class Gui(QtGui.QMainWindow):
def __init__(self,parent=None):
QtGui.QWidget.__init__(self,parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.video = Video(cv2.VideoCapture(0))
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.play)
self._timer.start(27)
self.update()
def play(self):
try:
self.video.captureFrame()
self.ui.videoFrame.setPixmap(
self.video.convertFrame())
self.ui.videoFrame.setScaledContents(True)
except TypeError:
print "No frame"
class Gui(QtGui.QMainWindow):
"""
Main GUI Class
It contains the main function and interfaces between
the GUI and functions
"""
def __init__(self,parent=None):
QtGui.QWidget.__init__(self,parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm()
self.video = Video(cv2.VideoCapture(0))
self.world_coord = np.float32()
""" Play and Repeat Variable """
self.wayPoints = []
self.wayPointsPos = []
self.wayPointsSpeed = []
self.wayPointsTime = []
""" Other Variables """
self.last_click = np.float32([-1,-1])
self.define_template_flag = -1
self.click_point1 = np.float32([-1,-1])
self.click_point2 = np.float32([-1,-1])
self.template = None
self.targets = []
self.waypointsfp = csv.writer(open("waypoint.csv","wb"))
self.currtime = 0
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self,True)
"""
Video Function
Creates a timer and calls play() function
according to the given time delay (27mm)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.play)
self._timer.start(27)
"""
LCM Arm Feedback
Creates a timer to call LCM handler continuously
No delay implemented. Reads all time
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
"""
ARM Plan and Command Thread
Creates a timer to call REXARM.plan_command function continuously
"""
self._timer3 = QtCore.QTimer(self)
self._timer3.timeout.connect(self.rex.plan_command)
self._timer3.start()
"""
Connect Sliders to Function
TO DO: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
self.ui.sldrBase.valueChanged.connect(self.slider_change)
self.ui.sldrShoulder.valueChanged.connect(self.slider_change)
self.ui.sldrElbow.valueChanged.connect(self.slider_change)
self.ui.sldrWrist.valueChanged.connect(self.slider_change)
self.ui.sldrMaxTorque.valueChanged.connect(self.slider_change)
self.ui.sldrSpeed.valueChanged.connect(self.slider_change)
""" Commands the arm as the arm initialize to 0,0,0,0 angles """
self.slider_change()
""" Connect Buttons to Functions """
self.ui.btnLoadCameraCal.clicked.connect(self.load_camera_cal)
self.ui.btnPerfAffineCal.clicked.connect(self.affine_cal)
self.ui.btnTeachRepeat.clicked.connect(self.tr_initialize)
self.ui.btnAddWaypoint.clicked.connect(self.tr_add_waypoint)
self.ui.btnSmoothPath.clicked.connect(self.tr_smooth_path)
self.ui.btnPlayback.clicked.connect(self.tr_playback)
self.ui.btnLoadPlan.clicked.connect(self.tr_load)
self.ui.btnDefineTemplate.clicked.connect(self.def_template)
self.ui.btnLocateTargets.clicked.connect(self.template_match)
self.ui.btnExecutePath.clicked.connect(self.exec_path)
def play(self):
"""
Play Funtion
Continuously called by GUI
"""
""" Renders the Video Frame """
try:
self.video.captureNextFrame()
for t in self.targets:
self.video.addTarget(t)
self.ui.videoFrame.setPixmap(self.video.convertFrame())
self.ui.videoFrame.setScaledContents(True)
cv2.imwrite("curretFrame.png", self.video.currentFrame)
except TypeError:
print "No frame"
"""
Update GUI Joint Coordinates Labels
TO DO: include the other slider labels
"""
self.ui.rdoutBaseJC.setText(str(self.rex.joint_angles_fb[0]*R2D))
self.ui.rdoutShoulderJC.setText(str(self.rex.joint_angles_fb[1]*R2D))
self.ui.rdoutElbowJC.setText(str(self.rex.joint_angles_fb[2]*R2D))
self.ui.rdoutWristJC.setText(str(self.rex.joint_angles_fb[3]*R2D))
fk_result = self.rex.rexarm_FK(3)
#print fk_result
self.ui.rdoutX.setText(repr(fk_result[0]))
self.ui.rdoutY.setText(repr(fk_result[1]))
self.ui.rdoutZ.setText(repr(fk_result[2]))
self.ui.rdoutT.setText(repr(fk_result[3]))
"""
Mouse position presentation in GUI
TO DO: after getting affine calibration make the apprriate label
to present the value of mouse position in world coordinates
"""
x = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-)")
self.ui.rdoutMouseWorld.setText("(-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
self.ui.rdoutMousePixels.setText("(%.0f,%.0f)" % (x,y))
if (self.video.aff_flag == 2):
""" TO DO Here is where affine calibration must be used """
self.ui.rdoutMouseWorld.setText("(%0.f,%0.f)" % (self.world_coord[0][0], self.world_coord[1][0]))
else:
self.ui.rdoutMouseWorld.setText("(-,-)")
"""
Updates status label when rexarm playback is been executed.
This will be extended to includ eother appropriate messages
"""
if(self.rex.plan_status == 1):
self.ui.rdoutStatus.setText("Playing Back - Waypoint %d"
%(self.rex.wpt_number + 1))
def slider_change(self):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
TO DO: Implement for the other sliders
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value()))
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutSpeed.setText(str(self.ui.sldrSpeed.value()) + "%")
self.rex.max_torque = self.ui.sldrMaxTorque.value()/100.0
for i in xrange(4):
self.rex.speed[i] = self.ui.sldrSpeed.value()/100.0
self.rex.joint_angles[0] = self.ui.sldrBase.value()*D2R
self.rex.joint_angles[1] = self.ui.sldrShoulder.value()*D2R
self.rex.joint_angles[2] = self.ui.sldrElbow.value()*D2R
self.rex.joint_angles[3] = self.ui.sldrWrist.value()*D2R
self.rex.cmd_publish()
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for
affine calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
""" If affine calibration is been performed """
if (self.video.aff_flag == 1):
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x-MIN_X),(y-MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText("Affine Calibration: Click point %d"
%(self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
TO DO: Change this code to use you programmed affine calibration
and NOT openCV pre-programmed function as it is done now.
"""
if(self.video.mouse_click_id == self.video.aff_npoints):
"""
Update status of calibration flag and number of mouse
clicks
"""
self.video.aff_flag = 2
self.video.mouse_click_id = 0
print self.video.mouse_coord
print self.video.real_coord
""" Perform affine calibration with OpenCV """
#self.video.aff_matrix = cv2.getAffineTransform(
# self.video.mouse_coord,
# self.video.real_coord)
self.video.compute_affine_matrix()
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Waiting for input")
"""
Uncomment to gether affine calibration matrix numbers
on terminal
"""
print self.video.aff_matrix
if self.video.aff_flag == 2:
mouse_coord = np.array([[(x-MIN_X)], [(y-MIN_Y)],[1]])
self.world_coord = np.dot(self.video.aff_matrix, mouse_coord)
if self.define_template_flag == 0:
self.click_point1 = copy.deepcopy(self.last_click)
self.define_template_flag = 1
elif self.define_template_flag == 1:
self.click_point2 = copy.deepcopy(self.last_click)
self.template = copy.deepcopy(self.video.bwFrame[2*self.click_point1[1]:2*self.click_point2[1],2*self.click_point1[0]:2*self.click_point2[0]])
print self.click_point1
print self.click_point2
self.define_template_flag = -1
cv2.imwrite('./template.png', self.template)
def affine_cal(self):
"""
Function called when affine calibration button is called.
Note it only chnage the flag to record the next mouse clicks
and updates the status text label
"""
self.video.aff_flag = 1
self.ui.rdoutStatus.setText("Affine Calibration: Click point %d"
%(self.video.mouse_click_id + 1))
def load_camera_cal(self):
print "Load Camera Cal"
self.video.loadCalibration()
def tr_initialize(self):
self.wayPointsPos = []
self.wayPointsSpeed = []
self.wayPointsTime = []
print "Teach and Repeat"
def tr_add_waypoint(self):
#waypoints1 = copy.deepcopy(self.rex.joint_angles_fb)
#waypoints2 = copy.deepcopy(self.rex.joint_angles_fb)
#self.wayPointsPos.append(waypoints1)
#self.wayPointsTime.append([self.currtime, self.currtime, self.currtime, self.currtime])
#self.wayPointsSpeed.append([0.1, 0.1, 0.1, 0.1])
#self.currtime += 70000
#waypoints2[1] -= 0.7
#self.wayPointsPos.append(waypoints2)
#self.wayPointsTime.append([self.currtime, self.currtime, self.currtime, self.currtime])
#self.wayPointsSpeed.append([0.1, 0.1, 0.1, 0.1])
#self.currtime += 70000
#self.waypointsfp.writerow(waypoints1)
#self.waypointsfp.writerow(waypoints2)
#np.save("waypointsPos",self.wayPointsPos)
#np.save("waypointsSpeed", self.wayPointsSpeed)
#np.save("waypointsTime", self.wayPointsTime)
self.wayPointsPos.append(copy.deepcopy(self.rex.joint_angles_fb))
self.wayPointsSpeed.append(copy.deepcopy(self.rex.speed_fb))
self.wayPointsTime.append(copy.deepcopy(self.rex.time_fb))
np.save("waypointsPos",self.wayPointsPos)
np.save("waypointsSpeed", self.wayPointsSpeed)
np.save("waypointsTime", self.wayPointsTime)
#print self.wayPoints
print "Add Waypoint"
def cubic_spline(self, q0, q0dot, t0, qf, qfdot, tf, stepnum):
a0 = q0
a1 = q0dot
a2 = (3*(qf-q0) - (2*q0dot+qfdot)*float(tf-t0)) / float((tf-t0)*(tf-t0))
a3 = (2*(q0-qf) + (q0dot+qfdot)*float(tf-t0)) / float((tf-t0)*(tf-t0)*(tf-t0))
stepsize = float(tf-t0)/float(stepnum)
currtime = t0 + stepsize
pos_interpolated = []
speed_interpolated = []
for i in xrange(stepnum-1):
pos_interpolated.append(a0 + a1*currtime + a2*currtime*currtime + \
a3*currtime*currtime*currtime)
speed_interpolated.append(np.abs(a1 + 2*a2*currtime + 3*a3*currtime*currtime))
currtime += stepsize
#print q0, qf
#print pos_interpolated
return (pos_interpolated, speed_interpolated)
def tr_smooth_path(self):
if len(self.wayPointsPos) != len(self.wayPointsSpeed) and len(self.wayPointsPos) != len(self.wayPointsTime):
print "Error on waypoints number, cannot smooth path"
return
for i in xrange(len(self.wayPointsTime)):
for j in xrange(4):
self.wayPointsTime[i][j] *= US2S
for i in xrange(len(self.wayPointsSpeed)):
for j in xrange(4):
self.wayPointsSpeed[i][j] *= percent2rads
interpolated_waypoints_pos = []
interpolated_waypoints_speed = []
for i in xrange(len(self.wayPointsPos)-1):
time_offset = self.wayPointsTime[i]
startPos = self.wayPointsPos[i]
endPos = self.wayPointsPos[i+1]
startSpeed = self.wayPointsSpeed[i]
endSpeed = self.wayPointsSpeed[i+1]
startTime = self.wayPointsTime[i]
endTime = self.wayPointsTime[i+1]
stepnum = 3
four_joint_interpolated_pos = []
four_joint_interpolated_speed = []
for j in xrange(4):
q0 = startPos[j]
q0dot = startSpeed[j]
t0 = startTime[j] - time_offset[j]
qf = endPos[j]
qfdot = endSpeed[j]
tf = endTime[j] - time_offset[j]
res = self.cubic_spline(q0, q0dot, t0, qf, qfdot, tf, stepnum)
four_joint_interpolated_pos.append(res[0])
four_joint_interpolated_speed.append(res[1])
interpolated_waypoints_pos.append(startPos)
for i in xrange(len(four_joint_interpolated_pos[0])):
pos = []
for j in xrange(len(four_joint_interpolated_pos)):
pos.append(four_joint_interpolated_pos[j][i])
interpolated_waypoints_pos.append(pos)
interpolated_waypoints_pos.append(endPos)
interpolated_waypoints_speed.append(startSpeed)
for i in xrange(len(four_joint_interpolated_speed[0])):
speed = []
for j in xrange(len(four_joint_interpolated_speed)):
speed.append(four_joint_interpolated_speed[j][i])
interpolated_waypoints_speed.append(speed)
interpolated_waypoints_speed.append(endSpeed)
self.wayPointsPos = interpolated_waypoints_pos
self.wayPointsSpeed = interpolated_waypoints_speed
for i in xrange(len(self.wayPointsSpeed)):
for j in xrange(len(self.wayPointsSpeed[0])):
self.wayPointsSpeed[i][j] /= percent2rads
#pprint.pprint(self.wayPointsPos)
#pprint.pprint(self.wayPointsSpeed)
np.save("interpolated_waypoints_pos", self.wayPointsPos)
np.save("interpolated_waypoints_speed", self.wayPointsSpeed)
print "Smooth Path"
def tr_playback(self):
#print self.wayPoints
self.rex.planPos = self.wayPointsPos
self.rex.planSpeed = self.wayPointsSpeed
#print self.rex.plan
self.rex.save_data = True
self.rex.plan_status = 1
self.rex.wpt_number = 0
self.rex.wpt_total = len(self.rex.planPos)
print "Playback"
def tr_load(self):
self.wayPointsPos = np.load("waypointsPos.npy")
self.wayPointsSpeed = np.load("waypointsSpeed.npy")
self.wayPointsTime = np.load("waypointsTime.npy")
print "Load waypoints"
def def_template(self):
print "Define Template"
self.define_template_flag = 0
@do_cprofile
def template_match(self):
print "Template Match"
self.targets = []
result_pq = Queue.PriorityQueue()
template = cv2.resize(self.template, None, fx=0.6, fy=0.6, interpolation=cv2.INTER_AREA)
frame = cv2.resize(self.video.bwFrame, None, fx=0.6, fy=0.6, interpolation=cv2.INTER_AREA)
height, width = template.shape
for i in xrange(0, frame.shape[0] - height):
for j in xrange(0, frame.shape[1] - width):
center_x = (i + height/2.0)/0.6
center_y = (j + width/2.0)/0.6
to_compare = frame[i:i+height,j:j+width]
num = la.norm(to_compare - template)
result_pq.put((num, center_y, center_x))
result = []
#for i in xrange(40):
# t = result_pq.get()
# print t[0]
# result.append([int(t[1]), int(t[2])])
for i in xrange((frame.shape[0]-height)*(frame.shape[1]-width)):
t = result_pq.get()
if t[0] > 350:
break
else:
result.append([int(t[1]), int(t[2])])
distort = sys.maxint
cluster_size = 1
#print result
while distort > 20:
clustered_result, distort = scv.kmeans(np.array(result), cluster_size)
cluster_size += 1
clustered_result, distort = scv.kmeans(np.array(result), 4)
print "cluster_size: ", cluster_size-1
print "distort", distort
for r in clustered_result:
print r
self.targets.append((r[0], r[1]))
#circles = cv2.HoughCircles(self.video.bwFrame, cv2.cv.CV_HOUGH_GRADIENT, 1, minDist=5, param1=50, param2=50, minRadius=1, maxRadius=30)
#for c in circlesi[0,:]:
# print c
# self.targets.append((c[0],c[1]))
#img = np.zeros((1000,1000,3), np.uint8)
#for t in self.targets:
# img = cv2.circle(img, t, 10, (255,255,255), -1)
#cv2.imwrite("./result.png", img)
def exec_path(self):
#waypoints = [(-80.0, 90.0, 350.0), (70.0, 80.0, 400.0), (-180.0, -250.0, 125.0),(240.0, -190.0, 95.0), (-80.0, 90.0, 350.0)]
#waypoints = [(-100.0, 100.0, 5.0), (-100.0, 100.0, 200.0), (100.0, 100.0, 200.0),(100.0, 100.0, 5.0), (100.0, -100.0, 5.0), (100.0, -100.0, 200.0), (100.0, 100.0, 200.0)]
waypoints = []
for t in xrange(0,12,1):
x = 150 * np.cos(t)
y = 150 * np.sin(t)
z = 5.0 + 30.0 * t
waypoints.append((x, y, z))
#waypoints = []
#if not self.targets or len(self.targets) == 0:
# return
#for t in self.targets:
# img_coord = np.array([[(t[0]/2.0)], [(t[1]/2.0)], [1]])
# world_coord = np.dot(self.video.aff_matrix, img_coord)
# print "img coord: ", img_coord
# print "world coord: ", world_coord
# waypoints.append((world_coord[0], world_coord[1], 5))
print waypoints
self.wayPointsPos = []
self.wayPointsSpeed = []
self.wayPointsTime = []
for i in xrange(0, 3*len(waypoints), 3):
x, y, z = waypoints[i/3]
self.wayPointsPos.append(self.rex.rexarm_IK_Search((x,y,z)))
self.wayPointsSpeed.append(copy.deepcopy([0.15, 0.15, 0.15, 0.15]))
#jointsUp = self.rex.rexarm_IK_Search((x, y, 50.0))
#jointsDown = self.rex.rexarm_IK_Search((x, y, 0.0))
#if jointsUp:
# self.wayPointsPos.append(copy.deepcopy(jointsUp))
# self.wayPointsSpeed.append(copy.deepcopy([0.15, 0.15, 0.15, 0.15]))
# self.wayPointsTime.append([2000000*i,2000000*i,2000000*i,2000000*i])
#
#if jointsDown:
# self.wayPointsPos.append(copy.deepcopy(jointsDown))
# self.wayPointsSpeed.append(copy.deepcopy([0.05, 0.05, 0.05, 0.05]))
# self.wayPointsTime.append([2000000*(i+1),2000000*(i+1),2000000*(i+1),2000000*(i+1)])
#if jointsUp:
# self.wayPointsPos.append(copy.deepcopy(jointsUp))
# self.wayPointsSpeed.append(copy.deepcopy([0.05, 0.05, 0.05, 0.05]))
# self.wayPointsTime.append([2000000*(i+2),2000000*(i+2),2000000*(i+2),2000000*(i+2)])
np.save("funPathPos",self.wayPointsPos)
np.save("funPathSpeed", self.wayPointsSpeed)
np.save("funPathTime", self.wayPointsTime)
self.rex.planPos = self.wayPointsPos
self.rex.planSpeed = self.wayPointsSpeed
print self.rex.planPos
self.rex.save_data = True
self.rex.plan_status = 1
self.rex.wpt_number = 0
self.rex.wpt_total = len(self.rex.planPos)
class Gui(QtGui.QMainWindow):
"""
Main GUI Class
It contains the main function and interfaces between
