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test_puppy_friction.py
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test_puppy_friction.py
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#!/usr/bin/python3
# coding=utf8
# Author:hiwonder
import os, sys, time
import numpy as np
HomePath = '/home/pi'
sys.path.append(HomePath + '/PuppyPi_PC_Software')
from ServoCmd import setServoPulse
from HiwonderPuppy import HiwonderPuppy, PWMServoParams
puppy = HiwonderPuppy(setServoPulse = setServoPulse, servoParams = PWMServoParams(), dof = '8')
# FR FL BR BL
foot_locations = np.array([ [ -1., -1., -1., -1.], # X
[ 0., 0., 0., 0.], # Y
[-10, -10, -10, -10,] # Z
])
# 相对4条腿各自坐标系的坐标值，单位cm
foot_locations = foot_locations/100 # 换算成以米为单位
joint_angles = [[[0.0, 0.0, 0.0, 0.0], [1.0751474, 0.76918733, 0.005647823, 1.4192832], [-0.5127584, -0.8633295, 0.22206694, -0.43856516]], [[0.0, 0.0, 0.0, 0.0], [0.37140012, 0.5595152, 0.66624236, 0.67279565], [-1.04484, -0.36986202, -0.20628521, -0.59139955]], [[0.0, 0.0, 0.0, 0.0], [0.227235, 0.26389924, 0.66096586, 0.6753498], [-0.6086768, -0.6320791, -0.22449613, -0.72853875]], [[0.0, 0.0, 0.0, 0.0], [0.13584758, -0.2037682, 0.6163496, 0.21953022], [-0.89640087, -0.019909292, -0.42887032, -0.4462657]], [[0.0, 0.0, 0.0, 0.0], [0.3305776, -0.15457748, 0.68941337, 0.22969365], [-0.41924477, 0.07348184, -0.67951626, -0.589031]], [[0.0, 0.0, 0.0, 0.0], [0.6777504, 0.86112064, 0.59154826, 1.1293797], [0.003531137, -0.51593196, -0.35171983, -0.49043617]], [[0.0, 0.0, 0.0, 0.0], [0.64600986, 0.7495565, 0.6560322, 0.8028159], [-0.2744903, -1.3, 0.4954352, -1.1637237]], [[0.0, 0.0, 0.0, 0.0], [0.7293369, -0.01539411, 1.3323135, 0.68171984], [-1.2942228, -0.60358304, -0.5602349, -0.24966082]], [[0.0, 0.0, 0.0, 0.0], [0.46349412, 0.07751329, 1.2916847, 0.73878795], [-1.3, -0.77366257, -0.31021982, -0.3027753]], [[0.0, 0.0, 0.0, 0.0], [0.011423364, 0.11215453, 0.91308767, 1.0141153], [-0.8278463, -0.9060154, -0.51382506, -0.5084899]], [[0.0, 0.0, 0.0, 0.0], [0.20972244, 0.12707983, 0.79528064, 0.94878215], [-0.92056775, -0.94593227, -0.43450907, -0.565368]], [[0.0, 0.0, 0.0, 0.0], [0.38698727, 0.080873415, 0.8191504, 0.9433928], [-0.91697735, -0.86402273, -0.38690603, -0.51474893]], [[0.0, 0.0, 0.0, 0.0], [0.3695559, 0.19739099, 0.8453819, 0.901631], [-0.9158798, -0.8386381, -0.35858765, -0.52688646]], [[0.0, 0.0, 0.0, 0.0], [0.3574745, 0.19863005, 0.9044606, 0.86450225], [-0.91423285, -0.86487305, -0.3683013, -0.55587524]], [[0.0, 0.0, 0.0, 0.0], [0.38134575, 0.17413421, 0.9339356, 0.8445036], [-0.9018448, -0.8547214, -0.38623202, -0.5175656]], [[0.0, 0.0, 0.0, 0.0], [0.3600052, 0.1875275, 0.9433972, 