def move_head(target_position, painter):
target_position = Point(target_position)
painter.draw_point(target_position)
head_bottom_position = Point((0, 0, torso_height + neck_length))
head_top_position = Point((0, 0, torso_height + neck_length + head_height))
distance_between_head_bottom_and_target = head_bottom_position.distance_to(target_position)
assert distance_between_head_bottom_and_target == head_height
distance_between_head_top_and_target = head_top_position.distance_to(target_position)
neck_lateral_radians = get_angle_with_3_sides_known(distance_between_head_top_and_target, head_height, head_height)
def get_neck_transversal_radians(target_x, target_y):
if target_x != 0:
radiance = atan(target_y / target_x)
else: # perpendicular
if target_y > 0:
radiance = half_pi
elif target_y < 0:
radiance = -half_pi
else:
radiance = 0
return radiance
neck_transversal_radians = get_neck_transversal_radians(target_x=target_position[0], target_y=target_position[1])
return neck_transversal_radians, neck_lateral_radians
def _get_elbow_lateral_radians(self):
# print('\n###### elbow lateral ######\n')
d1 = distance_btw_outer_shoulder_position_and_target = distance_between_2_vertices_in_3d(
self.outer_shoulder_position, self.target_position)
# print('d1', d1, 'arm_length', arm_length, 'lower_upper_arm_difference', abs(lower_arm_length - upper_arm_length))
assert is_float_equal(d1, arm_length) or d1 < arm_length
if is_float_equal(d1, lower_and_upper_arm_difference):
_elbow_interior_radiance = 0
elif is_float_equal(d1, arm_length):
_elbow_interior_radiance = pi
else:
_elbow_interior_radiance = get_angle_with_3_sides_known(d1, upper_arm_length, lower_arm_length)
# print('_elbow_interior_degree', degrees(_elbow_interior_radiance))
_elbow_exterior_radiance = pi - _elbow_interior_radiance
# print('_elbow_exterior_degree', degrees(_elbow_exterior_radiance))
assert 0 <= _elbow_interior_radiance <= pi
if self.is_left:
elbow_lateral_radians = -_elbow_exterior_radiance
else:
elbow_lateral_radians = _elbow_exterior_radiance
# print('elbow_lateral_radians', degrees(elbow_lateral_radians))
return elbow_lateral_radians, _elbow_interior_radiance, _elbow_exterior_radiance
def _get_elbow_lateral_radians(self):
# print('\n###### elbow lateral ######\n')
d1 = distance_btw_outer_shoulder_position_and_target = distance_between_2_vertices_in_3d(
self.outer_shoulder_position, self.target_position)
# print('d1', d1, 'arm_length', arm_length, 'lower_upper_arm_difference', abs(lower_arm_length - upper_arm_length))
assert is_float_equal(d1, arm_length) or d1 < arm_length
if is_float_equal(d1, lower_and_upper_arm_difference):
_elbow_interior_radiance = 0
elif is_float_equal(d1, arm_length):
_elbow_interior_radiance = pi
else:
_elbow_interior_radiance = get_angle_with_3_sides_known(
d1, upper_arm_length, lower_arm_length)
# print('_elbow_interior_degree', degrees(_elbow_interior_radiance))
_elbow_exterior_radiance = pi - _elbow_interior_radiance
# print('_elbow_exterior_degree', degrees(_elbow_exterior_radiance))
assert 0 <= _elbow_interior_radiance <= pi
if self.is_left:
elbow_lateral_radians = -_elbow_exterior_radiance
else:
elbow_lateral_radians = _elbow_exterior_radiance
# print('elbow_lateral_radians', degrees(elbow_lateral_radians))
return elbow_lateral_radians, _elbow_interior_radiance, _elbow_exterior_radiance
def __get_shoulder_lateral(self, shoulder_frontal_radians, elbow_lateral_radians):
is_target_above_shoulder = self.target_position.z > outer_shoulder_z_offset
# print('shoulder_frontal_radians', degrees(shoulder_frontal_radians))
def _project_on_outer_shoulder_natural_plane(point):
return (point[0], self.outer_shoulder_position[1], point[2])
current_wrist_with_shoulder_lateral_be_0 = self.draw_arm(0, shoulder_frontal_radians, elbow_lateral_radians, draw=False)[-1]
the_current_wrist_on_outer_shoulder_natural_plane = _project_on_outer_shoulder_natural_plane(current_wrist_with_shoulder_lateral_be_0)
# print('wrist current:', current_wrist_with_shoulder_lateral_be_0)
# print('wrist on shoulder natural plane:', the_current_wrist_on_outer_shoulder_natural_plane)
target_on_outer_shoulder_natural_plane = _project_on_outer_shoulder_natural_plane(self.target_position)