the GUI and functions
"""
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm(self.ui.rdoutX, self.ui.rdoutY, self.ui.rdoutZ,
self.ui.rdoutT)
self.video = Video(cv2.VideoCapture(0))
""" Other Variables """
self.last_click = np.float32([0, 0])
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self, True)
"""
Video Function
Creates a timer and calls play() function
according to the given time delay (27mm)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.play)
self._timer.start(27)
"""
LCM Arm Feedback
Creates a timer to call LCM handler continuously
No delay implemented. Reads all time
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
"""
Connect Sliders to Function
LAB TASK: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
self.ui.sldrBase.valueChanged.connect(
functools.partial(self.sliderChange, 0))
self.ui.sldrShoulder.valueChanged.connect(
functools.partial(self.sliderChange, 1))
self.ui.sldrElbow.valueChanged.connect(
functools.partial(self.sliderChange, 2))
self.ui.sldrWrist.valueChanged.connect(
functools.partial(self.sliderChange, 3))
self.ui.sldrGrip1.valueChanged.connect(
functools.partial(self.sliderChange, 4))
self.ui.sldrGrip2.valueChanged.connect(
functools.partial(self.sliderChange, 5))
self.ui.sldrMaxTorque.valueChanged.connect(
functools.partial(self.sliderChange, 6))
self.ui.sldrSpeed.valueChanged.connect(
functools.partial(self.sliderChange, 7))
#Setting the poses
#Pick up position
self.ui.btnUser2.setText("Pick Up Position")
self.ui.btnUser2.clicked.connect(
functools.partial(self.setPose,
[-0.063, 0.203, -.605, -1.493, -0.107, 1.702]))
#Home position (Outside kinect view)
self.ui.btnUser4.clicked.connect(
functools.partial(self.setPose,
[-2.015, -1.89, 0.318, -1.135, -0.47, 1.723]))
#self.ui.btnUser4.clicked.connect(functools.partial(self.setPose,[0.622,1.119,-0.069,1.125]))
#self.ui.btnUser5.clicked.connect(functools.partial(self.setPose,[0,0,0,0]))
#Robot frame points. Index 3 is phi, the grasping angle with respect to the world frame
point = [0, 0.44, 0, 90 * D2R]
#Regular rexarm position
point = [0.002, 0.189, -0.056, (90 + 72) * D2R]
point = [0.004, 0.388, -0.008, (90) * D2R]
point = [-0.002, 0.361, 0, 90 * D2R]
point = [0, 0.24, -0, 02, 90 * D2R]
point = [0.14, 0.04, 0.14, 90 * D2R]
#Test Case
point = [.22, 0, .22, 18 * D2R]
#Different test cases
point = [.12, 0.22, 0.1, 90 * D2R]
point = [-0.03, -0.17, 0.074, 90 * D2R]
#Testing a pick up position (Waterbottle)
point = [0.039, -0.002, 0.35, 37 * D2R]
point = [0.18, 0, 0.294, (352 * D2R)]
point = [0.131, 0.139, -0.015, 87 * D2R]
point = [0.184, 0.202, -0.02, 38 * D2R]
self.ui.btnUser6.setText("IK on " + str(point))
self.ui.btnUser6.clicked.connect(functools.partial(self.runIK, point))
#point = [0,0.05,0.082, 90 * D2R]
#self.ui.btnUser7.setText("IK on " + str(point))
#self.ui.btnUser7.clicked.connect(functools.partial(self.runIK,np.transpose(point)))
self.ui.btnUser3.setText("Straight Position")
self.ui.btnUser3.clicked.connect(
functools.partial(self.setPose, [0, 0, 0, 0, 0, 0]))
self.ui.btnUser11.setText("Recall Position")
self.ui.btnUser11.clicked.connect(self.recall_pose)
self.ui.btnUser12.setText("Save Position")
self.ui.btnUser12.clicked.connect(self.save_pose)
""" Commands the arm as the arm initialize to 0,0,0,0 angles """
self.sliderChange(0)
""" Connect Buttons to Functions
LAB TASK: NAME AND CONNECT BUTTONS AS NEEDED
"""
self.ui.btnUser1.setText("Affine Calibration")
self.ui.btnUser1.clicked.connect(self.affine_cal)
#Holds the current rexarm position when torque has been set to zero
def save_pose(self):
self.saved_angles = self.rex.joint_angles_fb[:]
def recall_pose(self):
self.setPose(self.saved_angles)
#Takes a list of [x,y,z] in kinect coordinates
def kinect_world_to_rexarm_world(self, kinect_coords):
x = kinect_coords[0]
y = kinect_coords[1]
z = -kinect_coords[2]
#produce
rot_angle = -30 * D2R
rot_x = np.array([[1, 0, 0, 0],
[0, np.cos(rot_angle), -np.sin(rot_angle), 0],
[0, np.sin(rot_angle),
np.cos(rot_angle), 0], [0, 0, 0, 1]])
rot_angle = 90 * D2R
rot_z = np.array([[np.cos(rot_angle), -np.sin(rot_angle), 0, 0],
[np.sin(rot_angle),
np.cos(rot_angle), 0, 0], [0, 0, 1, 0],
[0, 0, 0, 1]])
translation = np.array([[1, 0, 0, .072], [0, 1, 0, 0],
[0, 0, 1, -.625], [0, 0, 0, 1]])
inv_xform = np.dot(np.dot(rot_x, rot_z), translation)
#Invert the matrix produced so we can go from kinect coordinates to rexarm coordinates
xform = numpy.linalg.inv(inv_xform)
coords = np.array([[x], [y], [z], [1]])
rex_coords = np.dot(xform, coords)
#Clamp z if below this limit
z_limit = -0.01
if rex_coords[2][0] <= z_limit:
print "z_limit was", rex_coords[2][0], "; clamped it to", z_limit
rex_coords[2][0] = z_limit
return [rex_coords[0][0], rex_coords[1][0], rex_coords[2][0]]
#Runs inverse kinematics and only returns hardware thetas. Up to the
#user to set the pose
def runIK_noCommand(self, xyz_phi_world):
#In the robot frame
xyz_world = xyz_phi_world[0:3]
phi_world = xyz_phi_world[3]
#In the rexarm frame
xyz_rexarm = None #To be computed
#print "World Coords:", xyz_world
#Homogeneous coordinates
xyz_world = np.append(xyz_world, 1)
xyz_world = xyz_world.reshape(4, 1)
#print "Shape:", xyz.shape
#Convert xyz to rexarm coordinates (with respect to frame of point right below joint 1) by using inverse matrix
#shift_horizontal_only = self.rex.trans_base.copy()
#Don't shift along z axis. Only shift along x
#shift_horizontal_only[2][3] = 0
#import pdb
#pdb.set_trace()
#transformation = np.dot(np.dot(np.dot(self.rex.trans_magicbase,self.rex.rot_72),self.rex.rot_90),shift_horizontal_only)
#inv_transformation = np.linalg.inv(transformation)
#Convert desired IK coordinates from world frame to robot frame
#xyz_rexarm = np.dot(inv_transformation,xyz_world)
xyz_rexarm = xyz_world.copy()
xyz_rexarm = xyz_rexarm[0:3]
print "Rexarm Frame Coords:", xyz_rexarm
phi_rexarm = phi_world # - 72 * D2R #Converts grasping angle in world frame to angle in rexarm frame.
xyz_rexarm = np.append(xyz_rexarm, phi_rexarm)
xyz_rexarm = xyz_rexarm.reshape(4, 1)
#import pdb
#pdb.set_trace()
#Run Inverse kinematics
DH_thetas = self.rex.rexarm_IK(xyz_rexarm, 1)
#Send arm_thetas to the rexarm
#First convert from DH parameter angle to hardware servo angle
hardware_thetas = list(DH_thetas.copy())
for i in range(len(hardware_thetas)):
hardware_thetas[i] -= self.rex.joint_offsets[i]
# Append 0,0 for now for the remaining two joints
hardware_thetas.append(0)
hardware_thetas.append(0)
return hardware_thetas
#Runs inverse kinematics on xyz_phi_world, which has form
#[x,y,z,phi_in_radians]
def runIK(self, xyz_phi_world):
hardware_thetas = self.runIK_noCommand(xyz_phi_world)
print "Send thetas:", hardware_thetas
#Send pose to Rexarm
self.setPose(hardware_thetas)
def play(self):
"""
Play Funtion
Continuously called by GUI
"""
""" Renders the Video Frame """
try:
self.video.captureNextFrame()
self.video.blobDetector()
self.ui.videoFrame.setPixmap(self.video.convertFrame())
self.ui.videoFrame.setScaledContents(True)
except TypeError:
#print "No frame"
pass
"""
Update GUI Joint Coordinates Labels
LAB TASK: include the other slider labels
"""
self.ui.rdoutBaseJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[0] * R2D)))
self.ui.rdoutShoulderJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[1] * R2D)))
self.ui.rdoutElbowJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[2] * R2D)))
self.ui.rdoutWristJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[3] * R2D)))
"""
Mouse position presentation in GUI
TO DO: after getting affine calibration make the apprriate label
to present the value of mouse position in world coordinates
"""
x = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-)")
self.ui.rdoutMouseWorld.setText("(-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
self.ui.rdoutMousePixels.setText("(%.0f,%.0f)" % (x, y))
if (self.video.aff_flag == 2):
""" TO DO Here is where affine calibration must be used """
self.ui.rdoutMouseWorld.setText("(-,-)")
else:
self.ui.rdoutMouseWorld.setText("(-,-)")
"""
Updates status label when rexarm playback is been executed.
This will be extended to includ eother appropriate messages
"""
if (self.rex.plan_status == 1):
self.ui.rdoutStatus.setText("Playing Back - Waypoint %d" %
(self.rex.wpt_number + 1))
def sliderChange(self, selected_slider):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
TO DO: Implement for the other sliders
"""
#print "Selected joint:", selected_slider
if 0 <= selected_slider and selected_slider <= 5:
angle = 0
if selected_slider == 0:
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
angle = self.ui.sldrBase.value() * D2R
elif selected_slider == 1:
self.ui.rdoutShoulder.setText(str(
self.ui.sldrShoulder.value()))
angle = self.ui.sldrShoulder.value() * D2R
elif selected_slider == 2:
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
angle = self.ui.sldrElbow.value() * D2R
elif selected_slider == 3:
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
angle = self.ui.sldrWrist.value() * D2R
elif selected_slider == 4:
self.ui.rdoutGrip1.setText(str(self.ui.sldrGrip1.value()))
angle = self.ui.sldrGrip1.value() * D2R
elif selected_slider == 5:
self.ui.rdoutGrip2.setText(str(self.ui.sldrGrip2.value()))
angle = self.ui.sldrGrip2.value() * D2R
self.rex.joint_angles[selected_slider] = angle
elif 6 <= selected_slider and selected_slider <= 7:
if selected_slider == 6:
self.ui.rdoutTorq.setText(
str(self.ui.sldrMaxTorque.value()) + "%")
self.rex.max_torque = self.ui.sldrMaxTorque.value() / 100.0
elif selected_slider == 7:
self.ui.rdoutSpeed.setText(
str(self.ui.sldrSpeed.value()) + "%")
self.rex.speed = self.ui.sldrSpeed.value() / 100.0
else:
print "Error: Unrecognized slider index", selected_slider
self.rex.cmd_publish()
# angles is a list of floats, an angle for each joint
#Use this with state machine since lcm feedback handler isn't working.
#current_angles is provided by Rexarm state machine since rex.joint_angles_fb
#isn't being updated with the rexarm lcm handler
#Returns the new pose as a variable
def setPose(self, desired_angles, current_angles=[]):
#Use the linear motion plan that the professor explained
step_size = 0.04
t_range = list(np.arange(0, 1 + step_size, step_size))
desired_angles = np.array(desired_angles)
initial_angles = None
if len(current_angles) == 0:
initial_angles = np.array(self.rex.joint_angles_fb)
else:
initial_angles = np.array(current_angles)
for t in t_range:
new_pose = desired_angles * t + initial_angles * (1 - t)
#Sends motor command to rexarm
for i in range(len(new_pose)):
#Obey joint_limits to prevent breaking motors
if new_pose[i] < self.rex.joint_limits[i][0]:
new_pose[i] = self.rex.joint_limits[i][0]
if new_pose[i] > self.rex.joint_limits[i][1]:
new_pose[i] = self.rex.joint_limits[i][1]
self.rex.joint_angles[i] = new_pose[i]
self.rex.cmd_publish()
time.sleep(0.1)
return desired_angles
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for
affine calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
""" If affine calibration is been performed """
if (self.video.aff_flag == 1):
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x - MIN_X),
(y - MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText("Affine Calibration: Click Point %d" %
(self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
LAB TASK: Change this code to use your affine calibration routine
and NOT openCV pre-programmed function as it is done now.
"""
if (self.video.mouse_click_id == self.video.aff_npoints):
"""
Update status of calibration flag and number of mouse
clicks
"""
self.video.aff_flag = 2
self.video.mouse_click_id = 0
""" Perform affine calibration with OpenCV """
self.video.aff_matrix = cv2.getAffineTransform(
self.video.mouse_coord, self.video.real_coord)
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Waiting for input")
"""
print affine calibration matrix numbers to terminal
"""
print self.video.aff_matrix
def affine_cal(self):
"""
Function called when affine calibration button is called.
Note it only chnage the flag to record the next mouse clicks
and updates the status text label
"""
self.video.aff_flag = 1
self.ui.rdoutStatus.setText("Affine Calibration: Click Point %d" %
(self.video.mouse_click_id + 1))
#Initialize socket to send acknowledgement over
def send_socket_ack(self):
print "Sending socket acknowledgement..."
self.kinect_endpoint = "/tmp/kinect_endpoint"
#if not os.path.isfile(self.kinect_endpoint):
# open(self.kinect_endpoint, 'w').close()
try:
self.sock.sendto("1", self.kinect_endpoint)
print "Acknowledgement successfully sent."
except Exception as e:
print str(e)
print "Failed to send acknowledgement."
return
def init_socket(self):
self.sock = socket.socket(
socket.AF_UNIX, # Local computer
socket.SOCK_DGRAM) # UDP
self.kinect_path_recv = "/tmp/rexarm_endpoint"
try:
os.remove(self.kinect_path_recv)
except OSError:
pass
self.sock.bind(self.kinect_path_recv)
print "Socket binded. Ready to receive data."
# Don't need this?
#self.sock.listen(1)
#Blocks until Kinect code connects
#self.conn, self.addr = self.sock.accept()
def get_socket_data(self):
point = None
#Grasping Point struct is 28 bytes
while True:
print "Waiting for data..."
#Num bytes in grasping point struct
struct_size = 40
data, addr = self.sock.recvfrom(struct_size)
print "Received", struct_size, " bytes"
if not data:
#Error
pass
#p is point. n is normal
#TODO: Check endianness
time, p1, p2, p3, n1, n2, n3, a1, a2, a3 = struct.unpack(
"ifffffffff", data)
print "Time:", time
print "Point (mm):", p1, p2, p3
print "Normal (mm):", n1, n2, n3
print "Principal Axis (mm):", a1, a2, a3
point = [p1 / 1000.0, p2 / 1000.0, p3 / 1000.0]
axis = [a1 / 1000.0, a2 / 1000.0, a3 / 1000.0]
break
return point, axis
#Busy waits code until rexarm has reached desired pose
def wait_until_reached(self, pose, ignore_grasp=False):
self.rex.lcm_mutex.acquire()
while not self.reached_pose(pose, ignore_grasp):
#time.sleep(1)
print "Desired Pose:", pose
print "Current Rexarm Pose:", self.rex.joint_angles_fb
print "not reached desired pose yet. Thread going to sleep..."
self.rex.lcm_cv.wait()
#print "Woke up"
self.rex.lcm_mutex.release()
#Returns true if the rexarm's angles match the pose input approximately.
#Use this to repeatedly check if rexarm has reached a configuration
# pose is a list of angles for each rexarm_joint ex. [0,0,0,0,0,0]
def reached_pose(self, pose, ignore_grasp):
reached = True
allowed_error = 0.3 #radians
limit = 0
if ignore_grasp:
limit = len(self.rex.joint_angles_fb) - 1
else:
limit = len(self.rex.joint_angles_fb)
for i in range(limit):
#If error for any of the joints is > 0.01, then arm is not
#at the desired location.
if abs(self.rex.joint_angles_fb[i] - pose[i]) > allowed_error:
reached = False
break
return reached
#Instantly publishes pose to rexarm without any motion smoothing
#Used to save time
def instant_publish(self, pose):
self.rex.joint_angles = pose[:]
self.rex.cmd_publish()
#Checks if pose, a list of length 6, has angles within the range
#of the rexarm's joint limits
def check_pose_valid(self, pose):
valid = True
for i in range(len(pose)):
if pose[i] < self.rex.joint_limits[i][0] or self.rex.joint_limits[
i][1] < pose[i]:
valid = False
break
return valid
#Returns angle between x-axis and princiapl axis in range 0 to 360
#x-axis and principal axis are 3D lists
#Takes in x-axis and principal axis as 1D arrays of size 2
def compute_2D_angle(self, x_axis, princ_axis):
#Use the dot product
x_np = np.array(x_axis)
p_np = np.array(princ_axis)
#Find angle
temp = np.dot(
x_np, p_np) / (numpy.linalg.norm(x_np) * numpy.linalg.norm(p_np))
#Take arccos
angle = math.acos(temp)
#Angle is in range 0 to pi
return_angle = None
#Quadrant 1
if p_np[0] > 0 and p_np[1] >= 0:
return_angle = angle
#Quadrant 2
elif p_np[0] <= 0 and p_np[1] >= 0:
return_angle = angle
#Quadrant 3
elif p_np[0] < 0 and p_np[1] < 0:
return_angle = 2 * math.pi - angle
#Quadrant 4
elif p_np[0] >= 0 and p_np[1] < 0:
return_angle = 2 * math.pi - angle
return return_angle
#Converts vector defined in kinect coordinates to vector defined in rexarm coordinates.