0.84411997], [-0.897184, -0.86249197, -0.37294352, -0.51942074]], [[0.0, 0.0, 0.0, 0.0], [0.34995264, 0.21678258, 0.9386209, 0.86306626], [-0.881847, -0.8727818, -0.3583893, -0.53846174]], [[0.0, 0.0, 0.0, 0.0], [0.36661148, 0.23089017, 0.95110196, 0.84922034], [-0.8965627, -0.873301, -0.3669612, -0.5478395]], [[0.0, 0.0, 0.0, 0.0], [0.3722769, 0.23471443, 0.9785191, 0.8314402], [-0.9471897, -0.8536955, -0.40323916, -0.5426434]], [[0.0, 0.0, 0.0, 0.0], [0.37775517, 0.2839195, 0.97385615, 0.8075343], [-0.9795911, -0.843379, -0.42249107, -0.54329467]], [[0.0, 0.0, 0.0, 0.0], [0.39179337, 0.3202763, 0.9907163, 0.79941285], [-1.000319, -0.84481674, -0.4244873, -0.5430498]], [[0.0, 0.0, 0.0, 0.0], [0.41959137, 0.35185245, 1.0061833, 0.7970815], [-1.014956, -0.8408492, -0.42403325, -0.53352654]], [[0.0, 0.0, 0.0, 0.0], [0.4283508, 0.3779017, 1.0258703, 0.788898], [-1.0216804, -0.8439523, -0.42307904, -0.5406257]], [[0.0, 0.0, 0.0, 0.0], [0.42929476, 0.39143175, 1.0451021, 0.78187287], [-1.0219884, -0.84191203, -0.42962882, -0.5505188]], [[0.0, 0.0, 0.0, 0.0], [0.42385197, 0.40631354, 1.0523117, 0.7743498], [-1.0142981, -0.84250975, -0.43553323, -0.56812]], [[0.0, 0.0, 0.0, 0.0], [0.41507322, 0.4205627, 1.0539925, 0.770866], [-1.010458, -0.8429556, -0.4426648, -0.5903412]], [[0.0, 0.0, 0.0, 0.0], [0.40606397, 0.4346729, 1.0544124, 0.76720184], [-1.0120277, -0.8408545, -0.4515727, -0.61360025]], [[0.0, 0.0, 0.0, 0.0], [0.3925857, 0.44862905, 1.0545585, 0.7635175], [-1.0144808, -0.8399067, -0.45831296, -0.6373623]], [[0.0, 0.0, 0.0, 0.0], [0.37840652, 0.46123475, 1.0510621, 0.7613028], [-1.0131139, -0.8396717, -0.46158478, -0.661539]], [[0.0, 0.0, 0.0, 0.0], [0.36460096, 0.46775958, 1.0444008, 0.75855726], [-1.0111984, -0.83664197, -0.46587452, -0.6883178]], [[0.0, 0.0, 0.0, 0.0], [0.34719056, 0.4663538, 1.0370771, 0.7549091], [-1.0083892, -0.83171743, -0.47200745, -0.71731305]], [[0.0, 0.0, 0.0, 0.0], [0.32442147, 0.4573674, 1.026398, 0.7504712], [-1.0019474, -0.8244209, -0.47975716, -0.7477566]], [[0.0, 0.0, 0.0, 0.0], [0.2958501, 0.44320518, 1.0129033, 0.7476194], [-0.98928833, -0.81985873, -0.4853658, -0.7815672]], [[0.0, 0.0, 0.0, 0.0], [0.26462328, 0.42349404, 0.995619, 0.74588794], [-0.9746744, -0.8199154, -0.48724517, -0.81801236]], [[0.0, 0.0, 0.0, 0.0], [0.22254993, 0.38707885, 0.95076317, 0.73407096], [-0.9526646, -0.81171715, -0.4951784, -0.85595614]], [[0.0, 0.0, 0.0, 0.0], [0.18524171, 0.35272467, 0.8969572, 0.73137885], [-0.91136634, -0.80970174, -0.4926522, -0.896681]], [[0.0, 0.0, 0.0, 0.0], [0.16109492, 0.31610027, 0.8297235, 0.72637284], [-0.8711574, -0.8020717, -0.48793975, -0.93038404]], [[0.0, 0.0, 0.0, 0.0], [0.14550467, 0.26734823, 0.7691389, 