def __init__(self, hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope, walking_frequency, robot_server):
self._lower_limp_kinematics_engine = RobotWalkingLowerLimpKinematicsEngine(hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope)
self.robot_server = robot_server
# set up walking parameter sets
self.walking_sets = None
self.current_walking_set_index = 0
if self.DEBUG: print('walking_frequency', walking_frequency)
self.step_timer = StepTimer(walking_frequency)
class RobotWalkingBase:
"""
Responsible for actuate the robot lower limp & real robot walking process.
By contrast, `RobotWalkingLowerLimpKinematicsEngine` class is low level.
"""
DEBUG = False
lower_limp_speed = 80
hip_frontal_offset_angle_radians = 0.1
balanced_hip_frontal_degrees = 2
def __init__(self, hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope, walking_frequency, robot_server):
self._lower_limp_kinematics_engine = RobotWalkingLowerLimpKinematicsEngine(hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope)
self.robot_server = robot_server
# set up walking parameter sets
self.walking_sets = None
self.current_walking_set_index = 0
if self.DEBUG: print('walking_frequency', walking_frequency)
self.step_timer = StepTimer(walking_frequency)
def squat(self):
if self.DEBUG: print('squat')
self._actuate_lower_limps(*self._lower_limp_kinematics_engine.get_squat_lower_limps_angles_set__with_tilted_torso_effect())
def _actuate_lower_limps(self, left_lower_limp_angles, right_lower_limp_angles):
self._counter_balance_hip_frontal_servo_offset(left_lower_limp_angles, right_lower_limp_angles)
self.robot_server.actuate_left_lower_limp(left_lower_limp_angles, speed=self.lower_limp_speed)
self.robot_server.actuate_right_lower_limp(right_lower_limp_angles, speed=self.lower_limp_speed)
def _twist_waist_to_balance(self, lower_limps_angle_set, is_swing_leg_left, time_fraction):
range_percentage = abs(0.5 - time_fraction)
if is_swing_leg_left:
t = RightHipFrontal().outward(self.balanced_hip_frontal_degrees).radians * range_percentage # right leg
lower_limps_angle_set[1][1] += t
else:
t = LeftHipFrontal().outward(self.balanced_hip_frontal_degrees).radians * range_percentage # left leg
lower_limps_angle_set[0][1] += t
def _counter_balance_hip_frontal_servo_offset(self, left_lower_limp_angles, right_lower_limp_angles):
# hip frontal outwards
left_lower_limp_angles[1] += -self.hip_frontal_offset_angle_radians
right_lower_limp_angles[1] += self.hip_frontal_offset_angle_radians
# ankle frontal inwards
left_lower_limp_angles[5] += -self.hip_frontal_offset_angle_radians
right_lower_limp_angles[5] += self.hip_frontal_offset_angle_radians
def set_current_walking_set_index_to_next(self):
self.current_walking_set_index += 1
if self.DEBUG: print('current_walking_set_index', self.current_walking_set_index)
if self.current_walking_set_index == 3:
self.current_walking_set_index = 1
if self.DEBUG: print('_current_walking_set_index', self.current_walking_set_index)
def _get_is_swing_leg_left_and_walk_trajectory_four_positions__with_current_working_set(self, index):
current_walking_set = self.walking_sets[index]
is_swing_leg_left = current_walking_set['is_swing_leg_left']
step_length = current_walking_set['step_length']
current_position_relative_to_initial_foot_position = current_walking_set['current_position_relative_to_initial_foot_position']
initial_foot_position = Point(get_initial_foot_position(is_left=is_swing_leg_left))
initial_position = initial_foot_position.translate(current_position_relative_to_initial_foot_position.x, current_position_relative_to_initial_foot_position.y, current_position_relative_to_initial_foot_position.z)
lift_up_front_position, lift_up_front_forward_position, put_down_position\
= self._lower_limp_kinematics_engine.get_walk_trajectory_three_positions(is_swing_leg_left=is_swing_leg_left, step_length=step_length, current_position_relative_to_initial_foot_position=current_position_relative_to_initial_foot_position)
return is_swing_leg_left, initial_position, lift_up_front_position, lift_up_front_forward_position, put_down_position
@staticmethod
def _get_3_walking_trajectory_sections(initial_position, lift_up_front_position, lift_up_front_forward_position, put_down_position):
lift_up_front_trajectory_section = LineSegment(initial_position, lift_up_front_position)
lift_up_front_forward_trajectory_section = LineSegment(lift_up_front_position, lift_up_front_forward_position)
put_down_trajectory_section = LineSegment(lift_up_front_forward_position, put_down_position)
return lift_up_front_trajectory_section, lift_up_front_forward_trajectory_section, put_down_trajectory_section