#Must be lists
def kinect_vec_to_rexarm_vec(self, kinect_vec):
#Convert [0,0,0] and principal_axis point to rexarm coordinates
#Get the vector in rexarm world
start_point_rex = self.kinect_world_to_rexarm_world([0, 0, 0])
end_point_rex = self.kinect_world_to_rexarm_world(kinect_vec)
rex_vec = list(np.array(end_point_rex) - np.array(start_point_rex))
return rex_vec
#Takes in the principal axis in terms of rexarm coordinates as
# a [x,y,z] list and returns hardware angle for wrist to rotate to
def compute_wrist_angle(self, rex_axis_input):
#Project the axis vector onto the rexarm's x-y plane by setting z to 0
rex_axis = rex_axis_input[:]
rex_axis[2] = 0
#2D vector
axis = rex_axis[:2]
#Find angle between x-axis of rexarm and the rex_principal_axis in range 0
#to 360
x_axis = [1, 0]
angle_2d = self.compute_2D_angle(x_axis, axis)
print "Angle between Rexarm x axis and principal axis:", angle_2d
assert (0 <= angle_2d and angle_2d <= 2 * math.pi)
phi = 0
#Based on 4 cases, compute wrist_angle
if 0 < angle_2d and angle_2d <= math.pi / 2:
phi = -(math.pi / 2 - angle_2d)
if math.pi / 2 < angle_2d and angle_2d <= math.pi:
phi = angle_2d - math.pi / 2
if math.pi < angle_2d and angle_2d <= (3 * math.pi / 2):
phi = -(3 * math.pi / 2 - angle_2d)
if (3 * math.pi / 2) < angle_2d and angle_2d <= 2 * math.pi:
phi = angle_2d - 3 * math.pi / 2
#Add pi/2 to phi for unknown reason
phi += math.pi / 2
return phi
#base vector is [x,y,z]
def get_principal_angle(self, principal_axis_rexarm, base_vector):
#Get angle between rexarm principal axis and vector from origin
#to object.
#First project both to z = 0
p = np.array(principal_axis_rexarm[0:2])
v = np.array(base_vector[0:2])
#Flip principal axis if in quadrants 2 or 3
if p[0] < 0:
p = -p
temp = np.dot(p, v) / (numpy.linalg.norm(p) * numpy.linalg.norm(v))
angle = math.acos(temp)
return angle
def trash_state_machine(self):
#Setting the torque and speed. Ranges from 0 to 1
self.rex.max_torque = 0.55
self.rex.speed = 0.4
self.rex.cmd_publish()
#Thread to call rex.get_feedback, which enables the callback
#function to work
try:
thread.start_new_thread(self.rex.get_feedback, (False, ))
#t = Thread(target = self.rex.get_feedback, args = (False,))
#t.start()
print "Started get_feedback thread"
except:
print "Unable to start get_feedback thread"
self.init_socket()
tighten_gripper = 115 * D2R
net_base_angle = -1.71
poses = {
"HOME": [0, 0, 0, 0, 0, tighten_gripper], #Tightens gripper
"HIDE": [1.557, -2.03, -0.629, 1.079, -0.061, 1.994],
"PRE_DUNK":
[1.544, 0.233, -0.781, -0.736, -1.565, tighten_gripper],
"ABOUT_TO_DUNK":
[1.545, 0.040, -0.019, 0.046, -1.564, tighten_gripper],
"DUNK": [1.237, -0.124, 0.26, 0.854, -1.559, tighten_gripper]
#"NET_ARCH": [net_base_angle,-0.135,-1.223,-1.447,-0.061,tighten_gripper]
}
#TODO: populate this variable with the pose we're currently trying to reach
#Use this since LCM feedback handler isn't being called :(
current_pose = None
next_pose = None
#x,y,z coordinates to conduct IK for
desired_IK = []
#Angle at which to rotate wrist and grab
wrist_rot_angle = 0
#Angles to command rexarm for inverse kinematics
IK_cmd_thetas = None
principal_axis_kinect = None
#State1: Turn 90 degrees at base to prevent collision
states = [
"START", "RUN_IK_TURN_BASE", "RUN_IK_DESCEND", "GRASP", "LIFT_UP",
"TURN_TO_NET", "ARCH_TO_NET", "DROP", "UNARCH",
"TURN_TO_HOME_FROM_NET", "HIDE_POSITION_1", "HIDE_POSITION_2",
"UNHIDE", "TURN_TO_HOME_FROM_UNHIDE"
]
curr_state = "START"
synchro_timer = 1.5
start = True
linear = True
#Set to True if we're in a state where we're holding object
grasp = False
#Set to True if we're in the grasping state
clamp = False
while True:
print "----------------------------------------"
print "Current State:", curr_state
if curr_state == "START":
next_pose = poses["HOME"][:]
next_state = "HIDE_POSITION_1"
elif curr_state == "RUN_IK_TURN_BASE":
#Run_IK
IK_cmd_thetas = []
IK_successful = True
IK_message = ""
try:
IK_cmd_thetas = self.runIK_noCommand(desired_IK)
except Exception as e:
IK_successful = False
IK_message = "ERROR: IK encountered runtime error.\n" + str(
e)
if not self.check_pose_valid(IK_cmd_thetas):
IK_successful = False
IK_message = "ERROR: IK gave angles outside of feasible range.\n"
print "IK_result:", IK_cmd_thetas
#Check that the joint angles returned by IK are possible
if not IK_successful:
print IK_message
print "Returning to Hide position"
linear = False
next_state = "HIDE_POSITION_2"
else:
#Turn base towards object
next_pose[0] = IK_cmd_thetas[0]
#Twist wrist
#next_pose[4] = IK_cmd_thetas[4]
linear = False
self.instant_publish(next_pose)
print "Turned Base to:", next_pose[0]
#TODO: Get lcm joint angles returned from runIK so that
#we can wait before grasping
next_state = "TURN_WRIST"
elif curr_state == "TURN_WRIST":
#Current base angle
print "Current base angle after turning:", self.rex.joint_angles_fb[
0]
print "Principal Axis Vector in Kinect World:", principal_axis_kinect
print "Principal Axis Vector in Rexarm World:", principal_axis_rexarm
#Wrist rotation angle with respect to the x-axis of the rexarm base frame
wrist_rot_angle = self.compute_wrist_angle(
principal_axis_rexarm)
print "wrist rotation angle determined with respect to rexarm x-axis:", wrist_rot_angle
#Subtract the rotation of the base before adding the wrist_rot_angle
IK_cmd_thetas[
4] = wrist_rot_angle - self.rex.joint_angles_fb[0]
print "wrist rotation angle after subtracting base joint rotation:", IK_cmd_thetas[
4]
#Now subtract the angle between principal axis and vector from
#base to object
axis_baserot_angle = self.get_principal_angle(
principal_axis_rexarm, desired_IK[:3])
IK_cmd_thetas[4] -= axis_baserot_angle
#---------------------------TODO: Put in function
#Map it to an untangled state from -wrist_limit to wrist_limit
IK_cmd_thetas[4] = IK_cmd_thetas[4] % (2 * math.pi)
print "wrist rotation angle after modulus with 2PI:", IK_cmd_thetas[
4]
#Map it from -PI to PI
if IK_cmd_thetas[4] > math.pi:
IK_cmd_thetas[4] -= 2 * math.pi
print "wrist rotation angle after restricting to -PI to PI:", IK_cmd_thetas[
4]
if IK_cmd_thetas[4] <= -self.rex.wrist_limit:
IK_cmd_thetas[4] += math.pi
if IK_cmd_thetas[4] >= self.rex.wrist_limit:
IK_cmd_thetas[4] -= math.pi
print "wrist rotation angle after restricting to wrist range:", IK_cmd_thetas[
4]
#---------------------------TODO: Put in function
IK_cmd_thetas[4] = 0
next_pose[4] = IK_cmd_thetas[4]
linear = False
self.instant_publish(next_pose)
next_state = "RUN_IK_DESCEND"
elif curr_state == "RUN_IK_DESCEND":
print "About to descend:"
print "Current pose:", self.rex.joint_angles_fb
print "Desired Pose:", IK_cmd_thetas
#Descend the rest of the IK outside of base
next_pose = IK_cmd_thetas[:]
next_state = "GRASP"
elif curr_state == "GRASP":
#Set joint 5 to grasp
next_pose[5] = tighten_gripper
clamp = True
next_state = "PRE_DUNK"
#------------------------------------------------------------------------------------
#Lift to pre-dunk state after grasping. Ignore last joint
elif curr_state == "PRE_DUNK":
next_pose = poses["PRE_DUNK"][:]
grasp = True
next_state = "ABOUT_TO_DUNK"
elif curr_state == "ABOUT_TO_DUNK":
next_pose = poses["ABOUT_TO_DUNK"][:]
grasp = True
linear = False
self.instant_publish(next_pose)
next_state = "DUNK"
elif curr_state == "DUNK":
next_pose = poses["DUNK"][:]
grasp = True
#linear = False
#self.instant_publish(next_pose)
next_state = "DROP"
elif curr_state == "DROP":
#Set joint 5 to 0 angle
next_pose[5] = 0
linear = False
self.instant_publish(next_pose)
next_state = "RETURN_HOME"
elif curr_state == "RETURN_HOME":
next_pose = poses["ABOUT_TO_DUNK"][:]
next_state = "HOME_TURN"
elif curr_state == "HOME_TURN":
next_pose = poses["HOME"][:]
linear = False
self.instant_publish(next_pose)
next_state = "HIDE_POSITION_2"
#------------------------------------------------------------------------------------
elif curr_state == "UNHIDE":
#Go to home position. Then run IK
next_pose = poses["HOME"][:]
next_state = "RUN_IK_TURN_BASE"
elif curr_state == "HIDE_POSITION_1":
next_pose = poses["HIDE"][:]
next_state = "SOCKET_READ"
elif curr_state == "HIDE_POSITION_2":
next_pose = poses["HIDE"][:]
next_state = "SEND_ACK"
elif curr_state == "SEND_ACK":
#Acknowledge that we are done picking up and disposing of object
self.send_socket_ack()
linear = False
next_state = "SOCKET_READ"
elif curr_state == "SOCKET_READ":
#Block and wait for next point of new object
kin_point, principal_axis_kinect = self.get_socket_data()
#Convert to rexarm coordinates from kinect coordinates
rex_point = self.kinect_world_to_rexarm_world(kin_point)
#Converts principal axis from kinect coordinates to rexarm coordinates
principal_axis_rexarm = self.kinect_vec_to_rexarm_vec(
principal_axis_kinect)
#principal_axis_rexarm = [2,-1,5]
#principal_axis_rexarm = [1,0,5]
#print "Principal Axis Vector in Kinect World:", principal_axis_kinect
print "Principal Axis Vector in Rexarm World:", principal_axis_rexarm
desired_IK = [
rex_point[0], rex_point[1], rex_point[2], 87 * D2R
]
#desired_IK = [0.131,0.139,-0.015, 87 * D2R]
#desired_IK = [0.15,0.1,0.05, 87 * D2R]
#desired_IK = [0.15,0.15,0, 87 * D2R]
print "Inverse Kinematics Target:"
print "Goal x in Rexarm:", desired_IK[0]
print "Goal y in Rexarm:", desired_IK[1]
print "Goal z:", desired_IK[2]
linear = False
#Not setting next_pose
next_state = "UNHIDE"
if linear:
if start:
self.setPose(next_pose)
start = False
else:
self.setPose(next_pose, current_pose)
else:
linear = True
#Setting current_pose to whatever next_pose was
#determined to be
current_pose = next_pose[:]
if not clamp:
if not grasp:
self.wait_until_reached(next_pose)
else:
self.wait_until_reached(next_pose, ignore_grasp=True)
grasp = False
else:
time.sleep(synchro_timer)
clamp = False
print "Next State:", next_state
print "----------------------------------------"
curr_state = next_state
class Gui(QtGui.QMainWindow):
"""
Main GUI Class
contains the main function and interfaces between
the GUI and functions
"""
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm()
self.video = Video()
self.statemachine = Statemachine()
#self.video.extrinsic = np.array(self.video.getcaldata())
#self.video.inv_extrinsic = np.array(np.linalg.inv(self.video.extrinsic))
""" Other Variables """
self.last_click = np.float32([0, 0])
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self, True)
self.statemachine.setme(self.ui, self.rex)
"""
GUI timer
Creates a timer and calls update_gui() function
according to the given time delay (27ms)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.update_gui)
self._timer.start(27)
"""
LCM Arm Feedback timer
Creates a timer to call LCM handler for Rexarm feedback
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
"""
Giri - Statemachine timer
"""
#self._timer3 = QtCore.QTimer(self)
#self._timer3.timeout.connect(self.statemachine.timerCallback)
#self._timer3.start(100) # frequency of the timer is set by this. it is 100 ms now. However, the time.now can give microseconds precision not just millisecond
"""
Connect Sliders to Function
TODO: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
self.ui.sldrBase.valueChanged.connect(self.sliderBaseChange)
self.ui.sldrShoulder.valueChanged.connect(
self.sliderShoulderChange) #Giri
self.ui.sldrElbow.valueChanged.connect(self.sliderElbowChange) #Giri
self.ui.sldrWrist.valueChanged.connect(self.sliderWristChange) #Giri
self.ui.sldrGrip1.valueChanged.connect(self.sliderGrip1Change) #Giri
self.ui.sldrGrip2.valueChanged.connect(self.sliderGrip2Change) #Giri
self.ui.sldrMaxTorque.valueChanged.connect(
self.sliderOtherChange) #Giri
self.ui.sldrSpeed.valueChanged.connect(self.sliderOtherChange) #Giri
if (self.rex.num_joints == 6):
self.ui.sldrGrip1.setEnabled(True) #Giri
self.ui.sldrGrip2.setEnabled(True) #Giri
else:
self.ui.sldrGrip1.setEnabled(False) #Giri
self.ui.sldrGrip2.setEnabled(False) #Giri
""" Initial command of the arm to home position"""
self.sliderChange()
self.reset()
""" Connect Buttons to Functions
TODO: NAME AND CONNECT BUTTONS AS NEEDED
"""
self.ui.btnUser1.setText("Configure Servos")
self.ui.btnUser1.clicked.connect(self.btn1) #Giri
self.ui.btnUser2.setText("Depth and RGB Calibration")
self.ui.btnUser2.clicked.connect(self.btn2) #Giri
self.ui.btnUser2.setEnabled(False)
self.ui.btnUser3.setText("Extrinsic Calibration") #Giri
self.ui.btnUser3.clicked.connect(self.btn3)
self.ui.btnUser4.setText("Block Detector") #Giri
self.ui.btnUser4.clicked.connect(self.btn4)
self.ui.btnUser5.setText("Repeat")
self.ui.btnUser5.clicked.connect(self.btn5) #Giri
self.ui.btnUser6.setText("Teach")
self.ui.btnUser6.clicked.connect(self.teach) #Giri
self.ui.btnUser7.setText("Smooth Repeat")
self.ui.btnUser7.clicked.connect(self.srepeat) #Giri
self.ui.btnUser7.setEnabled(False) #Giri
self.ui.btnUser8.setText("Pick Block")
self.ui.btnUser8.clicked.connect(self.pick)
self.ui.btnUser9.setText("Place Block")
self.ui.btnUser9.clicked.connect(self.place)
self.ui.btnUser10.setText("Reset")
self.ui.btnUser10.clicked.connect(self.reset) #Giri
self.ui.btnUser11.setText("Enter Competition Mode")
self.ui.btnUser11.clicked.connect(self.competition) #Giri
self.ui.btnUser12.setText("Emergency Stop!")
self.ui.btnUser12.clicked.connect(self.estop)
def estop(self):
self.statemachine.estop(self.rex)
def trim_angle(self, q, motorno=1): #for 1,2,3
if (motorno > 2):
max_angle = 300
else:
max_angle = 360
if (q > max_angle or q < -1 * max_angle):
new_q = 0
print "trimmed: " + str(q) + " motor no: " + str(motorno)
elif (q > 180): #181 --> -179
new_q = q - 360
print "trimmed: " + str(q) + " motor no: " + str(motorno)
elif (q < -180):
new_q = 360 - q
print "trimmed: " + str(q) + " motor no: " + str(motorno)
else:
new_q = q
return new_q
def shortorientation(self, w_angle):
if (w_angle > 90):
sw_angle = w_angle - 90
elif (w_angle < -90):
sw_angle = w_angle + 90
else:
sw_angle = w_angle
return sw_angle
def update_gui(self):
"""
update_gui function
Continuously called by timer1
"""
""" Renders the video frames
Displays a dummy image if no video available
HINT: you can use the radio buttons to select different
video sources like is done below
"""
color = self.statemachine.timerCallback()
if (color == "Decluttered"):
self.declutter()
elif (color != "none"):
self.getangles(color)
if (self.video.kinectConnected == 1):
try:
self.video.captureVideoFrame()
self.video.captureDepthFrame()
except TypeError:
self.video.kinectConnected = 0
self.video.loadVideoFrame()
self.video.loadDepthFrame()
if (self.ui.radioVideo.isChecked()):
self.ui.videoFrame.setPixmap(self.video.convertFrame())
if (self.ui.radioDepth.isChecked()):
self.ui.videoFrame.setPixmap(self.video.convertDepthFrame())
"""
Update GUI Joint Coordinates Labels
"""
self.ui.rdoutBaseJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[0] * R2D)))
self.ui.rdoutShoulderJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[1] * R2D)))
self.ui.rdoutElbowJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[2] * R2D)))
self.ui.rdoutWristJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[3] * R2D)))
self.ui.rdoutGrip1.setText(str(self.ui.sldrGrip1.value())) #Giri
self.ui.rdoutGrip2.setText(str(self.ui.sldrGrip2.value())) #Giri
"""
Update End Effector Coordinates Kevin
"""
endCoord = forwardKinematics(self.rex.joint_angles_fb[0] * R2D,
self.rex.joint_angles_fb[1] * R2D,
self.rex.joint_angles_fb[2] * R2D,
self.rex.joint_angles_fb[3] * R2D)
self.ui.rdoutX.setText(str("%2f" % (round(endCoord[0], 2))))
self.ui.rdoutY.setText(str("%2f" % (round(endCoord[1], 2))))
self.ui.rdoutZ.setText(str("%2f" % (round(endCoord[2], 2))))
self.ui.rdoutT.setText(str("%2f" % (round(endCoord[3], 2))))
"""
Mouse position presentation in GUI
TODO: after implementing workspace calibration
display the world coordinates the mouse points to
in the RGB video image.