0.69787985], [-0.83554906, -0.7805398, -0.48701757, -0.94446206]], [[0.0, 0.0, 0.0, 0.0], [0.12688394, 0.22415884, 0.7082633, 0.6665181], [-0.7874375, -0.76821345, -0.467496, -0.9352617]], [[0.0, 0.0, 0.0, 0.0], [0.09109767, 0.14878537, 0.6238635, 0.5791674], [-0.72385037, -0.7337207, -0.45024598, -0.91084695]], [[0.0, 0.0, 0.0, 0.0], [0.0076161176, 0.0031989925, 0.4676255, 0.37659365], [-0.6000385, -0.6455043, -0.44420233, -0.8781411]], [[0.0, 0.0, 0.0, 0.0], [-0.13902543, -0.18294658, 0.26371622, 0.05615183], [-0.42155537, -0.502886, -0.44987708, -0.84392166]], [[0.0, 0.0, 0.0, 0.0], [-0.13307296, -0.06617947, 0.26990142, -0.029893644], [-0.32671416, -0.44326347, -0.4315767, -0.79128325]], [[0.0, 0.0, 0.0, 0.0], [0.07785602, 0.29625836, 0.27706248, 0.026458137], [-0.28918123, -0.36238444, -0.43352115, -0.7677994]], [[0.0, 0.0, 0.0, 0.0], [0.23341507, 0.480003, 0.10627598, 0.08265595], [-0.10878947, -0.44907475, -0.2681304, -0.6097901]], [[0.0, 0.0, 0.0, 0.0], [0.36519873, 0.5303528, -0.058138266, 0.08262917], [0.0061885803, -0.45786875, -0.08406943, -0.31648055]], [[0.0, 0.0, 0.0, 0.0], [0.47597587, 0.52942663, 0.029238597, 0.10806433], [0.021981517, -0.43591934, 0.019408781, -0.12524849]], [[0.0, 0.0, 0.0, 0.0], [0.5674967, 0.45865917, 0.34236884, 0.3748708], [-0.09773163, -0.38660532, 0.097529024, 0.14033148]], [[0.0, 0.0, 0.0, 0.0], [0.5128063, 0.32028842, 0.5607001, 0.7065565], [-0.27294582, -0.39216292, 0.06744398, 0.30858934]], [[0.0, 0.0, 0.0, 0.0], [0.37894332, 0.14110154, 0.6638312, 0.8729847], [-0.30738753, -0.50629956, 0.1006273, 0.15509203]], [[0.0, 0.0, 0.0, 0.0], [0.4356104, 0.42609122, 0.916318, 1.3150803], [-0.27474982, -0.55812687, 0.12871952, 0.24399447]], [[0.0, 0.0, 0.0, 0.0], [0.45212543, 0.38505983, 1.514174, 1.6], [-0.70318073, -0.99693626, 0.09434639, 0.21478039]], [[0.0, 0.0, 0.0, 0.0], [-0.050582513, -0.018050361, 1.4811041, 1.6], [-1.2179463, -1.2973558, 0.14742172, -0.043753274]], [[0.0, 0.0, 0.0, 0.0], [-0.4074512, -0.24166365, 1.4046504, 1.0870781], [-1.3, -1.2269046, 0.054506015, -0.054797836]], [[0.0, 0.0, 0.0, 0.0], [-0.52102464, -0.2671807, 1.1160152, 0.8298115], [-1.0819267, -0.9131135, -0.18890274, -0.09498239]], [[0.0, 0.0, 0.0, 0.0], [-0.36726028, -0.380611, 0.5034377, 0.6341379], [-0.5988513, -0.5991988, -0.45202336, -0.42428833]], [[0.0, 0.0, 0.0, 0.0], [0.033064142, -0.12458895, 0.055610105, 0.28962803], [-0.3226656, -0.25016654, -0.44657317, -0.5589557]], [[0.0, 0.0, 0.0, 0.0], [0.5816566, 0.38122994, 0.16331679, 0.14919195], [-0.15123905, -0.08036338, -0.42970183, -0.3010737]], [[0.0, 0.0, 0.0, 0.0], [0.64172965, 0.5180203, 0.36259705, 0.3501832], [-0.1413261, -0.1453307, -0.4764968, -0.24985829]], [[0.0, 0.0, 0.0, 0.0], [0.5000791, 