# print('wrist & target on shoulder natural plane:', the_current_wrist_on_outer_shoulder_natural_plane, target_on_outer_shoulder_natural_plane)
# painter.draw_link(left_outer_shoulder_position, the_current_wrist_on_outer_shoulder_natural_plane, color='g-')
# painter.draw_link(left_outer_shoulder_position, target_on_outer_shoulder_natural_plane, color='g-')
distance_btw_outer_shoulder_position_and_target_on_outer_shoulder_natural_plane = distance_between_2_vertices_in_3d(self.outer_shoulder_position, target_on_outer_shoulder_natural_plane)
distance_btw_outer_shoulder_position_and_current_wrist_on_outer_shoulder_natural_plane = distance_between_2_vertices_in_3d(self.outer_shoulder_position, the_current_wrist_on_outer_shoulder_natural_plane)
assert is_float_equal(distance_btw_outer_shoulder_position_and_target_on_outer_shoulder_natural_plane, distance_btw_outer_shoulder_position_and_current_wrist_on_outer_shoulder_natural_plane),\
'{}, {}'.format(distance_btw_outer_shoulder_position_and_target_on_outer_shoulder_natural_plane, distance_btw_outer_shoulder_position_and_current_wrist_on_outer_shoulder_natural_plane)
outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane = distance_btw_outer_shoulder_position_and_target_on_outer_shoulder_natural_plane
if is_float_equal(0, outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane):
_shoulder_lateral_radians = 0
else:
# print(outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane, distance_between_2_vertices_in_3d(left_outer_shoulder_position, the_current_wrist_on_outer_shoulder_natural_plane))
assert is_float_equal(distance_between_2_vertices_in_3d(self.outer_shoulder_position, the_current_wrist_on_outer_shoulder_natural_plane),
outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane)
distance_between_above_2_projected_on_outer_shoulder_natural_plane = distance_between_2_vertices_in_3d(the_current_wrist_on_outer_shoulder_natural_plane, target_on_outer_shoulder_natural_plane)
# if is_float_equal(distance_between_above_2_projected_on_outer_shoulder_natural_plane, 2 * outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane):
# else:
_shoulder_lateral_radians = get_angle_with_3_sides_known(distance_between_above_2_projected_on_outer_shoulder_natural_plane, outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane, outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane)
if not is_target_above_shoulder:
_shoulder_lateral_radians *= -1
if not self.is_left:
_shoulder_lateral_radians *= -1
# print('_shoulder_lateral_radians', degrees(_shoulder_lateral_radians))
return _shoulder_lateral_radians
def _get_knee_lateral(self):
d1 = self.hip_bottom_position.distance_to(self.target_at_ankle__with_hip_transversal_counteracted)
if self.DEBUG: print('d1', d1, self.hip_bottom_position, self.target_at_ankle__with_hip_transversal_counteracted)
assert is_float_equal(d1, leg_length) or d1 < leg_length, '{} {} {}'.format(d1, leg_length, d1-leg_length)
if is_float_equal(d1, leg_length):
knee_interior_radians = pi
else:
knee_interior_radians = get_angle_with_3_sides_known(d1, upper_leg_length, lower_leg_length)
knee_exterior_radians = pi - knee_interior_radians
if self.DEBUG: print('knee interior & exterior angles', degrees(knee_interior_radians), degrees(knee_exterior_radians))
if self.is_left:
knee_lateral_radians = knee_exterior_radians
else:
knee_lateral_radians = -knee_exterior_radians
return knee_lateral_radians, knee_interior_radians, knee_exterior_radians
def _get_hip_lateral(self, hip_frontal_radians, knee_lateral_radians):
if self.is_left:
current_ankle = Point(self.robot_model.draw_left_lower_limp(left_hip_frontal_radians=hip_frontal_radians, left_knee_lateral_radians=knee_lateral_radians, draw=False)[-2].vertex)
else:
current_ankle = Point(self.robot_model.draw_right_lower_limp(right_hip_frontal_radians=hip_frontal_radians, right_knee_lateral_radians=knee_lateral_radians, draw=False)[-2].vertex)
opposite_side_length = current_ankle.distance_to(self.target_at_ankle__with_hip_transversal_counteracted)
if is_float_equal(opposite_side_length, 0):
return 0
target_at_ankle_with_hip_transversal_counteracted__radius = self.hip_bottom_position.distance_to(self.target_at_ankle__with_hip_transversal_counteracted)