"""
x = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-,-)")
self.ui.rdoutMouseWorld.setText("(-,-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
z = self.video.currentDepthFrame[y][x]
self.ui.rdoutMousePixels.setText("(%.0f,%.0f,%.0f)" % (x, y, z))
if (self.video.cal_flag == 2):
M = self.video.aff_matrix
v = np.float32([x, y, 1])
rw = np.dot(M, v)
self.ui.rdoutMouseWorld.setText("(%.0f,%.0f,0)" %
(rw[0], rw[1]))
elif (self.video.extrinsic_cal_flag == 2): #Josh
xy_in_rgb = np.float32([[[x, y]]]) #Josh
xy_in_rgb_homogenous = np.array([x, y, 1.0])
self.video.rgb2dep_aff_matrix = np.array(
[[1.09403672e0, 3.44369111e-3, -1.62867595e0],
[-2.41966785e-3, 1.07534829e0, -2.69041712e1],
[0., 0., 1.]]) #Josh
xy_in_dep = np.dot(self.video.rgb2dep_aff_matrix,
xy_in_rgb_homogenous) #Josh
x_dep = int(xy_in_dep[0]) #Josh
y_dep = int(xy_in_dep[1]) #Josh
d = self.video.currentDepthFrame[y_dep][x_dep]
Z = -1
#Z = 0.1236*np.tan(d/2842.5 + 1.1863)*1000
for idx in range(len(self.video.levels_mm)):
if d <= self.video.levels_upper_d[
idx] and d >= self.video.levels_lower_d[idx]:
Z = 941 - self.video.levels_mm[idx]
break
camera_coord = Z * cv2.undistortPoints(
xy_in_rgb, self.video.intrinsic,
self.video.distortion_array)
camera_coord_homogenous = np.transpose(
np.append(camera_coord, [Z, 1.0]))
world_coord_homogenous = np.dot(self.video.extrinsic,
camera_coord_homogenous)
#camera_coord = Z*np.dot(self.video.inv_intrinsic,xy_in_rgb)
#camera_coord_homo = np.concatenate((camera_coord,[1.]),axis = 0)
#world_coord_homo = np.dot(self.video.extrinsic,camera_coord_homo)
self.ui.rdoutMouseWorld.setText(
"(%.0f,%.0f,%.0f)" %
(world_coord_homogenous[0], world_coord_homogenous[1],
world_coord_homogenous[2]))
#self.ui.rdoutMouseWorld.setText("(%.0f,%.0f,%.0f)" % (x_dep,y_dep,d))
else:
self.ui.rdoutMouseWorld.setText("(-,-,-)")
"""
Updates status label when rexarm playback is been executed.
This can be extended to include other appropriate messages
"""
if (self.rex.plan_status == 1):
self.ui.rdoutStatus.setText("Playing Back - Waypoint %d" %
(self.rex.wpt_number + 1))
self.ui.rdoutStatus.setText(
self.statemachine.getmestatus(combined=True))
def sliderChange(self):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.rex.torque_multiplier = self.ui.sldrMaxTorque.value() / 100.0
self.rex.speed_multiplier = [self.ui.sldrSpeed.value() / 100.0
] * self.rex.num_joints
self.rex.joint_angles[0] = self.ui.sldrBase.value() * D2R
self.rex.joint_angles[1] = self.ui.sldrShoulder.value() * D2R
self.rex.joint_angles[2] = self.ui.sldrElbow.value() * D2R
self.rex.joint_angles[3] = self.ui.sldrWrist.value() * D2R
if (self.rex.num_joints == 6):
self.rex.joint_angles[4] = self.ui.sldrWrist.value() * D2R
self.rex.joint_angles[5] = self.ui.sldrWrist.value() * D2R
self.rex.cmd_publish()
def sliderinitChange(self): #Giri
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value())) #Giri
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value())) #Giri
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value())) #Giri
self.ui.rdoutGrip1.setText(str(self.ui.sldrGrip1.value())) #Giri
self.ui.rdoutGrip2.setText(str(self.ui.sldrGrip2.value())) #Giri
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutSpeed.setText(str(self.ui.sldrSpeed.value()) + "%")
self.rex.torque_multiplier = self.ui.sldrMaxTorque.value() / 100.0
self.rex.speed_multiplier = [self.ui.sldrSpeed.value() / 100.0
] * self.rex.num_joints
#Giri{
self.rex.joint_angles[0] = self.ui.sldrBase.value() * D2R
self.rex.joint_angles[1] = self.ui.sldrShoulder.value() * D2R
self.rex.joint_angles[2] = self.ui.sldrElbow.value() * D2R
self.rex.joint_angles[3] = self.ui.sldrWrist.value() * D2R
if (len(self.rex.joint_angles) == 6):
self.rex.joint_angles[4] = self.ui.sldrGrip1.value() * D2R
self.rex.joint_angles[5] = self.ui.sldrGrip2.value() * D2R
#Giri}
self.rex.cmd_publish()
#From Giri: I implemented all these function in a one function above, incase if the response time is bad, we can go back to the below five separate functions
def sliderOtherChange(self): #Giri
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutSpeed.setText(str(self.ui.sldrSpeed.value()) + "%")
self.rex.torque_multiplier = self.ui.sldrMaxTorque.value() / 100.0
self.rex.speed_multiplier = [self.ui.sldrSpeed.value() / 100.0
] * self.rex.num_joints
self.rex.cmd_publish()
def sliderBaseChange(self): #Kevin
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.rex.joint_angles[0] = self.ui.sldrBase.value() * D2R
self.rex.cmd_publish()
def sliderShoulderChange(self): #Kevin
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value()))
self.rex.joint_angles[1] = self.ui.sldrShoulder.value() * D2R
self.rex.cmd_publish()
def sliderElbowChange(self): #Kevin
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
self.rex.joint_angles[2] = self.ui.sldrElbow.value() * D2R
self.rex.cmd_publish()
def sliderWristChange(self): #Kevin
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
self.rex.joint_angles[3] = self.ui.sldrWrist.value() * D2R
self.rex.cmd_publish()
def sliderGrip1Change(self): #Giri
self.ui.rdoutGrip1.setText(str(self.ui.sldrGrip1.value()))
self.rex.joint_angles[4] = self.ui.sldrGrip1.value() * D2R
self.rex.cmd_publish()
def sliderGrip2Change(self): #Giri
self.ui.rdoutGrip2.setText(str(self.ui.sldrGrip2.value()))
self.rex.joint_angles[5] = self.ui.sldrGrip2.value() * D2R
self.rex.cmd_publish()
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
""" If calibration has been performed """
if (self.video.cal_flag == 1):
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x - MIN_X),
(y - MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText(
"Affine Calibration: Click Point %d is recorded, please select Click Point %d"
% (self.video.mouse_click_id, self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
LAB TASK: Change this code to use your workspace calibration routine
and NOT the simple calibration function as is done now.
"""
if (self.video.mouse_click_id == self.video.cal_points):
"""
Update status of calibration flag and number of mouse
clicks
"""
self.video.cal_flag = 2
self.video.mouse_click_id = 0
""" Perform affine calibration with OpenCV """
self.video.aff_matrix = cv2.getAffineTransform(
self.video.mouse_coord, self.video.real_coord)
#print self.video.mouse_coord #Josh
#print self.video.real_coord #Josh
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Waiting for input")
if (self.video.dep2rgb_aff_flag == 1): #Josh
if (self.video.mouse_click_id < self.video.rgb_pts_num):
self.video.rgb_coord[self.video.mouse_click_id * 2] = x - MIN_X
self.video.rgb_coord[self.video.mouse_click_id * 2 +
1] = y - MIN_Y
else:
self.video.dep_coord[2 * (self.video.mouse_click_id -
self.video.rgb_pts_num)] = [
(x - MIN_X), (y - MIN_Y), 1, 0,
0, 0
]
self.video.dep_coord[
2 * (self.video.mouse_click_id - self.video.rgb_pts_num) +
1] = [0, 0, 0, (x - MIN_X), (y - MIN_Y), 1]
self.video.mouse_click_id += 1
print self.video.mouse_click_id
if (self.video.mouse_click_id == self.video.dep_pts_num):
self.video.dep2rgb_aff_flag = 2
self.video.mouse_click_id = 0
A = self.video.dep_coord
A_trans = np.transpose(A)
A_AT = np.dot(A_trans, A)
A_AT_inv = np.linalg.inv(A_AT)
A_all = np.dot(A_AT_inv, A_trans)
b = np.transpose(self.video.rgb_coord)
tmp_dep2rgb_aff_array = np.dot(A_all, b)
upper_dep2rgb_aff_matrix = np.reshape(tmp_dep2rgb_aff_array,
(2, 3))
lower_dep2rgb_aff_matrix = np.array([[0, 0, 1]])
self.video.dep2rgb_aff_matrix = np.concatenate(
(upper_dep2rgb_aff_matrix, lower_dep2rgb_aff_matrix),
axis=0)
self.video.rgb2dep_aff_matrix = np.linalg.inv(
self.video.dep2rgb_aff_matrix)
print self.video.rgb2dep_aff_matrix
if (self.video.extrinsic_cal_flag == 1): #Josh
self.video.extrinsic_cal_pixel_coord[self.video.mouse_click_id] = [
(x - MIN_X), (y - MIN_Y)
]
self.video.mouse_click_id += 1
if (self.video.mouse_click_id == 3):
"""
retval, rvec, tvec = cv2.solvePnP(self.video.extrinsic_cal_world_coord, self.video.extrinsic_cal_pixel_coord, self.video.intrinsic, self.video.distortion_array)
#print self.video.extrinsic_cal_pixel_coord, self.video.extrinsic_cal_world_coord
self.video.mouse_click_id = 0
R,tmp = cv2.Rodrigues(rvec)
tmp = np.concatenate((np.transpose(R),-1.0*tvec),axis=1)
self.video.extrinsic = np.concatenate((tmp, np.float32([[0., 0., 0., 1.]])),axis = 0)
print self.video.extrinsic
self.video.inv_extrinsic = np.linalg.inv(self.video.extrinsic)
self.video.extrinsic_cal_flag = 2
"""
self.video.mouse_click_id = 0
tmp_coord = np.float32(
[[self.video.extrinsic_cal_pixel_coord[0]],
[self.video.extrinsic_cal_pixel_coord[1]],
[self.video.extrinsic_cal_pixel_coord[2]]])
camera_coord = 941.0 * cv2.undistortPoints(
tmp_coord, self.video.intrinsic,
self.video.distortion_array)
rot_rad = -1.0 * np.arctan2(
(camera_coord[1][0][1] - camera_coord[0][0][1]),
(camera_coord[1][0][0] - camera_coord[0][0][0]))
if rot_rad < 0:
z_rot = rot_rad + 0.5 * np.pi
else:
z_rot = 0.5 * np.pi - rot_rad
R_T = np.array([[np.cos(z_rot),
np.sin(z_rot), 0.0],
[np.sin(z_rot), -1.0 * np.cos(z_rot), 0.0],
[0.0, 0.0, -1.0]])
R = np.transpose(R_T)
T = np.float32([
(camera_coord[0][0][0] + camera_coord[2][0][0]) / 2,
(camera_coord[0][0][1] + camera_coord[2][0][1]) / 2, 941
])
T = np.transpose(np.array([-1.0 * np.dot(R, T)]))
tmp = np.concatenate((R, T), axis=1)
self.video.extrinsic = np.concatenate(
(tmp, np.float32([[0., 0., 0., 1.]])), axis=0)
#self.video.writecaldata(self.video.extrinsic)
self.video.inv_extrinsic = np.linalg.inv(self.video.extrinsic)
print "Extrinsic Matrix = ", self.video.extrinsic
self.video.extrinsic_cal_flag = 2
def deprgb_cali(self): #Josh
self.video.dep2rgb_aff_flag = 1
self.ui.rdoutStatus.setText(
"Start camera calibration by clicking mouse to select Click Point 1"
)
def extrinsic_cali(self): #Josh
alpha = 525.91386088
u0 = 312.41480582
beta = 526.52064559
v0 = 247.78962122
matrix1 = np.float32([[1 / alpha, 0., 0.], [0., 1 / beta, 0.],
[0., 0., 1.0]])
matrix2 = np.float32([[1.0, 0., -u0], [0., 1., -v0], [0., 0., 1.0]])
self.video.inv_intrinsic = np.dot(matrix1, matrix2)
self.video.intrinsic = np.float32([[alpha, 0., u0], [0., beta, v0],
[0., 0., 1.]])
self.video.distortion_array = np.float32([
2.45479098e-01, -8.27672136e-01, 1.05870966e-03, -3.01947277e-03,
1.08683931e+00
])
self.video.extrinsic_cal_flag = 1
def teach(self): #Giri
[x, y, z, orientation] = [0, 14, 1, 180.0]
q = [0.0, 0.0, 0.0, 0.0]
[q[0], q[1], q[2], q[3]] = inverseKinematics(x, y, z, orientation)
print q
self.rex.joint_angles[0] = q[0] * D2R
self.rex.joint_angles[1] = q[1] * D2R
self.rex.joint_angles[2] = q[2] * D2R
self.rex.joint_angles[3] = q[3] * D2R
self.rex.cmd_publish()
def repeat(self): #Giri
if (self.ui.btnUser7.text() == "Repeat"):
self.statemachine.init(self.ui, self.rex, "Initialising")
else:
self.statemachine.repeat(self.ui, self.rex, False) #Giri
def srepeat(self): #Giri
self.statemachine.init(self.ui, self.rex, "initialising")
def reset(self, hold=False):
self.rex.torque_multiplier = self.ui.sldrMaxTorque.value() / 100.0
self.rex.speed_multiplier = [self.ui.sldrSpeed.value() / 100.0
] * self.rex.num_joints
self.rex.joint_angles[0] = 0.0
self.rex.joint_angles[1] = 0.0
self.rex.joint_angles[2] = 0.0
self.rex.joint_angles[3] = 0.0
if (len(self.rex.joint_angles) == 6 and hold == False):
self.rex.joint_angles[4] = 0.0
self.rex.joint_angles[5] = 95 * D2R
elif (len(self.rex.joint_angles) == 6 and hold == True):
self.rex.joint_angles[4] = 0.0
self.rex.joint_angles[5] = -95 * D2R
self.rex.cmd_publish()
def getheight(self, angle, action="picking"):
placement_offset = 1 # in cm
if (angle - 90 < 0.1):
gripping_height = 3
elif (angle - 120 < 0.1):
gripping_height = 2
else:
if (action == "picking"):
gripping_height = 0.05
elif (action == "placing"):
gripping_height = 0.05 + placement_offset
return gripping_height
def getIK(self, endCoord, angle=0, action="picking"):
intermediate_height = 4
intermediate_angles = [0.0] * 6
angles = [0.0] * 6
[angles[0], angles[1], angles[2], angles[3]] = inverseKinematics(
endCoord[0], endCoord[1],
endCoord[2] + self.getheight(endCoord[3], action), endCoord[3])
if (self.checkfound(angles)
): # or self.checkfound(intermediate_angles,True)):
if (abs(endCoord[3] - 90) < 0.1):
endCoord[3] = 180
[angles[0], angles[1], angles[2],
angles[3]] = inverseKinematics(
endCoord[0], endCoord[1],
endCoord[2] + self.getheight(endCoord[3], action),
endCoord[3])
else:
endCoord[3] = 90
[angles[0], angles[1], angles[2],
angles[3]] = inverseKinematics(
endCoord[0], endCoord[1],
endCoord[2] + self.getheight(endCoord[3], action),
endCoord[3])
if (self.checkfound(angles)
): # or self.checkfound(intermediate_angles,True)):
endCoord[3] = 120
[angles[0], angles[1], angles[2], angles[3]] = inverseKinematics(
endCoord[0] - 1, endCoord[1] + 1,
endCoord[2] + self.getheight(endCoord[3], action), endCoord[3])
if (endCoord[3] == 120):
[
intermediate_angles[0], intermediate_angles[1],
intermediate_angles[2], intermediate_angles[3]
] = inverseKinematics(endCoord[0] - 1, endCoord[1] + 1,
endCoord[2] + intermediate_height,
endCoord[3]) # assuming it is reachable
if (self.checkfound(intermediate_angles)):
[
intermediate_angles[0], intermediate_angles[1],
intermediate_angles[2], intermediate_angles[3]
] = inverseKinematics(endCoord[0] - 1, endCoord[1] + 1,
endCoord[2] + intermediate_height,
90) # assuming it is reachable
if (endCoord[3] == 180):
[
intermediate_angles[0], intermediate_angles[1],
intermediate_angles[2], intermediate_angles[3]
] = inverseKinematics(endCoord[0], endCoord[1],
endCoord[2] + intermediate_height +
self.getheight(endCoord[3], action),
endCoord[3]) # assuming it is reachable
print self.trim_angle(orientation(angles[0], angle * R2D))
if (action == "placing"):
angles[4] = 90 + angles[0]
else:
angles[4] = -1 * self.trim_angle(
orientation(angles[0], angle * R2D))
else:
angles[4] = 0
self.checkfound(intermediate_angles, True)
intermediate_angles[4] = angles[4]
angles[5] = endCoord[3]
intermediate_angles[5] = endCoord[3]
if (self.checkfound(angles)
and self.checkfound(intermediate_angles, False)):
print "Cannot be picked"
return [angles, intermediate_angles]
def checkfound(self, angles, i=False):
if (i):
if (angles[0] == 0 and angles[1] == 0 and angles[2] == 0
and angles[3] == 0):
print "intermediate angles not found"
return True
else:
if (angles[0] == 0 and angles[1] == 0 and angles[2] == 0
and angles[3] == 0):
print "final angles not found"
return True
return False
def printfk(self, angles):
temp = forwardKinematics(angles[0], angles[1], angles[2], angles[3])
print "Forward Kinematics output = ", str(temp[0]), str(temp[1]), str(
temp[2]), str(temp[3])
def roundoff(self, angles):
angles[0] = round(self.trim_angle(angles[0]), 2)
angles[1] = round(self.trim_angle(angles[1]), 2)
angles[2] = round(self.trim_angle(angles[2]), 2)
angles[3] = round(self.trim_angle(angles[3]), 2)
angles[4] = round(self.trim_angle(angles[4]),
2) #Dont alter these two angles
angles[5] = round(self.trim_angle(angles[5]), 2)
return angles
def pick(self): #Josh
global putx, puty, putz, putangle
blockx, blocky, blockz, angle = self.get_color_block_world_coord(
'blue')
#self.statemachine.setorientation(angle*R2D)
[putx, puty, putz, putangle] = [-1 * blockx, blocky, blockz, angle]
#endCoord = [20.2, -16.1, 4.4,90]
#endCoord = [14.3, 19.4, 4.4,90]
endCoord = [
blockx / 10, blocky / 10, (blockz) / 10, gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, angle)
if (debug):
print "Block detector output = ", [
blockx, blocky, blockz, angle * R2D
]
print "Input to Inverse Kinematics:", endCoord
print "Output of Inverse Kinematics: ", angles
self.printfk(angles)
angles = self.roundoff(angles)
intermediate_angles = self.roundoff(intermediate_angles)
self.statemachine.setq(angles, intermediate_angles)
self.statemachine.setmystatus(
"testing", "picking", "picking") #mode="testing",action="picking")
#self.statemachine.hold(self.ui,self.rex, angles,"picking")
def place(self):
endCoord = [putx / 10, puty / 10, (putz) / 10, gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, putangle)
#wangle = (self.shortorientation((putangle)*R2D-45)-self.trim_angle(angles[0]))#self.shortorientation((angle)*R2D+45)
#self.statemachine.set_orientations(wangle,2)
if (debug):
print "Placing according to Block detector output = ", [
putx, puty, putz, putangle * R2D
]
print "Input to Inverse Kinematics:", endCoord
self.printfk(angles)
angles = self.roundoff(angles)
intermediate_angles = self.roundoff(intermediate_angles)
self.statemachine.setq(angles, intermediate_angles)
self.statemachine.setmystatus(
"testing", "placing", "placing") #mode="testing",action="placing")
# self.statemachine.hold(self.ui,self.rex, angles,"placing")
def get_color_block_world_coord(self, color): #Josh
self.video.blockDetector()
[blockx_rgb, blocky_rgb, angle] = self.video.color_detection(color)