0.36925521, 0.47686696, 0.7077509], [-0.44351938, -0.5467885, -0.4177381, -0.34044227]], [[0.0, 0.0, 0.0, 0.0], [0.5027044, 0.29327786, 0.6492925, 0.67222637], [-0.8651155, -0.70189995, -0.36111176, -0.4257241]], [[0.0, 0.0, 0.0, 0.0], [0.48492712, 0.24065734, 0.66711783, 0.7017176], [-0.8546867, -0.68592554, -0.41419193, -0.5065078]], [[0.0, 0.0, 0.0, 0.0], [0.3758729, 0.2762576, 0.70251244, 0.665854], [-0.8992256, -0.70071876, -0.38261756, -0.563475]], [[0.0, 0.0, 0.0, 0.0], [0.37281746, 0.31281498, 0.7052613, 0.60329825], [-0.804932, -0.7188766, -0.35413718, -0.59658736]], [[0.0, 0.0, 0.0, 0.0], [0.44690472, 0.33492416, 0.6695758, 0.6042866], [-0.72173095, -0.70632756, -0.35130414, -0.61764693]], [[0.0, 0.0, 0.0, 0.0], [0.5069538, 0.36786467, 0.68658406, 0.62478137], [-0.7535868, -0.74314547, -0.33944246, -0.6227551]], [[0.0, 0.0, 0.0, 0.0], [0.5206565, 0.39413106, 0.7593513, 0.64050317], [-0.86157465, -0.7615484, -0.36242667, -0.61395144]], [[0.0, 0.0, 0.0, 0.0], [0.51570123, 0.41589558, 0.8261759, 0.6493633], [-0.9267478, -0.77519256, -0.39108306, -0.6144012]], [[0.0, 0.0, 0.0, 0.0], [0.5115506, 0.43331522, 0.84799516, 0.6497136], [-0.94061565, -0.77806306, -0.41204473, -0.6174551]], [[0.0, 0.0, 0.0, 0.0], [0.5288044, 0.45438907, 0.8473701, 0.64251953], [-0.9324385, -0.776227, -0.4260821, -0.62185454]], [[0.0, 0.0, 0.0, 0.0], [0.5571783, 0.48075545, 0.8514369, 0.6334875], [-0.93267155, -0.77998877, -0.43327317, -0.62765056]], [[0.0, 0.0, 0.0, 0.0], [0.5810629, 0.50947887, 0.86611575, 0.62960726], [-0.94706523, -0.7905085, -0.43822095, -0.6333029]], [[0.0, 0.0, 0.0, 0.0], [0.5985804, 0.5358556, 0.88434976, 0.62934595], [-0.9629046, -0.79994893, -0.44621766, -0.63868296]], [[0.0, 0.0, 0.0, 0.0], [0.61160105, 0.5595568, 0.9005171, 0.62900174], [-0.97132194, -0.8059411, -0.4547505, -0.6441049]], [[0.0, 0.0, 0.0, 0.0], [0.6206842, 0.5826474, 0.91293174, 0.6279663], [-0.97205704, -0.81121135, -0.45866922, -0.650399]], [[0.0, 0.0, 0.0, 0.0], [0.62601125, 0.60553294, 0.9228737, 0.62797767], [-0.9694779, -0.81625843, -0.45716253, -0.6587448]], [[0.0, 0.0, 0.0, 0.0], [0.62675315, 0.62720245, 0.9322519, 0.62978023], [-0.9672357, -0.81971455, -0.45264748, -0.6701508]], [[0.0, 0.0, 0.0, 0.0], [0.62159324, 0.64679193, 0.94174653, 0.6325957], [-0.9664531, -0.82097614, -0.44693097, -0.68489826]], [[0.0, 0.0, 0.0, 0.0], [0.61011237, 0.6634403, 0.95035183, 0.63570505], [-0.9656925, -0.82008505, -0.4401069, -0.70273566]], [[0.0, 0.0, 0.0, 0.0], [0.5922282, 0.6751495, 0.95591587, 0.63904077], [-0.96271545, -0.8172984, -0.43184438, -0.723773]], [[0.0, 0.0, 0.0, 0.0], [0.56639737, 0.6782444, 0.95538044, 0.64255005], [-0.9552696, -0.81293666, -0.42279607, -0.74959785]], [[0.0, 