def __init__(
self,
config,
inverse_kinematics,
):
self.config = config
self.smoothed_yaw = 0.0 # for REST mode only
self.inverse_kinematics = inverse_kinematics
self.contact_modes = np.zeros(4)
self.gait_controller = GaitController(self.config)
self.swing_controller = SwingController(self.config)
self.stance_controller = StanceController(self.config)
self.hop_transition_mapping = {
BehaviorState.REST: BehaviorState.HOP,
BehaviorState.HOP: BehaviorState.FINISHHOP,
BehaviorState.FINISHHOP: BehaviorState.REST,
BehaviorState.TROT: BehaviorState.HOP
}
self.trot_transition_mapping = {
BehaviorState.REST: BehaviorState.TROT,
BehaviorState.TROT: BehaviorState.REST,
BehaviorState.HOP: BehaviorState.TROT,
BehaviorState.FINISHHOP: BehaviorState.TROT
}
self.activate_transition_mapping = {
BehaviorState.DEACTIVATED: BehaviorState.REST,
BehaviorState.REST: BehaviorState.DEACTIVATED
}
def __init__(
self,
config,
inverse_kinematics,
):
self.config = config
self.smoothed_yaw = 0.0 # for REST mode only
self.inverse_kinematics = inverse_kinematics
self.contact_modes = np.zeros(4)
self.gait_controller = GaitController(self.config)
self.swing_controller = SwingController(self.config)
self.stance_controller = StanceController(self.config)
## CreateLab Comment:
## these following mappings are dictionaries containing Key:Value Pairs.
## these are used to switch between the robots available modes.
## example: if the robot is in a REST mode, and we input that state into the trot_transition_mapping Dict, we get the BehaviorState.TROT back.
self.hop_transition_mapping = {
BehaviorState.REST: BehaviorState.HOP,
BehaviorState.HOP: BehaviorState.FINISHHOP,
BehaviorState.FINISHHOP: BehaviorState.REST,
BehaviorState.TROT: BehaviorState.HOP
}
self.trot_transition_mapping = {
BehaviorState.REST: BehaviorState.TROT,
BehaviorState.TROT: BehaviorState.REST,
BehaviorState.HOP: BehaviorState.TROT,
BehaviorState.FINISHHOP: BehaviorState.TROT
}
self.activate_transition_mapping = {
BehaviorState.DEACTIVATED: BehaviorState.REST,
BehaviorState.REST: BehaviorState.DEACTIVATED
}