if (blockx_rgb == 0 and blocky_rgb == 0 and angle == 0):
return 0, 0, 0, 0
xy_in_rgb = np.float32([[[blocky_rgb, blockx_rgb]]]) #Josh
xy_in_rgb_homogenous = np.array([blocky_rgb, blockx_rgb, 1.0])
xy_in_dep = np.dot(self.video.rgb2dep_aff_matrix,
xy_in_rgb_homogenous) #Josh
x_dep = int(xy_in_dep[0]) #Josh
y_dep = int(xy_in_dep[1]) #Josh
d = self.video.currentDepthFrame[y_dep][x_dep]
Z = -1
for idx in range(len(self.video.levels_mm)):
if d <= self.video.levels_upper_d[
idx] and d >= self.video.levels_lower_d[idx]:
Z = 941 - self.video.levels_mm[idx]
break
camera_coord = Z * cv2.undistortPoints(xy_in_rgb, self.video.intrinsic,
self.video.distortion_array)
camera_coord_homogenous = np.transpose(
np.append(camera_coord, [Z, 1.0]))
world_coord_homogenous = np.dot(self.video.extrinsic,
camera_coord_homogenous)
theta = np.arccos(self.video.extrinsic[0, 0])
angle = angle - theta
return world_coord_homogenous[0], world_coord_homogenous[
1], world_coord_homogenous[2], angle
def getangles(self, color):
blockx, blocky, blockz, angle = self.get_color_block_world_coord(color)
if (blockx == 0 and blocky == 0 and blockx == 0 and angle == 0):
angles = [0] * 6
intermediate_angles = [0] * 6
print "not found"
self.statemachine.set_comp5_status("not found")
else:
[
current_mode, current_action, current_movement,
current_motorstate
] = self.statemachine.getmestatus()
endCoord = [(blockx) / 10, (blocky) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, angle,
"picking")
angles = self.roundoff(angles)
intermediate_angles = self.roundoff(intermediate_angles)
print "found"
self.statemachine.set_comp5_status("found")
self.statemachine.setq(angles, intermediate_angles)
def generatecomp2(self):
print "Entered generatecomp2"
new_q = np.zeros([3, 6])
new_qh = np.zeros([3, 6]) #intermediate heights
# blockx, blocky, blockz, angle = self.get_color_block_world_coord('red')
final_x = 0
final_y = -220
blockz = 19.25
# final_x = blockx
# final_y = blocky
height = 40
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 0) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[0] = self.roundoff(angles)
new_qh[0] = self.roundoff(intermediate_angles)
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 1) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[1] = self.roundoff(angles)
new_qh[1] = self.roundoff(intermediate_angles)
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 2) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[2] = self.roundoff(angles)
new_qh[2] = self.roundoff(intermediate_angles)
self.statemachine.setq_comp(new_q, new_qh)
def generatecomp3(self):
print "Entered generatecomp3"
new_q = np.zeros([8, 6])
new_qh = np.zeros([8, 6]) #intermediate heights
#blockx, blocky, blockz, angle = self.get_color_block_world_coord('red')
blockz = 19.5
final_x = -150
final_y = -89.5
b = 43
endCoord = [(final_x) / 10, (final_y) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[0] = self.roundoff(angles)
new_qh[0] = self.roundoff(intermediate_angles)
endCoord = [(final_x + b * 1) / 10, (final_y) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[1] = self.roundoff(angles)
new_qh[1] = self.roundoff(intermediate_angles)
print "Genereated FK: ", forwardKinematics(new_q[1][0], new_q[1][1],
new_q[1][2], new_q[1][3])
endCoord = [(final_x + b * 2) / 10, (final_y) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[2] = self.roundoff(angles)
new_qh[2] = self.roundoff(intermediate_angles)
endCoord = [(final_x + b * 3) / 10, (final_y) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[3] = self.roundoff(angles)
new_qh[3] = self.roundoff(intermediate_angles)
endCoord = [(final_x + b * 4) / 10, (final_y) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[4] = self.roundoff(angles)
new_qh[4] = self.roundoff(intermediate_angles)
endCoord = [(final_x + b * 5) / 10, (final_y) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[5] = self.roundoff(angles)
new_qh[5] = self.roundoff(intermediate_angles)
endCoord = [(final_x + b * 6) / 10, (final_y) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[6] = self.roundoff(angles)
new_qh[6] = self.roundoff(intermediate_angles)
endCoord = [(final_x + b * 7) / 10, (final_y) / 10, (blockz) / 10,
gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[7] = self.roundoff(angles)
new_qh[7] = self.roundoff(intermediate_angles)
self.statemachine.setq_comp(new_q, new_qh)
def generatecomp4(self):
print "Entered generatecomp4"
new_q = np.zeros([8, 6])
new_qh = np.zeros([8, 6]) #intermediate heights
blockx, blocky, blockz, angle = self.get_color_block_world_coord(
'blue')
final_x = 0
final_y = -220
height = 40
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 0) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[0] = self.roundoff(angles)
new_qh[0] = self.roundoff(intermediate_angles)
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 1) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[1] = self.roundoff(angles)
new_qh[1] = self.roundoff(intermediate_angles)
print "Genereated FK: ", forwardKinematics(new_q[1][0], new_q[1][1],
new_q[1][2], new_q[1][3])
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 2) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[2] = self.roundoff(angles)
new_qh[2] = self.roundoff(intermediate_angles)
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 3) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[3] = self.roundoff(angles)
new_qh[3] = self.roundoff(intermediate_angles)
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 4) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[4] = self.roundoff(angles)
new_qh[4] = self.roundoff(intermediate_angles)
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 5) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q[5] = self.roundoff(angles)
new_qh[5] = self.roundoff(intermediate_angles)
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 6) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
# hard code joints angles down below here
#new_q[6] = self.roundoff(angles)
#new_qh[6] = self.roundoff(intermediate_angles)
new_q[6] = [1., 2., 66.5, 15.2, 0, 90.]
new_qh[6] = [1., 15.8, 29., 34.5, 0, 90.]
endCoord = [
-(final_x) / 10, (final_y) / 10, (blockz + height * 7) / 10,
gripper_orientation
]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
#new_q[7] = self.roundoff(angles)
#new_qh[7] = self.roundoff(intermediate_angles)
new_q[7] = [1., 15.8, 29., 34.5, 0, 90.]
new_qh[7] = [1., 23., 9., 34.5, 0, 90.]
self.statemachine.setq_comp(new_q, new_qh)
def generate_comp5(self):
print "Entered generate_comp5"
n = 3
b = 6
N = (n + 1) * n / 2
coords = self.pyramid(n, b)
new_q = np.zeros([N, 6])
new_qh = np.zeros([N, 6]) #intermediate heights
endCoord = np.zeros([N, 4])
for i in range(0, N):
endCoord[i] = [
coords[0, i], coords[1, i], coords[2, i], gripper_orientation
]
[new_q[i], new_qh[i]] = self.getIK(endCoord[i], 0, "placing")
print "pyramid: ", coords
self.statemachine.setq_comp(new_q, new_qh)
def pyramid(self, nlayers, spacing): #returns numpy array.
coords = zeros((3, nlayers * int((nlayers + 1) / 2)))
count = 0
blockheight = 3.85
for j in range(0, nlayers):
for i in range(0, nlayers - j):
print(nlayers - j - 1)
coords[0][count] = 0 + spacing * (i - ((nlayers - j) / 2.0))
coords[1][count] = -11
coords[2][count] = (blockheight * j
) #define blockheight and offset
count = count + 1
return coords
def competition(self):
if (self.ui.btnUser11.text() == "Enter Competition Mode"):
self.ui.btnUser11.setText("Enter Testing Mode")
self.ui.btnUser7.setText("Draw")
self.ui.btnUser1.setText("Competition 1")
self.ui.btnUser2.setText("Competition 2")
self.ui.btnUser3.setText("Competition 3")
self.ui.btnUser4.setText("Competition 4")
self.ui.btnUser5.setText("Competition 5")
self.ui.btnUser2.setEnabled(True)
self.ui.btnUser7.setEnabled(True)
elif (self.ui.btnUser11.text() == "Enter Testing Mode"):
self.ui.btnUser11.setText("Enter Competition Mode")
self.ui.btnUser7.setText("Smooth Repeat")
self.ui.btnUser1.setText("Configure Servos")
self.ui.btnUser2.setText("Depth and RGB Calibration")
self.ui.btnUser3.setText("Extrinsic Calibration")
self.ui.btnUser4.setText("Block Detection")
self.ui.btnUser5.setText("Repeat")
self.ui.btnUser2.setEnabled(False)
self.ui.btnUser7.setEnabled(False)
def btn1(self):
if (self.ui.btnUser1.text() == "Configure Servos"):
self.rex.cfg_publish_default()
elif (self.ui.btnUser1.text() == "Competition 1"):
if (self.sanity_check(1)):
self.getangles('red')
self.statemachine.setmystatus(
"Competition 1", "picking",
"picking") #mode="testing",action="picking")
def btn2(self):
if (self.ui.btnUser2.text() == "Depth and RGB Calibration"):
self.deprgb_cali()
elif (self.ui.btnUser2.text() == "Competition 2"):
if (self.sanity_check(2)):
self.generatecomp2()
self.getangles('red')
self.statemachine.setmystatus(
"Competition 2", "picking",
"picking") #mode="testing",action="picking")
def btn3(self):
global declutter_index, declutter_competition
if (self.ui.btnUser3.text() == "Extrinsic Calibration"):
self.extrinsic_cali()
elif (self.ui.btnUser3.text() == "Competition 3"):
declutter_index = 0
declutter_competition = "Competition 3"
self.declutter()
"""
if(self.sanity_check(3)):
self.generatecomp3()
self.getangles('black')
self.statemachine.setmystatus("Competition 3", "picking","picking")#mode="testing",action="picking")
"""
def btn4(self):
global declutter_index, declutter_competition
if (self.ui.btnUser4.text() == "Block Detector"):
self.video.blockDetector()
elif (self.ui.btnUser4.text() == "Competition 4"):
declutter_index = 0
declutter_competition = "Competition 4"
self.declutter()
"""
if(self.sanity_check(4)):
self.generatecomp4()
self.getangles('black')
self.statemachine.setmystatus("Competition 4", "picking","picking")#mode="testing",action="picking")
"""
def btn5(self):
if (self.ui.btnUser5.text() == "Repeat"):
self.repeat()
elif (self.ui.btnUser5.text() == "Competition 5"):
self.generate_comp5()
self.getangles('all')
self.statemachine.setmystatus(
"Competition 5", "picking",
"picking") #mode="testing",action="picking")
def declutter(self):
blockx, blocky, blockz, angle = self.video.search_highest()
levels_mm = np.float32(
[0., 19.25, 57.75, 96.25, 134.75, 173.25, 211.75, 250.25])
level = (blockz - 19.25) / 38.5
print "level = ", level, "and levels_mm = ", levels_mm
if (declutter_index == 2):
if (declutter_competition == "Competition 3"):
if (self.sanity_check(3)):
self.generatecomp3()
self.getangles('black')
self.statemachine.setmystatus(
"Competition 3", "picking",
"picking") #mode="testing",action="picking")
elif (declutter_competition == "Competition 4"):
if (self.sanity_check(4)):
self.generatecomp4()
self.getangles('black')
self.statemachine.setmystatus(
"Competition 4", "picking",
"picking") #mode="testing",action="picking")
if (level >= 1 and declutter_index < 4):
endCoord = [(blockx) / 10, (blocky) / 10, (blockz) / 10,
gripper_orientation]
print endCoord
[angles, intermediate_angles] = self.getIK(endCoord, 0, "picking")
print "from declutter IK output: ", [angles, intermediate_angles]
angles = self.roundoff(angles)
intermediate_angles = self.roundoff(intermediate_angles)
if (not self.checkfound(angles)
): # and not self.checkfound(intermediate_angles,True)):
self.generatedeclutter()
self.statemachine.setq(angles, intermediate_angles)
self.statemachine.setmystatus(
"Declutter", "picking",
"picking") #mode="testing",action="picking")
else:
if (declutter_competition == "Competition 3"):
if (self.sanity_check(3)):
self.generatecomp3()
self.getangles('black')
self.statemachine.setmystatus(
"Competition 3", "picking",
"picking") #mode="testing",action="picking")
elif (declutter_competition == "Competition 4"):
if (self.sanity_check(4)):
self.generatecomp4()
self.getangles('black')
self.statemachine.setmystatus(
"Competition 4", "picking",
"picking") #mode="testing",action="picking")
def generatedeclutter(self):
print "Entered generatedeclutter"
global declutter_index
if (declutter_index < 4):
x = [0, 250, 0, 180]
y = [-240, -50, 240, -150]
final_x = x[declutter_index]
final_y = y[declutter_index]
final_z = 19.25
height = 20
endCoord = [(final_x) / 10, (final_y) / 10,
(final_z + height) / 10, gripper_orientation]
[angles, intermediate_angles] = self.getIK(endCoord, 0, "placing")
new_q = self.roundoff(angles)
new_qh = self.roundoff(intermediate_angles)
declutter_index = declutter_index + 1
self.statemachine.setq_comp(new_q, new_qh)
def sanity_check(self, comp):
success = False
if (comp == 1 or comp == 2): #search for red,blue,green
colors = ["red", "blue", "green"]
[pos_colors, success] = self.video.blockDetector(colors)
elif (comp == 4 or comp == 3): #search for red,blue,green
colors = [
"red", "blue", "green", "orange", "violet", "black", "yellow",
"pink"
]
[pos_colors, success] = self.video.blockDetector(colors)
return success
"""main function"""
class Gui(QtGui.QMainWindow):
"""
Main GUI Class
It contains the main function and interfaces between
the GUI and functions
"""
def __init__(self,parent=None):
QtGui.QWidget.__init__(self,parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm()
self.video = Video(cv2.VideoCapture(0))
""" Other Variables """
self.last_click = np.float32([0,0])
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self,True)
"""
Video Function
Creates a timer and calls play() function
according to the given time delay (27mm)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.play)
self._timer.start(27)
"""
LCM Arm Feedback
Creates a timer to call LCM handler continuously
No delay implemented. Reads all time
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
"""
Connect Sliders to Function
TO DO: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
self.ui.sldrBase.valueChanged.connect(self.slider_change)
self.ui.sldrShoulder.valueChanged.connect(self.slider_change)
self.ui.sldrElbow.valueChanged.connect(self.slider_change)
self.ui.sldrWrist.valueChanged.connect(self.slider_change)
self.ui.sldrMaxTorque.valueChanged.connect(self.slider_change)
self.ui.sldrSpeed.valueChanged.connect(self.slider_change)
""" Commands the arm as the arm initialize to 0,0,0,0 angles """
self.slider_change()
""" Connect Buttons to Functions """
self.ui.btnLoadCameraCal.clicked.connect(self.load_camera_cal)
self.ui.btnPerfAffineCal.clicked.connect(self.affine_cal)
self.ui.btnTeachRepeat.clicked.connect(self.tr_initialize)
self.ui.btnAddWaypoint.clicked.connect(self.tr_add_waypoint)
self.ui.btnSmoothPath.clicked.connect(self.tr_smooth_path)
self.ui.btnPlayback.clicked.connect(self.tr_playback)
self.ui.btnDefineTemplate.clicked.connect(self.def_template)
self.ui.btnLocateTargets.clicked.connect(self.template_match)
self.ui.btnExecutePath.clicked.connect(self.exec_path)
self.ui.path_start_time = None
self.executed_path = []
self.get_template = 0
self.templat_point = None
self.donuts = []
def play(self):
"""
Play Funtion
Continuously called by GUI
"""
""" Renders the Video Frame """
try:
self.video.captureNextFrame()
self.ui.videoFrame.setPixmap(
self.video.convertFrame())
self.ui.videoFrame.setScaledContents(True)
except TypeError:
print "No frame"
"""
Update GUI Joint Coordinates Labels
TO DO: include the other slider labels
"""
self.ui.rdoutBaseJC.setText(str(self.rex.joint_angles_fb[0]*R2D))
self.ui.rdoutShoulderJC.setText(str(self.rex.joint_angles_fb[1]*R2D))
self.ui.rdoutElbowJC.setText(str(self.rex.joint_angles_fb[2]*R2D))
self.ui.rdoutWristJC.setText(str(self.rex.joint_angles_fb[3]*R2D))
t = [self.rex.joint_angles_fb[0],
self.rex.joint_angles_fb[1] - 90.0 * D2R,
self.rex.joint_angles_fb[2],
self.rex.joint_angles_fb[3]]
a = [0.0, 100.0, 100.0, 108.0]
d = [116.0, 0.0, 0.0, 0.0]
al = [-90.0 * D2R, 0.0 * D2R, 0.0 * D2R, 0.0 * D2R]
dh_table = [t,a,d,al]
(x, y, z, phi) = self.rex.rexarm_FK(dh_table, 3)
self.ui.rdoutX.setText(str(x))
self.ui.rdoutY.setText(str(y))
self.ui.rdoutZ.setText(str(z))
self.ui.rdoutT.setText(str(phi*R2D))
# res = self.rex.rexarm_IK((0.0,-275.0,80.0,0.0), 1)
# if res != None:
# self.rex.joint_angles[0] = res[0]
# self.rex.joint_angles[1] = res[1]
# self.rex.joint_angles[2] = res[2]
# self.rex.joint_angles[3] = res[3]
# self.rex.cmd_publish()
"""
Mouse position presentation in GUI
TO DO: after getting affine calibration make the apprriate label
to present the value of mouse position in world coordinates
"""
x = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-)")
self.ui.rdoutMouseWorld.setText("(-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
self.ui.rdoutMousePixels.setText("(%.0f,%.0f)" % (x,y))
if (self.video.aff_flag == 2):
""" TO DO Here is where affine calibration must be used """
aff = self.video.aff_matrix
wx = x*aff[0][0] + y*aff[0][1] + aff[0][2]
wy = x*aff[1][0] + y*aff[1][1] + aff[1][2]
self.ui.rdoutMouseWorld.setText("(%.2f,%.2f)" %(wx,wy))
else:
self.ui.rdoutMouseWorld.setText("(-,-)")
"""
Updates status label when rexarm playback is been executed.