0.0, 0.0, 0.0], [0.528625, 0.6670397, 0.9442559, 0.6453891], [-0.94058675, -0.80700487, -0.41522077, -0.7835555]], [[0.0, 0.0, 0.0, 0.0], [0.47174746, 0.63465244, 0.9185682, 0.6461175], [-0.91080654, -0.7996729, -0.41161552, -0.8300616]], [[0.0, 0.0, 0.0, 0.0], [0.39767522, 0.57697254, 0.87093157, 0.6441276], [-0.8703543, -0.78475064, -0.41764513, -0.88695204]], [[0.0, 0.0, 0.0, 0.0], [0.31946397, 0.50558645, 0.802378, 0.6378312], [-0.83273256, -0.764341, -0.42642996, -0.9461057]], [[0.0, 0.0, 0.0, 0.0], [0.26028013, 0.4455671, 0.71873766, 0.6199099], [-0.8057249, -0.7350989, -0.4249856, -0.9844489]], [[0.0, 0.0, 0.0, 0.0], [0.22789283, 0.39734226, 0.6585903, 0.58415836], [-0.787352, -0.70658356, -0.40703472, -0.9842329]], [[0.0, 0.0, 0.0, 0.0], [0.20002551, 0.3378259, 0.5844215, 0.5152998], [-0.7243618, -0.67839015, -0.37080938, -0.94409883]], [[0.0, 0.0, 0.0, 0.0], 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0.5215082, 0.3444203, 0.18925303], [-0.16183127, -0.24645272, -0.42827332, -0.36755213]], [[0.0, 0.0, 0.0, 0.0], [0.5911241, 0.51003695, 0.28950763, 0.4737534], [-0.21698612, -0.36529207, -0.47054127, -0.38912973]], [[0.0, 0.0, 0.0, 0.0], [0.5191356, 0.35718805, 0.6349646, 0.7254603], [-0.9919102, -0.70200014, -0.40826213, -0.38393226]], [[0.0, 0.0, 0.0, 0.0], [0.5676455, 0.28162935, 0.6425184, 0.7142479], [-0.7954304, -0.8482006, -0.36539224, -0.6385876]], [[0.0, 0.0, 0.0, 0.0], [0.46755064, 0.29421198, 0.6838827, 0.7125923], [-0.91607255, -0.7740317, -0.38490257, -0.64966565]], [[0.0, 0.0, 0.0, 0.0], [0.43939924, 0.38135973, 0.6872405, 0.5920643], [-0.79646266, -0.7937473, -0.348685, -0.6666498]], [[0.0, 0.0, 0.0, 0.0], [0.5226823, 0.43788737, 0.63632286, 0.6073252], [-0.66795164, -0.7404846, -0.3508758, -0.67225814]], [[0.0, 0.0, 0.0, 0.0], [0.5945494, 0.46262532, 0.63513947, 0.650605], [-0.70804894, -0.78028226, -0.34065285, -0.66700137]], [[0.0, 0.0, 0.0, 0.0], [0.6031892, 0.47852823, 0.71097344, 0.6774295], [-0.83648324, -0.82754993, -0.35557, -0.6650226]], [[0.0, 0.0, 0.0, 0.0], [0.5892347, 0.50327706, 0.76753414, 0.6829048], [-0.88462484, -0.83308786, -0.38533106, -0.6729336]], [[0.0, 0.0, 0.0, 0.0], [0.5922441, 0.54260033, 0.7807865, 0.66420645], [-0.8673395, -0.83073884, -0.40042788, -0.6813499]], [[0.0, 0.0, 0.0, 0.0], [0.6207362, 0.5803227, 0.77434236, 0.6534192], [-0.84119713, -0.82818604, -0.40606573, -0.6835855]], [[0.0, 0.0, 0.0, 0.0], [0.6528878, 0.6103957, 0.77260727, 0.65739185], [-0.8437622, -0.8347343, -0.40773723, -0.6861078]], [[0.0, 0.0, 0.0, 0.0], [0.67740035, 0.64002705, 0.7837224, 0.6615801], [-0.87044215, -0.8418136, -0.4132854, -0.6926354]], [[0.0, 0.0, 0.0, 0.0], [0.69195527, 0.6701044, 0.8047007, 