def __init__(self, hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope, duration_of_rest, walking_frequency, robot_server):
super().__init__(hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope, walking_frequency, robot_server)
self.duration_of_rest = duration_of_rest
self.walking_sets = [{'is_swing_leg_left': True, 'step_length': step_length/2, 'current_position_relative_to_initial_foot_position': Point((0, 0, 0))},
{'is_swing_leg_left': False, 'step_length': step_length, 'current_position_relative_to_initial_foot_position': Point((-step_length/2, 0, 0))},
{'is_swing_leg_left': True, 'step_length': step_length, 'current_position_relative_to_initial_foot_position': Point((-step_length/2, 0, 0))}]
self.timer = PerformanceTimer(interval=self.step_timer.frequency, duration=self.step_timer.single_step_time)
class TemplateForRobotInterpolationWalking(RobotWalkingBase):
DEBUG = False
def __init__(self, hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope, duration_of_rest, walking_frequency, robot_server):
super().__init__(hip_height, torso_angle, lift_off_slope, step_height, step_length, put_down_slope, walking_frequency, robot_server)
self.duration_of_rest = duration_of_rest
self.walking_sets = [{'is_swing_leg_left': True, 'step_length': step_length/2, 'current_position_relative_to_initial_foot_position': Point((0, 0, 0))},
{'is_swing_leg_left': False, 'step_length': step_length, 'current_position_relative_to_initial_foot_position': Point((-step_length/2, 0, 0))},
{'is_swing_leg_left': True, 'step_length': step_length, 'current_position_relative_to_initial_foot_position': Point((-step_length/2, 0, 0))}]
self.timer = PerformanceTimer(interval=self.step_timer.frequency, duration=self.step_timer.single_step_time)
def walk(self, sleep_time_after_squat):
self.squat()
sleep(sleep_time_after_squat)
self.timer.start()
self._take_steps(*self._get_is_swing_leg_left_and_walk_trajectory_four_positions__with_current_working_set(self.current_walking_set_index))
def calculate_and_actuate_lower_limps_angle_set_at_good_timing(self, is_swing_leg_left, interpolated_position, time_fraction):
lower_limps_angle_set = self._lower_limp_kinematics_engine.get_lower_limps_angle_set__with__both_tilted_torso_and_hip_offset_effect(interpolated_position, is_swing_leg_left)
self._twist_waist_to_balance(lower_limps_angle_set, is_swing_leg_left, time_fraction)
self.timer.sleep_until_next_interval()
self.timer.record_time()
self._actuate_lower_limps(*lower_limps_angle_set)
