0].ante = self.legs[3]
self.legs[3].ante = self.legs[0]
self.legs[2].post = self.legs[5]
self.legs[5].post = self.legs[2]
pass
def __init__(self, config_file): self.config = Config() self.config.read_config(config_file) self.servos = Servos(16, self.config.mimimum_pulse, self.config.maximum_pulse, self.config.kill_angle) legs = [] for i in range(4): leg = Leg(i, ) leg.servos(*(self.servos.servo[x] for x in leg_pins[i])) leg.offsets(*offsets[i]) leg.limbs(*lengths) legs.append(leg) self.leg0, self.leg1, self.leg2, self.leg3 = legs
def __init__(self, config_file):
self.config = Config()
self.config.read_config(config_file)
self.servos = Servos(16, self.config.mimimum_pulse, self.config.maximum_pulse, self.config.kill_angle, self.config.angle_offsets)
legs = []
for i in range(4):
leg_config = self.config["leg"+str(i+1)]
leg = Leg(leg_config["quadrants"], leg_config["positions"])
leg.servos(*(self.servos[x] for x in leg_config["servo_pins"]))
leg.limbs(*leg_config["limb_lengths"])
legs.append(leg)
self.leg0, self.leg1, self.leg2, self.leg3 = legs
def __init__(self, torso_center, lower_body_flag):
self._body_center = torso_center
self._lower_body_flag = lower_body_flag
self.head = Head(
Point(torso_center.x, torso_center.y + 15, torso_center.z))
self.torso = Torso(
Point(torso_center.x, torso_center.y, torso_center.z))
self.left_arm = Arm(
Point(torso_center.x + 6.6, torso_center.y + 8, torso_center.z))
self.right_arm = Arm(
Point(torso_center.x - 6.6, torso_center.y + 8, torso_center.z))
self.right_arm.set_slocal_rotate_angle(180, 0, 0)
if self._lower_body_flag:
self.left_leg = Leg(
Point(torso_center.x + 4, torso_center.y - 10.6,
torso_center.z))
self.right_leg = Leg(
Point(torso_center.x - 4, torso_center.y - 10.6,
torso_center.z))
self.right_leg.set_hlocal_rotate_angle(180, 0, 0)
def __init__(self, servo_kit):
self.dimensions = [150, 300]
self.legs = {}
# Move servo mapping to a saveable config
fl_map = {}
fl_map["upper_hip"] = servo_kit.servo[0]
fl_map["lower_hip"] = servo_kit.servo[1]
fl_map["knee"] = servo_kit.servo[2]
self.legs["FL"] = Leg("FL", [-75, 150, 0], fl_map)
fr_map = {}
fr_map["upper_hip"] = servo_kit.servo[3]
fr_map["lower_hip"] = servo_kit.servo[4]
fr_map["knee"] = servo_kit.servo[5]
self.legs["FR"] = Leg("FR", [75, 150, 0], fr_map)
bl_map = {}
bl_map["upper_hip"] = servo_kit.servo[6]
bl_map["lower_hip"] = servo_kit.servo[7]
bl_map["knee"] = servo_kit.servo[8]
self.legs["BL"] = Leg("BL", [-75, -150, 0], bl_map)
br_map = {}
br_map["upper_hip"] = servo_kit.servo[9]
br_map["lower_hip"] = servo_kit.servo[10]
br_map["knee"] = servo_kit.servo[11]
self.legs["BR"] = Leg("BR", [75, -150, 0], br_map)
def __init__(self, theta=0):
# spider dimensions
self.R = 5
self.h = 1
self.xy0 = np.array([0, 0])
self.CM = np.array([0, 0])
self.theta = theta
delta = 0.1
self.legs = [
Leg(index=i,
attach_angle=theta - delta / 2 + (pi / 2 + delta / 3) * i,
raised=i == 0,
d=5 + delta * i) for i in range(4)
]
def __init__(self, cog, m, f, s):
self.cog = cog
self.m = m
self.f = f
self.s = s
self.f1 = Leg(45, (0, 70), (f, s, 0), (15, 15), "f1")
self.f2 = Leg(135, (0, 70), (-f, s, 0), (15, 15), "f2")
self.m1 = Leg(0, (0, 70), (m, 0, 0), (15, 15), "m1")
self.m2 = Leg(180, (0, 70), (-m, 0, 0), (15, 15), "m2")
self.b1 = Leg(315, (0, 70), (f, -s, 0), (15, 15), "b1")
self.b2 = Leg(225, (0, 70), (-f, -s, 0), (15, 15), "b2")
self.functional = [True]*6
def __init__(self, numlegs, legjoints):
self.legs = [Leg(i, legjoints) for i in range(numlegs)]
def _create_legs(self, segment_data):
"""Creates the Leg objects for this journey using segments in the
slice data.