0.6595552], [-0.8910812, -0.84466696, -0.41848496, -0.70070887]], [[0.0, 0.0, 0.0, 0.0], [0.70391774, 0.6993585, 0.8237516, 0.65576684], [-0.8990309, -0.8430918, -0.41906586, -0.70729744]], [[0.0, 0.0, 0.0, 0.0], [0.7136399, 0.72358555, 0.8389718, 0.6538546], [-0.90356374, -0.83816123, -0.41455457, -0.7143568]], [[0.0, 0.0, 0.0, 0.0], [0.7174008, 0.74261504, 0.8530935, 0.6542437], [-0.90954924, -0.83221936, -0.40639585, -0.72484696]], [[0.0, 0.0, 0.0, 0.0], [0.7116837, 0.7572305, 0.866083, 0.654654], [-0.9147688, -0.82577515, -0.39624536, -0.7404208]], [[0.0, 0.0, 0.0, 0.0], [0.6948879, 0.7646139, 0.87506044, 0.6542011], [-0.91589767, -0.81741893, -0.38607782, -0.7615198]], [[0.0, 0.0, 0.0, 0.0], [0.6641303, 0.75785583, 0.8743983, 0.6528742], [-0.9092109, -0.8064496, -0.37850943, -0.7900834]], [[0.0, 0.0, 0.0, 0.0], [0.61238366, 0.7298291, 0.8567818, 0.65157086], [-0.88844365, -0.7943673, -0.3767895, -0.8303348]], [[0.0, 0.0, 0.0, 0.0], [0.53331286, 0.67715013, 0.81900847, 0.6520991], [-0.84595734, -0.7840101, -0.38243064, -0.8851044]], [[0.0, 0.0, 0.0, 0.0], [0.43977487, 0.60342485, 0.7630073, 0.6533858], [-0.80283636, -0.7657387, -0.3966612, -0.94468486]], [[0.0, 0.0, 0.0, 0.0], [0.3607819, 0.5319467, 0.6995439, 0.6452614], [-0.78442574, -0.738063, -0.40874803, -0.9936707]], [[0.0, 0.0, 0.0, 0.0], [0.31563944, 0.47349447, 0.66809905, 0.62723476], [-0.7942673, -0.70940626, -0.4115069, -1.0121969]], [[0.0, 0.0, 0.0, 0.0], [0.284454, 0.40851226, 0.62815154, 0.5915718], [-0.76798004, -0.69390655, -0.3935307, -0.9926462]], [[0.0, 0.0, 0.0, 0.0], [0.2452286, 0.3215166, 0.53252727, 0.5078717], [-0.69954914, -0.6602464, -0.3545419, -0.9390714]], [[0.0, 0.0, 0.0, 0.0], [0.15573914, 0.14580832, 0.30640024, 0.2709219], [-0.5530535, -0.5416147, -0.33051607, -0.8927717]], [[0.0, 0.0, 0.0, 0.0], [0.003150627, -0.07651161, 0.025650784, -0.07070411], [-0.3631777, -0.34798485, -0.3128526, -0.8565484]], [[0.0, 0.0, 0.0, 0.0], [0.031114891, 0.035608184, 0.117204264, -0.016095378], [-0.38739747, -0.34598333, -0.22104025, -0.7987393]], [[0.0, 0.0, 0.0, 0.0], [0.25429636, 0.35701525, 0.15984029, 0.11955066], [-0.34956452, -0.32861346, -0.21005079, -0.79871583]], [[0.0, 0.0, 0.0, 0.0], [0.29250425, 0.387317, 0.046040773, 0.08209513], [-0.3733483, -0.35796398, -0.15510333, -0.6390587]], [[0.0, 0.0, 0.0, 0.0], [0.39589846, 0.4747066, -0.06647208, 0.053813137], [-0.34668824, -0.3908549, -0.03005103, -0.34160033]], [[0.0, 0.0, 0.0, 0.0], [0.63209754, 0.624325, 0.028969333, 0.08389277], [-0.27292827, -0.3414604, 0.031037282, -0.14311805]], [[0.0, 0.0, 0.0, 0.0], [0.8201782, 0.6018562, 0.3045565, 0.42520946], [-0.3215857, -0.2644065, 0.113627, 0.1208004]], [[0.0, 0.0, 0.0, 