def prepareSim():
robot = spotmicroai.Robot(True, True, reset)
spurWidth = robot.W / 2 + 20
stepLength = 0
stepHeight = 72
iXf = 120
iXb = -132
IDheight = p.addUserDebugParameter("height", -40, 90, 20)
Lp = np.array([[iXf, -100, spurWidth, 1], [iXf, -100, -spurWidth, 1],
[-50, -100, spurWidth, 1], [-50, -100, -spurWidth, 1]])
joy_x, joy_y, joy_z, joy_rz = 128, 128, 128, 128
# define our clear function
def consoleClear():
# for windows
if name == 'nt':
_ = system('cls')
# for mac and linux(here, os.name is 'posix')
else:
_ = system('clear')
robot = spotmicroai.Robot(True, True, reset)
spurWidth = robot.W / 2 + 20
stepLength = 0
stepHeight = 72
iXf = 120
iXb = -132
IDheight = p.addUserDebugParameter("height", -40, 90, 20)
Lp = np.array([[iXf, -100, spurWidth, 1], [iXf, -100, -spurWidth, 1],
[-50, -100, spurWidth, 1], [-50, -100, -spurWidth, 1]])
resetPose()
trotting = TrottingGait()
import math
import datetime as dt
import matplotlib.animation as animation
import random
from inputs import devices, get_gamepad
from thinputs import ThreadedInputs
import spotmicroai
from kinematicMotion import KinematicMotion
import matplotlib
matplotlib.use('GTKAgg')
import matplotlib.pyplot as plt
from matplotlib.figure import Figure
from matplotlib.animation import TimedAnimation
robot=spotmicroai.Robot(False,False)
speed1=240
speed2=170
speed3=300
spurWidth=robot.W/2+20
stepLength=0
stepHeight=72
iXf=120
iXb=-132
IDspurWidth = p.addUserDebugParameter("spur width", 0, robot.W, spurWidth)
IDstepLength = p.addUserDebugParameter("step length", -70, 115, stepLength)
IDstepHeight = p.addUserDebugParameter("step height", 0, 150, stepHeight)
IDspeed1 = p.addUserDebugParameter("speed 1", 100, 1000, speed1)
IDspeed2 = p.addUserDebugParameter("speed 2", 100, 1000, speed2)
IDspeed3 = p.addUserDebugParameter("speed 3", 100, 1000, speed3)
IDixf = p.addUserDebugParameter("iXf", 0, 400, iXf)
commandInput, commandValue = keyboard.read()
print(commandInput)
# Gamepad button command filter
if commandInput == 'UPPER_ARROW':
joy_x = commandValue
if commandInput == 'RIGHT_ARROW':
joy_y = commandValue
if commandInput == 'DOWN_ARROW':
joy_z = commandValue
if commandInput == 'LEFT_ARROW':
joy_rz = commandValue
if commandInput == 'SPACE':
resetPose()
robot = spotmicroai.Robot()
IDheight = p.addUserDebugParameter("height", -40, 90, 0)
IDroll = p.addUserDebugParameter("roll", -20, 20, 0)
#robot.feetPosition(Lp)
resetPose()
# Initialise the gamepad object using the gamepad inputs Python package
keyboard = ThreadedInputsKeyBoard(keyboardInputs)
for keyboardInput in keyboardInputs:
keyboard.append_command(keyboardInput, keyboardInputs[keyboardInput])
keyboard.start()
while True:
handleKeyboard()
height = p.readUserDebugParameter(IDheight)