This will be extended to includ eother appropriate messages
THIS SHOULD BE LAST BECAUSE IT RETURNS EARLY!!!!!!!!
(Pedro don't be sad please)
"""
if(self.rex.plan_status == 1):
if self.rex.wpt_total == 0:
self.ui.rdoutStatus.setText("No waypoints!")
self.rex.plan_status = 0
else:
self.ui.rdoutStatus.setText("Playing Back - Waypoint %d"
%(self.rex.wpt_number + 1))
[start_time, prev_waypoint, prev_vel] = self.rex.plan[self.rex.wpt_number-1]
[end_time, current_waypoint, current_vel] = self.rex.plan[self.rex.wpt_number]
t = float(micro_time() - self.path_start_time)
#Linear Interp
for joint in range(4):
#Set the goal
self.rex.joint_angles[joint] = current_waypoint[joint]
#Figure the speed out
dist = abs(current_waypoint[joint] - prev_waypoint[joint])
time_left = (end_time - t)/1000000.0
v = dist/time_left
# rad/sec * sec/min * rot/rad / max RPM
speed_val = v * (60.0/(2*math.pi)) / 59.0
speed_val = max(speed_val, 1.0/1023.0)
print speed_val, time_left
if time_left < 0:
#were behind haul ass
self.rex.speed[joint] = 1.0
else:
self.rex.speed[joint] = speed_val
self.rex.cmd_publish()
#Check if we have arrived
def within_error(joint, wpt):
#print joint, wpt
error = math.fabs(joint * R2D - wpt * R2D)
#print error
return error < 5.0
if within_error(self.rex.joint_angles_fb[0], current_waypoint[0]) and \
within_error(self.rex.joint_angles_fb[1], current_waypoint[1]) and \
within_error(self.rex.joint_angles_fb[2], current_waypoint[2]) and \
within_error(self.rex.joint_angles_fb[3], current_waypoint[3]):
print "Within Error Bounds: %d" %(self.rex.wpt_number)
self.rex.wpt_number += 1
self.executed_path.append([micro_time() - self.path_start_time , self.rex.joint_angles_fb[:]])
if self.rex.wpt_number >= len(self.rex.plan):
self.rex.plan_status = 0
self.ui.rdoutStatus.setText("Plan finished!")
self.rex.speed = [0.5, 0.5, 0.5, 0.5]
self.rex.plan = self.rex.plan[1:]
with open('executed_path.config', 'w') as f:
pickle.dump(self.executed_path, f)
def slider_change(self):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
TO DO: Implement for the other sliders
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value()))
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutSpeed.setText(str(self.ui.sldrSpeed.value()))
if self.rex.plan_status == 0:
self.rex.max_torque = self.ui.sldrMaxTorque.value()/100.0
self.rex.joint_angles[0] = self.ui.sldrBase.value()*D2R
self.rex.joint_angles[1] = self.ui.sldrShoulder.value()*D2R
self.rex.joint_angles[2] = self.ui.sldrElbow.value()*D2R
self.rex.joint_angles[3] = self.ui.sldrWrist.value()*D2R
self.rex.cmd_publish()
def solveAffineMatrix(self):
A = []
b = []
for i in range(self.video.aff_npoints):
px = self.video.mouse_coord[i][0]
py = self.video.mouse_coord[i][1]
wx = self.video.real_coord[i][0]
wy = self.video.real_coord[i][1]
A.append([px, py, 1.0, 0.0, 0.0, 0.0])
A.append([0.0, 0.0, 0.0, px, py, 1.0])
b.append(wx)
b.append(wy)
print A, '\n', b
x, res, rank, s = np.linalg.lstsq(A, b)
print x
self.video.aff_matrix = [[x[0], x[1], x[2]],
[x[3], x[4], x[5]],
[0.0, 0.0, 1.0]]
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for
affine calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
""" If affine calibration is been performed """
if (self.video.aff_flag == 1):
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x-MIN_X),
(y-MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText("Affine Calibration: Click point %d"
%(self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
TO DO: Change this code to use you programmed affine calibration
and NOT openCV pre-programmed function as it is done now.
"""
if(self.video.mouse_click_id == self.video.aff_npoints):
"""
Update status of calibration flag and number of mouse
clicks
"""
self.video.aff_flag = 2
self.video.mouse_click_id = 0
""" Perform affine calibration with OpenCV """
#self.video.aff_matrix = cv2.getAffineTransform(
# self.video.mouse_coord,
# self.video.real_coord)
self.solveAffineMatrix()
print self.video.aff_matrix
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Waiting for input")
"""
Uncomment to gether affine calibration matrix numbers
on terminal
"""
#print self.video.aff_matrix
if self.get_template == 1:
self.template_point = [(x-MIN_X)*(960.0/480.0), (y-MIN_Y)*(1280.0/640.0)]
self.get_template += 1
elif self.get_template == 2:
self.get_template = 0
bottom_point = [(x-MIN_X)*(960.0/480.0), (y-MIN_Y)*(1280.0/640.0)]
dx = bottom_point[0] - self.template_point[0]
dy = bottom_point[1] - self.template_point[1]
grey_frame = cv2.cvtColor(self.video.currentFrame, cv2.COLOR_BGR2GRAY)
self.template = grey_frame[self.template_point[1]-dy:bottom_point[1], self.template_point[0]-dx:bottom_point[0]]
#self.template = cv2.cvtColor(self.template, cv2.COLOR_BGR2GRAY)
cv2.imwrite('./template.png', self.template)
print "Got Template"
def affine_cal(self):
"""
Function called when affine calibration button is called.
Note it only chnage the flag to record the next mouse clicks
and updates the status text label
"""
self.video.aff_flag = 1
self.ui.rdoutStatus.setText("Affine Calibration: Click point %d"
%(self.video.mouse_click_id + 1))
def load_camera_cal(self):
print "Load Camera Cal"
self.video.loadCalibration()
def tr_initialize(self):
print "Teach and Repeat"
self.path_start_time = micro_time()
self.rex.plan = []
self.rex.plan_status = 0
self.rex.wpt_number = 0
self.rex.max_torque = 0.0
self.ui.sldrMaxTorque.setValue(0.0)
def tr_add_waypoint(self):
print "Add Waypoint"
self.rex.plan.append([micro_time() - self.path_start_time, self.rex.joint_angles_fb[:], [0,0,0,0]])
self.rex.wpt_total += 1
def tr_smooth_path(self):
print "Smooth Path"
#Basic smoothing
new_plan = []
#for i, (t, p) in enumerate(self.rex.plan):
# np = p[:]
# nt = t + 1000000 * i + 500000
# if p[1] < 0:
# np[1] += 10*D2R
# else:
# np[1] -= 10*D2R
#
# new_plan.append([nt-500000, np])
# new_plan.append([nt, p[:]])
# new_plan.append([nt+500000, np])
self.rex.plan = [[0, [0, 0, 0, 0], [0,0,0,0]]] + self.rex.plan
#Handle all other points
for i in range(1,len(self.rex.plan)):
[tprev, qprev, vprev] = self.rex.plan[i-1]
[ti, qi, vi] = self.rex.plan[i]
dt = (ti - tprev) * 0.3
nprev = qprev[:]
if nprev[1] < 0:
nprev[1] += 10*D2R
else:
nprev[1] -= 10*D2R
ni = qi[:]
if ni[1] < 0:
ni[1] += 10*D2R
else:
ni[1] -= 10*D2R
new_plan.append([tprev + dt, nprev, vprev])
new_plan.append([ti - dt, ni, vi])
new_plan.append([ti, qi[:], vi])
#Handle last point
[ti, pi, vi] = self.rex.plan[-1]
ni = qi[:]
if ni[1] < 0:
ni[1] += 10*D2R
else:
ni[1] -= 10*D2R
new_plan.append([ti+500000, ni, vi])
self.rex.plan = new_plan[1:]
#Cubic spline smoothing
# new_plan = [self.rex.plan[0][:]]
# for i in range(1,len(self.rex.plan)):
# [start_time, prev_waypoint, prev_vel] = self.rex.plan[i-1]
# [end_time, current_waypoint, current_vel] = self.rex.plan[i]
# a0 = [0,0,0,0]
# a1 = [0,0,0,0]
# a2 = [0,0,0,0]
# a3 = [0,0,0,0]
# for joint in range(4):
# def calc_params(t0, q0, v0, tf, qf, vf):
# a0 = q0
# a1 = v0
# a2 = (3.0*(qf-q0)-(2.0*v0+vf)*(tf-t0))/math.pow(tf-t0, 2)
# a3 = (2.0*(q0-qf) + (v0+vf)*(tf-t0))/math.pow(tf-t0, 3)
# return a0, a1, a2, a3
# a0[joint], a1[joint], a2[joint], a3[joint] = calc_params(0.0,\
# float(prev_waypoint[joint]),\
# float(prev_vel[joint]),\
# 1.0,\
# float(current_waypoint[joint]),\
# float(current_vel[joint]))
# duration = end_time - start_time
# for frac in range(1,100,10):
# frac = float(frac) / 100.0
# time = start_time + int(duration * frac)
# q = [0,0,0,0]
# for joint in range(4):
# q[joint] = a0[joint] + a1[joint] * frac + a2[joint] * frac * frac + a3[joint] * frac * frac * frac
# new_plan.append([time, q[:], [0.0, 0.0, 0.0, 0.0]])
# #Add the destination point
# new_plan.append(self.rex.plan[i][:])
# with open('smooth_path.config', 'w') as f:
# print len(new_plan)
# pickle.dump(new_plan, f)
# with open('path.config', 'w') as f:
# pickle.dump(self.rex.plan, f)
# self.rex.plan = new_plan
def tr_playback(self):
print "Playback"
self.path_start_time = micro_time()
self.rex.wpt_number = 1
self.rex.plan_status = 1
self.rex.max_torque = 50.0
self.ui.sldrMaxTorque.setValue(50.0)
self.executed_path = []
with open('path.config', 'w') as f:
pickle.dump(self.rex.plan, f)
self.rex.plan = [[micro_time() - self.path_start_time, self.rex.joint_angles_fb[:], [0,0,0,0]]] + self.rex.plan
def def_template(self):
print "Define Template"
self.get_template = 1
def template_match(self):
print "Template Match"
def make_bounding_box():
min_x = 10000
min_y = 10000
max_x = 0
max_y = 0
for p in self.video.mouse_coord:
x,y = mouse_to_raw(p[0], p[1])
if x < min_x:
min_x = x
if x > max_x:
max_x = x
if y < min_y:
min_y = y
if y > max_y:
max_y = y
return [min_x, min_y], [max_x, max_y]
#TODO get this working
search_image = self.video.currentFrame
#Make it greyscale
search_image = cv2.cvtColor(search_image, cv2.COLOR_BGR2GRAY)
[tx,ty],[bx,by] = make_bounding_box()
print [tx,ty], [bx,by]
search_image = search_image[tx:bx:,ty:by]
search_size = search_image.shape
print search_size
#Get the size of the template
template_size = self.template.shape
#We just want a greyscale 2d image
def SAD(x, y):
sad = 0
sub_region = search_image[x:x+template_size[0], y:y+template_size[1]]
diff = sub_region - self.template
sad = np.sum(diff**2)
return sad / (template_size[0]*template_size[1])
# for i in range(template_size[0]):
# for j in range(template_size[1]):
# sad += float(abs(int(search_image[x+i,y+j]) - int(self.template[i,j])))
# return sad / (template_size[0]*template_size[1]*255.0)
results = np.zeros((search_size[0]-template_size[0],
search_size[1]-template_size[1]))
print "Doing SAD"
for x in range(search_size[0] - template_size[0]):
for y in range(search_size[1] - template_size[1]):
results[x,y] = SAD(x,y)
print results.max(), results.min()
print "Done SAD"
threshold = 70.0
positions = []
max_val = results.max()
def arg_min(a):
min_val = float('inf')
min_x = 0
min_y = 0
for x in range(a.shape[0]):
for y in range(a.shape[1]):
if a[x,y] < min_val:
min_val = a[x,y]
min_x = x
min_y = y
return min_x, min_y
count = 0
while True:
#If this is below the confidence level then quit
min_index = arg_min(results)
pixel_value = results[min_index]
print pixel_value
if pixel_value > threshold:
break
#Add it to potential positions
positions.append(min_index)
#Local max suppression
def suppress_area(x,y):
for i in range(-template_size[0]/2, template_size[0]/2):
for j in range(-template_size[1]/2, template_size[1]/2):
if x+i < 0 or y+j < 0:
continue
if x+i >= results.shape[0] or y+j >= results.shape[1]:
continue
results[x+i, y+j] = max_val
suppress_area(min_index[0], min_index[1])
out = results * (255.0/results.max())
cv2.imwrite('./results_%d.png'%(count), out)
count += 1
#DONE-ish the points need to be shifted by half a template image size
print positions
#CONVERT POINTS TO WORLD COORDS
cx = self.template.shape[0]/2
cy = self.template.shape[1]/2
positions = [raw_to_mouse(p[0]+tx+cx, p[1]+ty+cx) for p in positions]
def aff_trans(x, y):
aff = self.video.aff_matrix
wx = x*aff[0][0] + y*aff[0][1] + aff[0][2]
wy = x*aff[1][0] + y*aff[1][1] + aff[1][2]
return wx,wy
self.donuts = [aff_trans(p[0], p[1]) for p in positions]
def exec_path(self):
print "Execute Path"
def get_phi(x,y):
from math import sqrt, pow
r = sqrt(pow(x,2)+pow(y,2))
if r <= 95.0:
return -135.0*D2R
elif r > 95.0 and r < 190.0:
return -90.0*D2R
else:
return -45.0*D2R
self.donuts.sort(key=lambda x: math.atan2(x[1], x[0]))
from itertools import chain, izip
world_points = [(x,y, 50.0, get_phi(x,y)) for (x,y) in self.donuts]
in_points = [(x,y, 10.0, get_phi(x,y)) for (x,y) in self.donuts]
final_points = []
for i,p in enumerate(world_points):
final_points.append(p)
final_points.append(in_points[i])
final_points.append(p)
config_space = [self.rex.rexarm_IK(p, 1) for p in final_points if self.rex.rexarm_IK(p, 1) != None]
print "Playback"
self.path_start_time = micro_time()
self.rex.wpt_number = 1
self.rex.plan_status = 1
self.rex.max_torque = 50.0
self.ui.sldrMaxTorque.setValue(50.0)
self.executed_path = []
self.rex.plan = [[0, self.rex.joint_angles_fb[:], [0,0,0,0]]] + \
[[3000000*(i+1), q, [0,0,0,0]] for i,q in enumerate(config_space)]
print self.rex.plan
self.rex.wpt_total = len(self.rex.plan)
class Gui(QtGui.QMainWindow):
"""
Main GUI Class
It contains the main function and interfaces between
the GUI and functions
"""
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm(self.ui)
self.video = Video(cv2.VideoCapture(0))
"""
Zhentao added Here.
Initialize the statemachine.