0.0], [0.7650446, 0.34402394, 0.5379755, 0.8477273], [-0.4648437, -0.22302173, 0.085636616, 0.29545295]], [[0.0, 0.0, 0.0, 0.0], [0.6049849, 0.19853629, 0.79300827, 1.0578868], [-0.46337828, -0.3349141, 0.06772122, 0.09456767]], [[0.0, 0.0, 0.0, 0.0], [0.6742504, 0.47366247, 1.2565725, 1.6], [-0.65786684, -0.6292829, -0.035528284, 0.2541612]], [[0.0, 0.0, 0.0, 0.0], [0.46774966, 0.31480742, 1.5438353, 1.6], [-1.1286933, -1.2750276, -0.010036845, 0.040138893]], [[0.0, 0.0, 0.0, 0.0], [-0.28246355, -0.16861539, 1.3232452, 1.0977712], [-1.2756438, -1.2444942, -0.0028545223, -0.14628762]], [[0.0, 0.0, 0.0, 0.0], [-0.4043498, -0.17989798, 1.0166045, 0.903575], [-1.0203835, -1.0397846, -0.16332091, -0.24406502]], [[0.0, 0.0, 0.0, 0.0], [-0.18415199, -0.27280414, 0.31986797, 0.52700675], [-0.5118344, -0.6017219, -0.47015068, -0.643605]], [[0.0, 0.0, 0.0, 0.0], [0.21120761, -0.026975159, 0.09582752, 0.27426732], [-0.28143966, -0.23065272, -0.4233652, -0.6253137]], [[0.0, 0.0, 0.0, 0.0], [0.6759446, 0.52533597, 0.3463942, 0.19041795], [-0.15908295, -0.2464592, -0.42672306, -0.36330563]], [[0.0, 0.0, 0.0, 0.0], [0.58904046, 0.5079659, 0.29028475, 0.4766007], [-0.20814547, -0.36878097, -0.46708548, -0.38756263]], [[0.0, 0.0, 0.0, 0.0], [0.51916945, 0.3547585, 0.6375375, 0.72454697], [-0.9951126, -0.7011026, -0.40664306, -0.3823003]], [[0.0, 0.0, 0.0, 0.0], [0.5670847, 0.28034166, 0.641816, 0.71481806], [-0.79269254, -0.8493637, -0.36181328, -0.63937426]], [[0.0, 0.0, 0.0, 0.0], [0.4671182, 0.2943458, 0.68214226, 0.71384615], [-0.9156625, -0.77387464, -0.3823816, -0.6492446]], [[0.0, 0.0, 0.0, 0.0], [0.43902618, 0.3822706, 0.6865556, 0.5919355], [-0.7936594, -0.7936878, -0.34688684, -0.6664773]], [[0.0, 0.0, 0.0, 0.0], [0.52257156, 0.43881923, 0.6361513, 0.6078228], [-0.6659396, -0.7403896, -0.34931064, -0.67218447]], [[0.0, 0.0, 0.0, 0.0], [0.59440964, 0.46323472, 0.63493675, 0.65126526], [-0.70730853, -0.78035426, -0.33976805, -0.66652167]], [[0.0, 0.0, 0.0, 0.0], [0.60271174, 0.47880784, 0.71134883, 0.6777728], [-0.83643055, -0.82729614, -0.35527286, -0.664303]], [[0.0, 0.0, 0.0, 0.0], [0.58871, 0.50370514, 0.7678022, 0.6830985], [-0.8835615, -0.8325917, -0.38479704, -0.67214775]], [[0.0, 0.0, 0.0, 0.0], [0.591867, 0.54347855, 0.7807065, 0.66452193], [-0.86549073, -0.83047426, -0.3992708, -0.680544]], [[0.0, 0.0, 0.0, 0.0], [0.6205001, 0.5815702, 0.77412885, 0.65394044], [-0.83904374, -0.82816136, -0.40452608, -0.6828668]], [[0.0, 0.0, 0.0, 0.0], [0.6525462, 0.6117022, 0.7726169, 0.6580319], [-0.84168977, -0.83474123, -0.40616393, -0.6854763]], [[0.0, 0.0, 0.0, 0.0], [0.6767568, 0.64138675, 0.783847, 0.6622574], [-0.8683729, -0.8418121, -0.4118394, -0.6920595]], [[0.0, 