current_ankle_radius = self.hip_bottom_position.distance_to(current_ankle)
assert is_float_equal(target_at_ankle_with_hip_transversal_counteracted__radius, current_ankle_radius), '{} {}'.format(target_at_ankle_with_hip_transversal_counteracted__radius, current_ankle_radius)
assert opposite_side_length < current_ankle_radius + target_at_ankle_with_hip_transversal_counteracted__radius
hip_lateral_radians = get_angle_with_3_sides_known(opposite_side_length, current_ankle_radius, target_at_ankle_with_hip_transversal_counteracted__radius)
if self.is_left:
return hip_lateral_radians
else:
return -hip_lateral_radians
def __get_shoulder_lateral(self, shoulder_frontal_radians,
elbow_lateral_radians):
is_target_above_shoulder = self.target_position.z > outer_shoulder_z_offset
# print('shoulder_frontal_radians', degrees(shoulder_frontal_radians))
def _project_on_outer_shoulder_natural_plane(point):
return (point[0], self.outer_shoulder_position[1], point[2])
current_wrist_with_shoulder_lateral_be_0 = self.draw_arm(
0, shoulder_frontal_radians, elbow_lateral_radians, draw=False)[-1]
the_current_wrist_on_outer_shoulder_natural_plane = _project_on_outer_shoulder_natural_plane(
current_wrist_with_shoulder_lateral_be_0)
# print('wrist current:', current_wrist_with_shoulder_lateral_be_0)
# print('wrist on shoulder natural plane:', the_current_wrist_on_outer_shoulder_natural_plane)
target_on_outer_shoulder_natural_plane = _project_on_outer_shoulder_natural_plane(
self.target_position)
# print('wrist & target on shoulder natural plane:', the_current_wrist_on_outer_shoulder_natural_plane, target_on_outer_shoulder_natural_plane)
# painter.draw_link(left_outer_shoulder_position, the_current_wrist_on_outer_shoulder_natural_plane, color='g-')
# painter.draw_link(left_outer_shoulder_position, target_on_outer_shoulder_natural_plane, color='g-')
distance_btw_outer_shoulder_position_and_target_on_outer_shoulder_natural_plane = distance_between_2_vertices_in_3d(
self.outer_shoulder_position,
target_on_outer_shoulder_natural_plane)
distance_btw_outer_shoulder_position_and_current_wrist_on_outer_shoulder_natural_plane = distance_between_2_vertices_in_3d(
self.outer_shoulder_position,
the_current_wrist_on_outer_shoulder_natural_plane)
assert is_float_equal(distance_btw_outer_shoulder_position_and_target_on_outer_shoulder_natural_plane, distance_btw_outer_shoulder_position_and_current_wrist_on_outer_shoulder_natural_plane),\
'{}, {}'.format(distance_btw_outer_shoulder_position_and_target_on_outer_shoulder_natural_plane, distance_btw_outer_shoulder_position_and_current_wrist_on_outer_shoulder_natural_plane)
outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane = distance_btw_outer_shoulder_position_and_target_on_outer_shoulder_natural_plane
if is_float_equal(
0,
outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane
):
_shoulder_lateral_radians = 0
else:
# print(outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane, distance_between_2_vertices_in_3d(left_outer_shoulder_position, the_current_wrist_on_outer_shoulder_natural_plane))
assert is_float_equal(
distance_between_2_vertices_in_3d(
self.outer_shoulder_position,
the_current_wrist_on_outer_shoulder_natural_plane),
outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane
)
distance_between_above_2_projected_on_outer_shoulder_natural_plane = distance_between_2_vertices_in_3d(
the_current_wrist_on_outer_shoulder_natural_plane,
target_on_outer_shoulder_natural_plane)
# if is_float_equal(distance_between_above_2_projected_on_outer_shoulder_natural_plane, 2 * outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane):
# else:
_shoulder_lateral_radians = get_angle_with_3_sides_known(
distance_between_above_2_projected_on_outer_shoulder_natural_plane,
outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane,
outer_shoulder_working_circle_radius__on_outer_shoulder_natural_plane
)
if not is_target_above_shoulder:
_shoulder_lateral_radians *= -1
if not self.is_left:
_shoulder_lateral_radians *= -1
# print('_shoulder_lateral_radians', degrees(_shoulder_lateral_radians))
return _shoulder_lateral_radians