Args:
segment_data (dict): the "segment" object of the query response.
Returns:
Leg[]: an array of Leg objects for this Journey.
"""
legs = []
for segment in segment_data:
leg_data = segment["leg"][0]
# extract origin
leg_origin = {
"code": leg_data["origin"],
"name": None,
"city": None
}
for airport in self.ap_list:
if airport["code"] == leg_origin["code"]:
leg_origin["name"] = airport["name"]
for city in self.city_list:
if city["code"] == airport["city"]:
leg_origin["city"] = city["name"]
# extract destination
leg_dest = {
"code": leg_data["destination"],
"name": None,
"city": None
}
for airport in self.ap_list:
if airport["code"] == leg_dest["code"]:
leg_dest["name"] = airport["name"]
for city in self.city_list:
if city["code"] == airport["city"]:
leg_dest["city"] = city["name"]
# extract departure and arrival time
leg_dept_time = convert_str_to_date(leg_data["departureTime"])
leg_arr_time = convert_str_to_date(leg_data["arrivalTime"])
# extract flight details
leg_flight_carrier = segment["flight"]["carrier"]
leg_flight_number = segment["flight"]["number"]
leg_flight = {
"carrier": leg_flight_carrier,
"number": leg_flight_number,
"name": None
}
# get carrier name from "data" object
for carrier in self.carrier_list:
if carrier["code"] == leg_flight["carrier"]:
leg_flight["name"] = carrier["name"]
# extract aircraft details
leg_ac_code = leg_data["aircraft"]
leg_aircraft = {"code": leg_ac_code, "name": None}
# get aircraft name from "data" object
for aircraft in self.ac_list:
if aircraft["code"] == leg_ac_code:
leg_aircraft["name"] = aircraft["name"]
# extract duration
leg_duration = leg_data["duration"]
# create new Leg object
this_leg = Leg(leg_origin, leg_dest, leg_dept_time, leg_arr_time,
leg_flight, leg_aircraft, leg_duration)
legs.append(this_leg)
return legs
def __init__(self, free=False, freq=45):
self.status = 0
'''
Number Status
0 Not initialized, or initializing
1 Working, and providing torque
2 Limp
'''
self.desired_freq = freq
self.no_limit = free
#Walk Sequences
self.step_counter = 0
self.sequences = [6, 3, 0, 5, 7, 2, 1, 4]
self.legs = [
Leg(sel=0,
ID1=1,
P1=True,
O1=1772,
ID2=2,
P2=False,
O2=904,
ID3=3,
P3=False,
O3=1739), # 0: inner leg top left
Leg(sel=1,
ID1=4,
P1=False,
O1=427,
ID2=5,
P2=True,
O2=-14,
ID3=6,
P3=True,
O3=-435), # 1: inner leg top right
Leg(sel=2,
ID1=7,
P1=True,
O1=-468,
ID2=8,
P2=True,
O2=-25,
ID3=9,
P3=True,
O3=932), # 2: inner leg bottom left
Leg(sel=3,
ID1=10,
P1=False,
O1=14,
ID2=11,
P2=False,
O2=38,
ID3=12,
P3=False,
O3=-923), # 3: inner leg bottom right
Leg(sel=4,
ID1=13,
P1=True,
O1=-1353,
ID2=14,
P2=False,
O2=472,
ID3=15,
P3=False,
O3=-12), # 4: outer leg top left
Leg(sel=5,
ID1=16,
P1=False,
O1=-446,
ID2=17,
P2=True,
O2=-18,
ID3=18,
P3=True,
O3=-913), # 5: outer leg top right
Leg(sel=6,
ID1=19,
P1=True,
O1=-7,
ID2=20,
P2=True,
O2=5,
ID3=21,
P3=True,
O3=-427), # 6: outer leg bottom left
Leg(sel=7,
ID1=22,
P1=False,
O1=-916,
ID2=23,
P2=False,
O2=-5,
ID3=24,
P3=False,
O3=-906) # 7: outer leg bottom right
]
self.ser = serial.Serial('/dev/ttyO1', baudrate=500000,
timeout=1) # baudrate could be 500000, 115200
self.reset_all_servos()
self.push_initialize_commands()
time.sleep(0.5)
self.t = time.time()
#!/usr/bin/env python3
'''
ENGLISH.py
constants for english word database
'''
from leg import Leg
ZBOUND, ZCOUNT = 1500, 2
ABOUND, ACOUNT = 35000, 3
BBOUND, BCOUNT = 36500, 3
CBOUND, CCOUNT = None, 2
LEX_EN = "../resources/lexwords/lex_filter_2.txt"
LEGS_EN = (
