File size: 3,193 Bytes
d65d5a4 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 | import threading
from reachy_mini import ReachyMini, ReachyMiniApp
from reachy_mini.utils import create_head_pose
import numpy as np
import time
from pydantic import BaseModel
frequency = 10 # Hz
base_sleep_time = 1 / 100
class Takina(ReachyMiniApp):
# Optional: URL to a custom configuration page for the app
# eg. "http://localhost:8042"
custom_app_url: str | None = "http://0.0.0.0:8042"
# Optional: specify a media backend ("gstreamer", "gstreamer_no_video", "default", etc.)
# On the wireless, use gstreamer_no_video to optimise CPU usage if the app does not use video streaming
request_media_backend: str | None = None
def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
t0 = time.time()
antennas_enabled = True
# You can ignore this part if you don't want to add settings to your app. If you set custom_app_url to None, you have to remove this part as well.
# === vvv ===
class AntennaState(BaseModel):
enabled: bool
@self.settings_app.post("/antennas")
def update_antennas_state(state: AntennaState):
nonlocal antennas_enabled
antennas_enabled = state.enabled
return {"antennas_enabled": antennas_enabled}
# === ^^^ ===
def get_antennas_deg():
if antennas_enabled:
amp_deg = 25.0
a = amp_deg * np.sin(2.0 * np.pi * 0.5 * t)
return np.array([a, -a])
return np.array([0.0, 0.0])
def init_pos():
reachy_mini.set_target(
head = create_head_pose(roll=0, pitch=0, yaw=0, x=0, y=0, z=0, degrees=True, mm=True),
antennas = np.array([0.0, 0.0]),
)
def progA():
y = 30.0 * np.sin(2.0 * np.pi * 0.4 * t)
pitch_deg = 10.0 + 10.0 * np.sin(2.0 * np.pi * 1.6 * t + np.pi)
return create_head_pose(pitch=pitch_deg, y=y, degrees=True, mm=True)
def progB():
x = 30.0 * np.cos(2.0 * np.pi * 0.5 * t + np.pi/2)
y = 30.0 * np.sin(2.0 * np.pi * 0.5 * t + np.pi/2)
return create_head_pose(x=x, y=y, mm=True)
init_pos()
# Main control loop
while not stop_event.is_set():
t = time.time() - t0
# Antennas angle in rad
antennas_rad = np.deg2rad(get_antennas_deg())
if (t < 7.5):
head_pose = progA()
elif(t < (7.5 + 6)):
head_pose = progB()
else:
break
# Head's position
reachy_mini.set_target(
head=head_pose,
antennas=antennas_rad,
)
duration_loop = (time.time() - t0) - t
sleep_time = base_sleep_time - duration_loop
if sleep_time < 0:
sleep_time = 0
time.sleep(sleep_time)
init_pos()
if __name__ == "__main__":
app = Takina()
try:
app.wrapped_run()
except KeyboardInterrupt:
app.stop() |