"""
self.statemanager = StateManager(self.rex, self.video)
""" Other Variables """
self.last_click = np.float32([0, 0])
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self, True)
"""
Video Function
Creates a timer and calls play() function
according to the given time delay (27mm)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.play)
self._timer.start(27)
"""
LCM Arm Feedback
Creates a timer to call LCM handler continuously
No delay implemented. Reads all time
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
"""
Connect Sliders to Function
LAB TASK: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
## TODO: IMPLEMENT GRIP VALUE CONTROLS ##
self.ui.sldrBase.valueChanged.connect(self.sliderChange)
self.ui.sldrShoulder.valueChanged.connect(self.sliderChange)
self.ui.sldrElbow.valueChanged.connect(self.sliderChange)
self.ui.sldrWrist.valueChanged.connect(self.sliderChange)
self.ui.sldrGrip1.valueChanged.connect(self.sliderChange)
self.ui.sldrMaxTorque.valueChanged.connect(self.sliderChange)
self.ui.sldrSpeed.valueChanged.connect(self.sliderChange)
""" Commands the arm as the arm initialize to 0,0,0,0 angles """
self.sliderChange()
""" Connect Buttons to Functions
LAB TASK: NAME AND CONNECT BUTTONS AS NEEDED
"""
#This is needed.
self.ui.btnUser1.setText("Affine Calibration")
self.ui.btnUser1.clicked.connect(self.affine_cal)
self.ui.btnUser2.setText("SM Test")
self.ui.btnUser2.clicked.connect(self.iTestSM)
self.ui.btnUser3.setText("Reset Position")
self.ui.btnUser3.clicked.connect(self.rex.iResetPosition)
self.ui.btnUser4.setText("Replay")
self.ui.btnUser4.clicked.connect(self.iReplay)
"""
self.ui.btnUser4.setText("OpenGripper")
self.ui.btnUser4.clicked.connect(self.iTestGripperOpen)
self.ui.btnUser5.setText("CloseGripper")
self.ui.btnUser5.clicked.connect(self.iTestGripperClose)
"""
"""
self.ui.btnUser2.setText("STEP1: Reset Position")
self.ui.btnUser2.clicked.connect(self.iResetPosition)
self.ui.btnUser3.clicked.connect(self.iResetTorqueAndSpeed)
self.ui.btnUser3.setText("STEP2: Reset Torque and Speed")
self.ui.btnUser4.setText("STEP3: Train Begin")
self.ui.btnUser4.clicked.connect(self.iTrainBegin)
self.ui.btnUser5.setText("STEP4(r): GetWayPoint")
self.ui.btnUser5.clicked.connect(self.iGetWayPoint)
self.ui.btnUser5.setEnabled(False)
self.ui.btnUser6.setText("STEP5: Stop Recording")
self.ui.btnUser6.clicked.connect(self.iTrainStop)
self.ui.btnUser6.setEnabled(False)
self.ui.btnUser7.clicked.connect(self.iReplayBegin)
self.ui.btnUser7.setText("Replay WholeWay")
self.ui.btnUser8.clicked.connect(self.iReplayWPTBegin_FAST)
self.ui.btnUser8.setText("Replay WayPoint(FAST)")
self.ui.btnUser9.clicked.connect(self.iReplayWPTBegin_SLOW)
self.ui.btnUser9.setText("Replay WayPoint(SLOW)")
self.ui.btnUser10.setText("PlayStop")
self.ui.btnUser10.clicked.connect(self.iReplayStop)
self.ui.btnUser11.setText("Save WPT Data")
self.ui.btnUser11.clicked.connect(self.iSaveData)
self.ui.btnUser12.setText("Load WPT Data")
self.ui.btnUser12.clicked.connect(self.iLoadData)
"""
def play(self):
self.statemanager.Statemanager_MoveToNextState()
"""
Play Funtion
Continuously called by GUI
"""
""" Renders the Video Frame """
try:
self.video.captureNextFrame()
#self.video.blobDetector()
self.ui.videoFrame.setPixmap(self.video.convertFrame())
self.ui.videoFrame.setScaledContents(True)
except TypeError:
print "No frame"
"""
Update GUI Joint Coordinates Labels on Sliders
LAB TASK: include the other slider labels
"""
self.ui.rdoutBaseJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[0] * R2D)))
self.ui.rdoutShoulderJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[1] * R2D)))
self.ui.rdoutElbowJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[2] * R2D)))
self.ui.rdoutWristJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[3] * R2D)))
"""
Mouse position presentation in GUI
TO DO: after getting affine calibration make the apprriate label
to present the value of mouse position in world coordinates
"""
x = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-)")
self.ui.rdoutMouseWorld.setText("(-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
self.ui.rdoutMousePixels.setText("(%.0f,%.0f)" % (x, y))
if (self.video.aff_flag == 2):
"""
ZHENTAO: STATE CONTROL: after finishing the camera calibration, move to the next states.
"""
"""
########################################
TED added world_coords label to frame
########################################
"""
world_coords = np.dot(self.video.aff_matrix,
np.array([[x], [y], [1]]))
self.ui.rdoutMouseWorld.setText(
"(%.0f,%.0f)" % (world_coords[0], world_coords[1]))
else:
self.ui.rdoutMouseWorld.setText("(-,-)")
"""
Set button avalibity.
"""
#self.iPrintStatusTerminal()########################################Here should be activated.
self.iSetButtonAbility()
self.iUpdateStatusBar()
"""
Updates status label when rexarm playback is been executed.
This will be extended to include other appropriate messages
"""
"""
if(self.rex.plan_status == 1):
self.ui.rdoutStatus.setText("Playing Back - Waypoint %d"
%(self.rex.wpt_number + 1))
if (self.rex.plan_status == 0 and self.rex.way_total == 0):
self.ui.rdoutStatus.setText("Click [Train Begin] button to start train.")
if (self.rex.plan_status == 2):
self.ui.rdoutStatus.setText("Click [Get Way Point] button to record way point. Click [Stop Recording] to stop recording.")
if (self.rex.plan_status == 0 and self.rex.way_total != 0 and self.rex.way_number == 0):
self.ui.rdoutStatus.setText("Click [Replay Wholeway] to play the whole way. Click [Save Data] to Save the data.")
if (self.rex.plan_status == 5):
self.ui.rdoutStatus.setText("Click [Play Stop] to stop")
"""
"""###############################################
Frank Added Here
###############################################"""
if (self.rex.plan_status == 2):
self.ui.sldrBase.setProperty("value",
self.rex.joint_angles_fb[0] * R2D)
self.ui.sldrShoulder.setProperty("value",
self.rex.joint_angles_fb[1] * R2D)
self.ui.sldrElbow.setProperty("value",
self.rex.joint_angles_fb[2] * R2D)
self.ui.sldrWrist.setProperty("value",
self.rex.joint_angles_fb[3] * R2D)
self.iTrain_AddOneWay()
# replay continuously recorded waypoints
if (self.rex.plan_status == 5):
self.iReplay_PlayOneWay()
# replay manually recorded waypoints
if (self.rex.plan_status == 3 or self.rex.plan_status == 4):
self.iReplayWPT_PlayOneWay()
self.iShowFK()
def sliderChange(self):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
TO DO: Implement for the other sliders
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value()))
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
self.ui.rdoutGrip1.setText(str(self.ui.sldrGrip1.value()))
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutSpeed.setText(str(self.ui.sldrSpeed.value()) + "%")
self.rex.max_torque = self.ui.sldrMaxTorque.value() / 100.0
self.rex.speed = self.ui.sldrSpeed.value() / 100.0
#self.rex.joint_angles[0] = self.ui.sldrBase.value()*D2R
#self.rex.joint_angles[1] = self.ui.sldrShoulder.value()*D2R
#self.rex.joint_angles[2] = self.ui.sldrElbow.value()*D2R
#elf.rex.joint_angles[3] = self.ui.sldrWrist.value()*D2R
self.rex.joint_angles[4] = self.ui.sldrGrip1.value() * D2R
self.rex.cmd_publish()
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for
affine calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
### TESTING BLOB DETECTION TESTING ###
#self.video.blobDetector()
### TESTING BLOB DETECTION TESTING ###
# if aff_flag is 2, affine transform has been performed
if (self.video.aff_flag == 2):
ik_wcoords = np.dot(self.video.aff_matrix,
np.array([[x - MIN_X], [y - MIN_Y], [1]]))
#self.iTestIK(ik_wcoords[0], ik_wcoords[1], 40,4*PI/4)
"""
#TODO: Temperary here to take the place of Camera that Ted will write.
"""
self.iMimicCamera(ik_wcoords[0], ik_wcoords[1])
""" If affine calibration is being performed """
if (self.video.aff_flag == 1):
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x - MIN_X),
(y - MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText("Affine Calibration: Click Point %d" %
(self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
LAB TASK: Change this code to use your affine calibration routine
and NOT openCV pre-programmed function as it is done now.
"""
if (self.video.mouse_click_id == self.video.aff_npoints):
""" Perform affine calibration with OpenCV
self.video.aff_matrix = cv2.getAffineTransform(
self.video.mouse_coord,
self.video.real_coord)
"""
"""
########################################
TED added affineTransform function here
########################################
"""
self.video.aff_matrix = self.video.affineTransform()
self.video.aff_flag = 2
self.video.mouse_click_id = 0
self.video.calculateBoundaryMask()
self.video.calculateArmMask()
self.video.calculateBaseMask()
self.video.calculatePokeballMask()
self.video.generateBoundaryMask()
"""
Update status of calibration flag and number of mouse
clicks
"""
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Affine Transform Completed")
"""
print affine calibration matrix numbers to terminal
"""
print("[Msg]: Affine Calibration Finished.")
print("[Msg]: Affine Calibration Matrix: "),
print self.video.aff_matrix
def affine_cal(self):
"""
Function called when affine calibration button is called.
Note it only chnage the flag to record the next mouse clicks
and updates the status text label
"""
self.video.aff_flag = 1
self.video.mouse_click_id = 0
self.ui.rdoutStatus.setText("Affine Calibration: Click Point %d" %
(self.video.mouse_click_id + 1))
"""
Button 1: Reset Position
"""
def iResetTorqueAndSpeed(self):
self.rex.iSetTorque(0.0)
self.rex.iSetSpeed(0.1)
self.rex.cmd_publish()
"""
Button 3: Start Train.
"""
def iTrain_ClearRecord(self):
self.rex.wpt = []
self.rex.wpt_number = 0
self.rex.wpt_total = 0
self.rex.way = []
self.rex.way_number = 0
self.rex.way_total = 0
def iTrainBegin(self):
self.rex.iSetTorque(0.0)
self.iTrain_ClearRecord()
self.rex.plan_status = 2
"""
In Play, keep recording.
"""
def iTrain_FetchSensorData(self):
return [
self.rex.joint_angles_fb[0], self.rex.joint_angles_fb[1],
self.rex.joint_angles_fb[2], self.rex.joint_angles_fb[3]
]
# fetch list of sensor data and append to the list of waypoints continuously
def iTrain_AddOneWay(self):
SensorData = self.iTrain_FetchSensorData()
self.rex.way.append(SensorData)
self.rex.way_total = self.rex.way_total + 1 # Have such data point up to now.
"""
Get Way Point:
"""
def iGetWayPoint(self):
SensorData = self.iTrain_FetchSensorData()
currentTime = self.iGetTime_now()
SensorData.append(currentTime)
self.rex.wpt.append(SensorData)
self.rex.wpt_total = self.rex.wpt_total + 1 # Have such data point up to now.
print self.rex.wpt_number
"""
Train stop:
"""
def iTrainStop(self):
self.rex.plan_status = 0
print("Stop Recording!")
"""
Replay
"""
# Begin replaying waypoints that were continuously set
def iReplayBegin(self):
self.rex.iSetTorque(0.5)
self.rex.plan_status = 5
self.rex.way_number = 0
print("Replay Start")
"""
"""
# Stop replaying waypoints and reset waypoint number to 0
def iReplayStop(self):
self.rex.plan_status = 0
self.rex.way_number = 0
self.rex.wpt_number = 0
### TESTING TED ADDED ###
def iReplay_SetOneSensorData(self, valueIndex):
sensorData = self.rex.way[valueIndex]
self.rex.iSetJointAngle(0, sensorData[0])
self.rex.iSetJointAngle(1, sensorData[1])
self.rex.iSetJointAngle(2, sensorData[2])
self.rex.iSetJointAngle(3, sensorData[3])
self.rex.cmd_publish()
# TODO: add comments
def iReplay_PlayOneWay(self):
if (self.rex.way_number == self.rex.way_total):
self.iReplayStop()
else:
self.iReplay_SetOneSensorData(self.rex.way_number)
self.rex.way_number = self.rex.way_number + 1
"Replay WPT"
# begin replaying manually set waypoints at a slow speed
#Slow: plan_status = 3.
def iReplayWPTBegin_SLOW(self):
self.rex.iSetTorque(0.7)
self.rex.iSetSpeed(GLOBALSLOWSPEED)
self.rex.plan_status = 3
self.rex.wpt_number = 0
self.rex.recslow_total = 0
self.rex.recslow = []
#self.calcCubicCoeffs()
# begin replaying manually set waypoints at a fast speed
# Fast mode: plan_status = 4.
def iReplayWPTBegin_FAST(self):
self.rex.iSetTorque(0.7)
self.rex.iSetSpeed(GLOBALFASTSPEED)
self.rex.plan_status = 4
self.rex.wpt_number = 0
self.rex.recfast_total = 0
self.rex.recfast = []
#self.calcCubicCoeffs()
def iReplayWPT_GetSensorData(self):
return [
self.rex.joint_angles_fb[0], self.rex.joint_angles_fb[1],
self.rex.joint_angles_fb[2], self.rex.joint_angles_fb[3]
]
def iCheckIfArrived(self, target, errorTorrance):
sensorData = self.iReplayWPT_GetSensorData()
error0 = abs(target[0] - sensorData[0])
error1 = abs(target[1] - sensorData[1])
error2 = abs(target[2] - sensorData[2])
error3 = abs(target[3] - sensorData[3])
if (error0 < errorTorrance and error1 < errorTorrance
and error2 < errorTorrance and error3 < errorTorrance):
return True
else:
return False
"""
def iReplayWPT_PlayOneWay(self):
if (self.rex.wpt_number == self.rex.wpt_total):
self.iReplayStop()
else:
target = self.rex.wpt[self.rex.wpt_number]
arrived = self.iCheckIfArrived(target,GLOBALERRORTORRANCE)
if (arrived):
self.rex.wpt_number = self.rex.wpt_number + 1
print "CURRENT WAYPOINT SENT TO CALC CUBIC"
print(self.rex.wpt_number),
self.calcCubicCoeffs()
else:
self.cubicPoly()
self.rex.cmd_publish()
"""
def iReplayWPT_PlayOneWay(self):
if (self.rex.wpt_number == self.rex.wpt_total):
self.iReplayStop()
else:
target = self.rex.wpt[self.rex.wpt_number]
arrived = self.iCheckIfArrived(target, GLOBALERRORTORRANCE)
#Record one real time data into self.rex.rec list and self.rex.rec_total += 1.
#SLOW
if (self.rex.plan_status == 3):
mode = 0
#Fast:
elif (self.rex.plan_status == 4):
mode = 1
else:
print("Error: iReplayWPT_PlayOneWay: Undefined status.")
self.iRecord_JointAngleFB(mode)
if (arrived):
self.rex.wpt_number = self.rex.wpt_number + 1
else:
self.rex.iSetJointAngle(0, target[0])
self.rex.iSetJointAngle(1, target[1])
self.rex.iSetJointAngle(2, target[2])
self.rex.iSetJointAngle(3, target[3])
self.rex.cmd_publish()
#self.ui.sldrBase.setProperty("value",self.rex.joint_angles[0]*R2D)
#self.ui.sldrShoulder.setProperty("value",self.rex.joint_angles[1]*R2D)
#self.ui.sldrElbow.setProperty("value",self.rex.joint_angles[2]*R2D)
#self.ui.sldrWrist.setProperty("value",self.rex.joint_angles[3]*R2D)
"""
Button Availibity
"""
def iSetButtonAbility(self):
if (self.statemanager.currentState == STATE_CODE_INIT):
self.ui.btnUser1.setEnabled(1)
else:
self.ui.btnUser1.setEnabled(0)
if (self.statemanager.currentState == STATE_CODE_END):
self.ui.btnUser4.setEnabled(1)
else:
self.ui.btnUser4.setEnabled(0)
"""
if (self.rex.plan_status == 0):
self.ui.btnUser4.setEnabled(True)
self.ui.btnUser5.setEnabled(False)
self.ui.btnUser6.setEnabled(False)
if (self.rex.plan_status == 2):
self.ui.btnUser4.setEnabled(False)
self.ui.btnUser5.setEnabled(True)
self.ui.btnUser6.setEnabled(True)
'''Replay way'''
if (self.rex.plan_status == 0 and self.rex.way_total != 0):
self.ui.btnUser7.setEnabled(True)
else:
self.ui.btnUser7.setEnabled(False)
'''
replay way point.
'''
if (self.rex.plan_status == 0 and self.rex.wpt_total != 0):
self.ui.btnUser8.setEnabled(True)
self.ui.btnUser9.setEnabled(True)
else:
self.ui.btnUser8.setEnabled(False)
self.ui.btnUser9.setEnabled(False)
'''
save data.