Leg(0, ZBOUND, ZCOUNT, "Z"), # group Z
Leg(ZBOUND, ABOUND, ACOUNT, "A"), # group A
Leg(ABOUND, BBOUND, BCOUNT, "B"), # group B
Leg(BBOUND, CBOUND, CCOUNT, "C") # group C
)
from turtle import Turtle
from leg import Leg
from joint import Joint
# Create animal
animal = Turtle()
# With 2 legs
animal.addPairOfLegs(Leg(Joint(0), Joint(1), 1), Leg(Joint(2), Joint(3), -1))
def set90Degrees():
'''Set all motors to 90 degrees'''
animal.legPairs[0].left.knee.moveDirectTo(90)
animal.legPairs[0].left.hip.moveDirectTo(90)
animal.legPairs[0].right.knee.moveDirectTo(90)
animal.legPairs[0].right.hip.moveDirectTo(90)
set90Degrees()
"positions": {
**positions_left["knee"],
}
},
"ankle": {
"is_calibrated": True,
"index": 7,
"pulse_width_range": [ 1200, 2650 ],
"actuation_range": 130,
"positions": {
**positions_left["ankle"],
}
}
}
front_right = Leg(right, **front_right_config)
mid_right = Leg(right, **mid_right_config)
back_right = Leg(right, **back_right_config)
front_left = Leg(left, **front_left_config)
mid_left = Leg(left, **mid_left_config)
back_left = Leg(left, **back_left_config)
legs = [
front_right,
mid_right,
back_right,
front_left,
mid_left,
back_left,
]
maxPulse=MAX_PULSE_B)
rhFemur = Joint(pwm,
5,
fLen,
direction=1,
minPulse=MIN_PULSE_A,
maxPulse=MAX_PULSE_A)
rhTibia = Joint(pwm,
6,
tLen,
direction=1,
minPulse=MIN_PULSE_A,
maxPulse=MAX_PULSE_A)
# Assign joints to legs
rfLeg = Leg(rfCoxa, rfFemur, rfTibia)
lfLeg = Leg(lfCoxa, lfFemur, lfTibia)
lhLeg = Leg(lhCoxa, lhFemur, lhTibia)
rhLeg = Leg(rhCoxa, rhFemur, rhTibia)
# Put legs into an array
body = Body(rfLeg, lfLeg, lhLeg, rhLeg)
server = None
resting = False
############################ Methods ######################
def up_down_demo():
body.send_to_home_position(speed=10)
import numpy as np
import RPi.GPIO as GPIO
import time
from leg import Leg
# TEST
##### Servo setup #####
# For AR-3600HB Robot Servo
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
##### LEG setup #####
# Note: parameter list is: Leg(Name, horizontalShoulderServo, verticalShoulderServo, Adjacent Leg)
# only numbers for pins, servo setup happens in the Leg class.
frontRightLeg = Leg("Front Right Leg", 11, 13, None)
height = 120
width = 160
# third and twothird separate screen into 3 sections
third = width / 3
twothird = third + third
minArea = 1 # minimum area to track object
criticalArea = 13000 # area to close claws (may be too large)
move = 0 # move legs
## TIMER VARIABLES ###
cTime = 0 # current time
pTime = 0 # previous time
timeDiff = 0 # time difference since last loop
Timer = .25 #.25 # time to wait
def testDefaults(self):
chair = Chair()
leg = Leg()
self.assertEqual(chair.numLegs, chair.DEFAULT_NUM_LEGS)
self.assertEqual(chair.material, chair.DEFAULT_MATERIAL)
self.assertEqual(chair.length, leg.DEFAULT_LENGTH)
def potential_routes(start_coords, closest_stations_start, closest_stations_end, end_coords, service='mobi', method='bicycling'): first_legs = [Leg(start_coords, station[2], 'walking', 'None') for station in closest_stations_start] last_legs = [Leg(station[2], end_coords, 'walking', 'None') for station in closest_stations_end] first_and_last = list(product(first_legs, last_legs)) full_routes = [(fl[0], Leg(fl[0].end_coords, fl[1].start_coords, method, service), fl[1]) for fl in first_and_last] return [Route(r) for r in full_routes]
def testDefaults(self):
leg = Leg()
self.assertEqual(leg.length, leg.DEFAULT_LENGTH)
self.assertEqual(75, leg.MAX_WEIGHT)
self.assertEqual(leg.broken, False)