0.0, 0.0, 0.0], [0.69109225, 0.6716068, 0.80483353, 0.66018385], [-0.88879836, -0.844662, -0.41705415, -0.7001554]], [[0.0, 0.0, 0.0, 0.0], [0.7029522, 0.7010408, 0.8238241, 0.65649235], [-0.8965653, -0.8430918, -0.41752806, -0.7067449]], [[0.0, 0.0, 0.0, 0.0], [0.7126437, 0.72524077, 0.83903223, 0.6546732], [-0.90114546, -0.83816504, -0.41293713, -0.7138407]], [[0.0, 0.0, 0.0, 0.0], [0.7162657, 0.7441149, 0.8531682, 0.65510094], [-0.90721583, -0.83220124, -0.40479264, -0.72443974]], [[0.0, 0.0, 0.0, 0.0], [0.71029687, 0.7584626, 0.8660846, 0.6554932], [-0.912381, -0.8257334, -0.39474356, -0.74021435]], [[0.0, 0.0, 0.0, 0.0], [0.69314176, 0.7653143, 0.87480706, 0.65497553], [-0.91325974, -0.81737375, -0.3847945, -0.7616697]], [[0.0, 0.0, 0.0, 0.0], [0.66180974, 0.7575608, 0.8735132, 0.65353584], [-0.9062522, -0.80625004, -0.3777338, -0.7908186]], [[0.0, 0.0, 0.0, 0.0], [0.6092189, 0.7277984, 0.8547887, 0.6518473], [-0.8852196, -0.79372716, -0.37684754, -0.8319948]], [[0.0, 0.0, 0.0, 0.0], [0.52886295, 0.67332095, 0.8157676, 0.6522034], [-0.8417305, -0.78295755, -0.38343892, -0.8876589]], [[0.0, 0.0, 0.0, 0.0], [0.43569118, 0.5993568, 0.75884956, 0.65384114], [-0.7994031, -0.76411057, -0.39834037, -0.9470548]], [[0.0, 0.0, 0.0, 0.0], [0.35901618, 0.52937466, 0.6967549, 0.6452368], [-0.7837349, -0.7358496, -0.41061193, -0.9950826]], [[0.0, 0.0, 0.0, 0.0], [0.3149556, 0.4708405, 0.6661467, 0.626562], [-0.79373527, -0.7077298, -0.41250828, -1.0118661]], [[0.0, 0.0, 0.0, 0.0], [0.2838834, 0.40500546, 0.62477756, 0.58940995], [-0.7655407, -0.6923557, -0.39311942, -0.99020386]], [[0.0, 0.0, 0.0, 0.0], [0.24329497, 0.3154534, 0.52483356, 0.5013377], [-0.6947973, -0.65640116, -0.3538274, -0.9363901]], [[0.0, 0.0, 0.0, 0.0], [0.14988954, 0.13270412, 0.28949428, 0.25321501], [-0.5432048, -0.53099304, -0.33179486, -0.8920348]], [[0.0, 0.0, 0.0, 0.0], [-0.0020261854, -0.08260481, 0.019336283, -0.0798092], [-0.35958692, -0.34189737, -0.31015387, -0.8545705]], [[0.0, 0.0, 0.0, 0.0], [0.04272239, 0.052171584, 0.12314123, -0.006983556], [-0.3900076, -0.34701663, -0.21901213, -0.8002326]], [[0.0, 0.0, 0.0, 0.0], [0.26310802, 0.36270165, 0.15670267, 0.12086346], [-0.35012054, -0.32920676, -0.20834357, -0.79670084]], [[0.0, 0.0, 0.0, 0.0], [0.29515004, 0.38657162, 0.036389247, 0.077683404], [-0.37370834, -0.36108357, -0.14681785, -0.6244912]]]
# 输入坐标，通过逆运动学计算得到各个舵机的角度值
# print(joint_angles*57.3)
puppy.servo_force_run()
# 强制执行舵机角度转动，没有这句舵机有时候不会转动
joint_angles = np.array(joint_angles)
for joint_angle in joint_angles:
try:
joint_angle[1] *= 1.5
puppy.sendServoAngle(joint_angle, time = 500)
time.sleep(0.016)
except:
pass
#将舵机角度发送到舵机，
print('DONE')
while True:
time.sleep(0.001)