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apirrone 2025-05-30 11:01:37 +02:00
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scripts/idle_head.py Normal file
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import time
import numpy as np
from mini_bdx_runtime.rustypot_position_hwi import HWI
from mini_bdx_runtime.duck_config import DuckConfig
from mini_bdx_runtime.eyes import Eyes
from mini_bdx_runtime.sounds import Sounds
from mini_bdx_runtime.antennas import Antennas
from mini_bdx_runtime.projector import Projector
duck_config = DuckConfig()
if duck_config.speaker:
sounds = Sounds(volume=1.0, sound_directory="../mini_bdx_runtime/assets/")
if duck_config.antennas:
antennas = Antennas()
if duck_config.eyes:
eyes = Eyes()
if duck_config.projector:
projector = Projector()
hwi = HWI(duck_config)
kps = [8] * 14
kds = [0] * 14
hwi.set_kps(kps)
hwi.set_kds(kds)
hwi.turn_on()
# limits = {
# "neck_pitch": [-20, 60],
# "head_pitch": [-60, 45],
# "head_yaw": [-60, 60],
# "head_roll": [-20, 20],
# }
t0 = 0.0
while True:
t = time.time() - t0
head_yaw_pos_rad = np.deg2rad(20) * np.sin(2*np.pi*0.2*t)
hwi.set_position("head_yaw", head_yaw_pos_rad)
# hwi.set_position("head_roll", head_roll_pos_rad)
# hwi.set_position("head_pitch", head_pitch_pos_rad)
time.sleep(0.01)