'''
if (self.rex.plan_status == 0 and self.rex.way_total != 0):
self.ui.btnUser11.setEnabled(True)
else:
self.ui.btnUser11.setEnabled(False)
'''
Load Data
'''
if (self.rex.plan_status == 0):
self.ui.btnUser12.setEnabled(True)
else:
self.ui.btnUser12.setEnabled(False)
"""
def iPrintStatusTerminal(self):
print("[Status = "),
print(self.rex.plan_status),
print(",#way="),
print(self.rex.way_total),
print(",#way_now="),
print(self.rex.way_number),
print(",#wpt="),
print(self.rex.wpt_total),
print(",#wpt_now="),
print(self.rex.wpt_number),
print(",#recslow="),
print(self.rex.recslow_total),
print(",#recfast="),
print(self.rex.recfast_total),
print("]")
def iShowFK(self):
self.rex.rexarm_FK(self.rex.joint_angles_fb)
"""
print("[x]:"),
print(P0[0][0])
print("[y]:"),
print(P0[1][0])
print("[z]:"),
print(P0[2][0])
print("\n")
"""
self.ui.rdoutX.setText(str(float("{0:.2f}".format(self.rex.P0[0]))))
self.ui.rdoutY.setText(str(float("{0:.2f}".format(self.rex.P0[1]))))
self.ui.rdoutZ.setText(str(float("{0:.2f}".format(self.rex.P0[2]))))
self.ui.rdoutT.setText(str(float("{0:.2f}".format(self.rex.T * R2D))))
# function which sets the self.rex.joint_angles for each joint to the values
# calculated by the cubic polynomials as a function of time
def cubicPoly(self):
if self.rex.wpt_number == self.rex.wpt_total:
self.iReplayStop()
# TODO: break from function here
# TODO: set the start time when at the first waypoint!
for i in range(0, 4):
t = self.iGetTime_now() - self.rex.st
self.rex.joint_angles[i] = (
self.rex.cubic_coeffs[i]
)[0] #+((self.rex.cubic_coeffs[i])[1]*t)+((self.rex.cubic_coeffs[i])[2]*(t**2))+((self.rex.cubic_coeffs[i])[3]*(t**3))
# function which calculates the coefficients for the cubic polynomial function
def calcCubicCoeffs(self):
#NOTE: each array index corresponds to the joint
#TODO: Forward Kinematics + Calculate Time + Set time for moving + set tf.
v0 = [0, 0, 0, 0]
vf = [0, 0, 0, 0]
t0 = [0, 0, 0, 0]
tf = [1, 1, 1, 1]
current_wpt = self.rex.wpt_number
next_wpt = self.rex.wpt_number + 1
q0 = [
self.rex.wpt[current_wpt][0], self.rex.wpt[current_wpt][1],
self.rex.wpt[current_wpt][2], self.rex.wpt[current_wpt][3]
]
qf = [
self.rex.wpt[next_wpt][0], self.rex.wpt[next_wpt][1],
self.rex.wpt[next_wpt][2], self.rex.wpt[next_wpt][3]
]
A = []
b = []
A = list()
b = list()
# NOTE: format is Ax=b where A is the constant waypoint relation matrix,
# x is the unknown coefficients and bi is the [q0,v0,qf,vf] column vector
# for each joint
# For each joint create arrays A and b
# A: list of 4 numpy arrays that are 4x4
# b: list of 4 numpy arrays that are 4x1
# self.rex.cubic_coeffs: list of 4 numpy arrays that are 4x1
for i in range(0, 4):
A.append(
np.array([[1, t0[i], t0[i]**2, t0[i]**3],
[0, 1, 2 * t0[i], 3 * (t0[i]**2)],
[1, tf[i], tf[i]**2, tf[i]**3],
[0, 1, 2 * tf[i], 3 * (tf[i]**2)]]))
b.append(np.array([q0[i], v0[i], qf[i], vf[i]]))
self.rex.cubic_coeffs[i] = np.dot(np.linalg.inv(A[i]), b[i])
#set the start time used by the cubic
self.rex.st = self.iGetTime_now()
def iSaveData(self):
"""
The data variable to save is:
self.wpt = []
self.wpt_total = 0
self.way = []
self.way_total = 0
"""
"""
f = open(GLOBALDFILENAME_WAYNUM,'wt')
writer = csv.writer(f)
writer.writerow([self.rex.way_total])
f.close()
"""
f = open(GLOBALDFILENAME_WAY, 'wt')
writer = csv.writer(f)
for ii in range(self.rex.way_total):
writer.writerow(self.rex.way[ii])
f.close()
"""
f = open(GLOBALDFILENAME_WPTNUM,'wt')
writer = csv.writer(f)
writer.writerow([self.rex.wpt_total])
f.close()
"""
f = open(GLOBALDFILENAME_WPT, 'wt')
writer = csv.writer(f)
for ii in range(self.rex.wpt_total):
writer.writerow(self.rex.wpt[ii])
f.close()
f = open(GLOBALDFILENAME_RECSLOW, 'wt')
writer = csv.writer(f)
for ii in range(self.rex.recslow_total):
writer.writerow(self.rex.recslow[ii])
f.close()
f = open(GLOBALDFILENAME_RECFAST, 'wt')
writer = csv.writer(f)
for ii in range(self.rex.recfast_total):
writer.writerow(self.rex.recfast[ii])
f.close()
print("Saving")
def iLoadData(self):
"""
the data variable to load is:
self.wpt = []
self.wpt_total = 0
self.way = []
self.way_total = 0
"""
self.rex.wpt = []
self.rex.way = []
self.rex.wpt_total = 0
self.rex.way_total = 0
self.rex.wpt_number = 0
self.rex.way_number = 0
datafile = open(GLOBALDFILENAME_WAY, 'r')
datafileReader = csv.reader(datafile)
for ii in datafileReader:
ii = map(float, ii)
self.rex.way.append(ii)
self.rex.way_total = self.rex.way_total + 1
datafile = open(GLOBALDFILENAME_WPT, 'r')
datafileReader = csv.reader(datafile)
for ii in datafileReader:
ii = map(float, ii)
self.rex.wpt.append(ii)
self.rex.wpt_total = self.rex.wpt_total + 1
print("Loading Finished.")
def iGetTime_now(self):
return int(time.time() * 1E6)
# Record the real time joint angle feedback when replaying the way points.
# mdoe == 0: slow mode, 1: fast mode
def iRecord_JointAngleFB(self, mode):
if (mode == 0):
temp = []
#0: Time
temp.append(self.iGetTime_now())
#1-4: Joint angles.
temp.append(self.rex.joint_angles_fb[0])
temp.append(self.rex.joint_angles_fb[1])
temp.append(self.rex.joint_angles_fb[2])
temp.append(self.rex.joint_angles_fb[3])
#5-7: Forward kinematics.
temp.append(self.rex.P0[0])
temp.append(self.rex.P0[1])
temp.append(self.rex.P0[2])
temp.append(self.rex.T)
print(len(self.rex.recslow))
print(temp)
self.rex.recslow.append(temp)
self.rex.recslow_total = self.rex.recslow_total + 1
elif (mode == 1):
temp = []
temp.append(self.iGetTime_now())
temp.append(self.rex.joint_angles_fb[0])
temp.append(self.rex.joint_angles_fb[1])
temp.append(self.rex.joint_angles_fb[2])
temp.append(self.rex.joint_angles_fb[3])
temp.append(self.rex.P0[0])
temp.append(self.rex.P0[1])
temp.append(self.rex.P0[2])
temp.append(self.rex.T)
self.rex.recfast.append(temp)
print(temp)
self.rex.recfast_total = self.rex.recfast_total + 1
"""
A function to test the IK, not need for final competition.
"""
def iMimicCamera(self, x, y):
print("[Msg]: MimicCam is called.")
self.video.numPokRemain = 1
self.video.whetherFinishedCam = True
self.video.nextLocationofPokmon = [x, y]
"""
self.numPokRemain = 0
self.whetherFinishedCam = False;
self.nextLocationofPokmon = [0,0];
"""
def iTestIK(self, x, y, z, phi):
phi = self.rex.rexarm_IK_CatchAnglePlaner([x, y, z])
print("[Msg]: IK is called.")
[
validity_1, IK_conf_1, validity_2, IK_conf_2, validity_3,
IK_conf_3, validity_4, IK_conf_4
] = self.rex.rexarm_IK([x, y, z, phi], 1)
if (validity_1):
self.rex.iSetJointAngle(0, IK_conf_1[0])
self.rex.iSetJointAngle(1, IK_conf_1[1])
self.rex.iSetJointAngle(2, IK_conf_1[2])
self.rex.iSetJointAngle(3, IK_conf_1[3])
self.rex.cmd_publish()
else:
print("[Msg]: IK is not reachable.")
"""
State manager Testing.
"""
def iTestSM(self):
self.statemanager.StateManager_Test()
"""
Update the name of the state to the state bar.
"""
def iUpdateStatusBar(self):
if (self.video.aff_flag == 1):
pass
if (self.statemanager.currentState == STATE_CODE_INIT):
self.ui.rdoutStatus.setText("STATE_CODE_INIT")
if (self.statemanager.currentState == STATE_CODE_RP):
self.ui.rdoutStatus.setText("STATE_CODE_RP")
if (self.statemanager.currentState == STATE_CODE_MTB):
self.ui.rdoutStatus.setText("STATE_CODE_MTB")
if (self.statemanager.currentState == STATE_CODE_MTFT):
self.ui.rdoutStatus.setText("STATE_CODE_MTFT")
if (self.statemanager.currentState == STATE_CODE_CP):
self.ui.rdoutStatus.setText("STATE_CODE_CP")
if (self.statemanager.currentState == STATE_CODE_OG):
self.ui.rdoutStatus.setText("STATE_CODE_OG")
if (self.statemanager.currentState == STATE_CODE_CCACFP):
self.ui.rdoutStatus.setText("STATE_CODE_CCACFP")
if (self.statemanager.currentState == STATE_CODE_END):
self.ui.rdoutStatus.setText("STATE_CODE_END")
if (self.statemanager.currentState == STATE_CODE_RAP):
self.ui.rdoutStatus.setText("STATE_CODE_RAP")
"""
STATE_CODE_INIT = 1
STATE_CODE_CCACFP = 2
STATE_CODE_OG = 3
STATE_CODE_MTFT = 4
STATE_CODE_CP = 5
STATE_CODE_MTB = 6
STATE_CODE_RP = 7
STATE_END = 8
"""
def iTestGripperOpen(self):
self.rex.rexarm_gripper_grab(1)
def iTestGripperClose(self):
self.rex.rexarm_gripper_grab(0)
def iReplay(self):
if (self.statemanager.currentState == STATE_CODE_END):
self.statemanager.currentState = STATE_CODE_INIT
class Gui(QtGui.QMainWindow):
"""
Main GUI Class
contains the main function and interfaces between
the GUI and functions
"""
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm()
self.video = Video()
self.statemachine = Statemachine()
""" Other Variables """
self.last_click = np.float32([0, 0])
""" Customized events """
self.flag_pickAndPlace = 0
self.n_pickLocation = 2
self.flag_event = 0
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self, True)
"""
GUI timer
Creates a timer and calls update_gui() function
according to the given time delay (27ms)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.update_gui)
self._timer.start(27)
"""
Event timer
Creates a timer and calls updateEvent() function
according to the given time delay (???ms)
"""
# Thread(target=self.event_one).start()
# self._timer3 = QtCore.QTimer(self)
# self._timer3.timeout.connect(self.event_one)
# self._timer3.start(50)
"""
LCM Arm Feedback timer
Creates a timer to call LCM handler for Rexarm feedback
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
"""
Connect Sliders to Function
TODO: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
self.ui.sldrBase.valueChanged.connect(self.sliderChange)
self.ui.sldrShoulder.valueChanged.connect(self.sliderChange)
self.ui.sldrElbow.valueChanged.connect(self.sliderChange)
self.ui.sldrWrist.valueChanged.connect(self.sliderChange)
self.ui.sldrGrip1.valueChanged.connect(self.sliderChange)
self.ui.sldrGrip2.valueChanged.connect(self.sliderChange)
""" Initial command of the arm to home position"""
self.sliderChange()
""" Connect Buttons to Functions
TODO: NAME AND CONNECT BUTTONS AS NEEDED
"""
self.ui.btnUser1.setText("Reset Location")
self.ui.btnUser1.clicked.connect(self.reset)
self.ui.btnUser2.setText("Play Event 1")
self.ui.btnUser2.clicked.connect(self.event_one)
self.ui.btnUser3.setText("Play Event 2")
self.ui.btnUser3.clicked.connect(self.event_two)
self.ui.btnUser4.setText("Play Event 3")
self.ui.btnUser4.clicked.connect(self.event_three)
self.ui.btnUser5.setText("Play Event 4")
self.ui.btnUser5.clicked.connect(self.event_four)
self.ui.btnUser6.setText("Play Event 5")
self.ui.btnUser6.clicked.connect(self.event_five)
# self.ui.btnUser6.setText("Test Arm Movement")
# self.ui.btnUser6.clicked.connect(self.testArm)
self.ui.btnUser7.setText("Click to grab and place")
self.ui.btnUser7.clicked.connect(self.GrabAndPlace)
# self.ui.btnUser8.setText("Teach and Repeat")
# self.ui.btnUser8.clicked.connect(self.teach)
# self.ui.btnUser9.setText("Record Arm Location")
# self.ui.btnUser9.clicked.connect(self.record)
# self.ui.btnUser10.setText("Play Arm Locations")
# self.ui.btnUser10.clicked.connect(self.playback)
self.ui.btnUser10.setText("Calibrate Camera")
self.ui.btnUser10.clicked.connect(self.simple_cal)
self.ui.btnUser11.setText("Configure Servos")
self.ui.btnUser12.clicked.connect(self.rex.cfg_publish_default)
self.ui.btnUser12.setText("Emergency Stop")
self.ui.btnUser12.clicked.connect(self.estop)
# self.ui.btnUser11.setText("Reach DW")
# self.ui.btnUser11.clicked.connect(self.reach_down)
def reset(self):
self.statemachine.reset(self.rex)
def event_one(self):
eventMode = 1
print('Start playing event 1:')
self.statemachine.runStateMachine(self.video, self.rex, eventMode)
def event_two(self):
eventMode = 2
print('Start playing event 2:')
self.statemachine.runStateMachine(self.video, self.rex, eventMode)
def event_three(self):
eventMode = 3
print('Start playing event 3:')
self.statemachine.runStateMachine(self.video, self.rex, eventMode)
def event_four(self):
eventMode = 4
print('Start playing event 4:')
self.statemachine.runStateMachine(self.video, self.rex, eventMode)
def event_five(self):
eventMode = 5
print('Start playing event 5:')
self.statemachine.runStateMachine(self.video, self.rex, eventMode)
def GrabAndPlace(self):
eventMode = 6
self.video.click2grab = 1
self.video.mouse_click_id = 0
# self.video.wld_coord = np.zeros((2,3))
if self.video.click2grab == 2:
print('Pick and place the following' + self.video.wld_coord)
# self.statemachine.runStateMachine(self.video, self.rex, eventMode)
def testArm(self):
self.statemachine.testArmMove(self.ui, self.rex)
def estop(self):
self.statemachine.estop(self.rex)
def update_gui(self):
"""
update_gui function
Continuously called by timer1
"""
""" Renders the video frames
Displays a dummy image if no video available
HINT: you can use the radio buttons to select different
video sources like is done below
"""
if (self.video.kinectConnected == 1):
try:
self.video.captureVideoFrame()
self.video.captureDepthFrame()
except TypeError:
self.video.kinectConnected = 0
self.video.loadVideoFrame()
self.video.loadDepthFrame()
if (self.ui.radioVideo.isChecked()):
# self.ui.videoFrame
self.ui.videoFrame.setPixmap(self.video.convertFrame())
if (self.ui.radioDepth.isChecked()):
self.ui.videoFrame.setPixmap(self.video.convertDepthFrame())
"""
Update GUI Joint Coordinates Labels
"""
self.ui.rdoutBaseJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[0] * R2D)))
self.ui.rdoutShoulderJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[1] * R2D)))
self.ui.rdoutElbowJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[2] * R2D)))
self.ui.rdoutWristJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[3] * R2D)))
self.ui.rdoutGrip1.setText(
str("%.2f" % (self.rex.joint_angles_fb[4] * R2D)))
self.ui.rdoutGrip2.setText(
str("%.2f" % (self.rex.joint_angles_fb[5] * R2D)))
"""
Mouse position presentation in GUI
TODO: after implementing workspace calibration
display the world coordinates the mouse points to
in the RGB video image.
"""
x = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-,-)")
self.ui.rdoutMouseWorld.setText("(-,-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
d = 0
""" RGB, depth sensor registration"""
if (self.ui.radioVideo.isChecked()):
x_depth, y_depth = np.dot(rgb2depthAff, np.array([x, y, 1]).T)
if y_depth >= 480 or x_depth >= 600 or y_depth <= 0 or x_depth <= 0:
self.ui.rdoutMousePixels.setText("(-,-,-)")
else:
d = self.video.currentDepthFrame[int(y_depth)][int(
x_depth)]
else:
if y >= 480 or x >= 600 or y <= 0 or x <= 0:
self.ui.rdoutMousePixels.setText("(-,-,-)")
else:
d = self.video.currentDepthFrame[int(y)][int(x)]
""" Convert image coord into world coord"""
x_wld, y_wld, z_wld = 0, 0, 0
x_wld, y_wld, z_wld = img2wld(x, y, d)
self.ui.rdoutMousePixels.setText("(%.0f,%.0f,%.0f)" % (x, y, d))
self.ui.rdoutMouseWorld.setText("(%.0f,%.0f,%.0f)" %
(x_wld, y_wld, z_wld))
"""
Updates status label when rexarm playback is been executed.
This can be extended to include other appropriate messages
"""
# if(self.rex.plan_status == 1):
# self.playback(maxMove)
# self.ui.rdoutStatus.setText("Playing Back - Waypoint %d"
# %(self.rex.wpt_number))
def playEvent(self):
"""
Run state machine
"""
if self.flag_event != 0:
eventStatus = False # True means assigned event is finished, otherwise False
eventStatus = self.statemachine.runStateMachine(
self.video, self.rex, self.flag_event)
if eventStatus:
self.flag_event = 0
print('Event is finished, end of updating Gui')
else:
print('Event is not finished, end of updating Gui')
def sliderChange(self):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value()))
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
self.ui.rdoutGrip1.setText(str(self.ui.sldrGrip1.value()))
self.ui.rdoutGrip2.setText(str(self.ui.sldrGrip2.value()))
self.rex.torque_multiplier = self.ui.sldrMaxTorque.value() / 100.0
self.rex.speed_multiplier = self.ui.sldrSpeed.value() / 100.0
self.rex.joint_angles[0] = self.ui.sldrBase.value() * D2R
self.rex.joint_angles[1] = self.ui.sldrShoulder.value() * D2R
self.rex.joint_angles[2] = self.ui.sldrElbow.value() * D2R
self.rex.joint_angles[3] = self.ui.sldrWrist.value() * D2R
self.rex.joint_angles[4] = self.ui.sldrGrip1.value() * D2R
self.rex.joint_angles[5] = self.ui.sldrGrip2.value() * D2R
print('Joint angles from UI:')
print(self.rex.joint_angles)
self.rex.cmd_publish()
print('Rexarm angle command published')
# self.forward_kinematic()
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
"Transform coordinates if cam calibration is not called"
if (self.video.cal_flag == 0):
if (self.ui.radioVideo.isChecked()):
# Obtain x, y, z in RGB and depth sensor
x = x - MIN_X
y = y - MIN_Y
x_depth, y_depth = np.dot(rgb2depthAff, np.array([x, y, 1]).T)
if y_depth >= 480 or x_depth >= 600 or y_depth <= 0 or x_depth <= 0:
return
z = self.video.currentDepthFrame[int(y_depth)][int(x_depth)]
# Convert coord into world frame
imgHom2Cam = cvtD2Z(z) * invIntrinsicMat
camCoord = np.dot(imgHom2Cam, np.float32([x, y, 1]))
camHomCoord = np.append(camCoord, [1])
rw_v2 = np.dot(invExtrinsicMat, camHomCoord)
x_wld, y_wld, z_wld = rw_v2[0] / rw_v2[3], rw_v2[1] / rw_v2[
3], rw_v2[2] / rw_v2[3]
print('The mouse clicked world frame is: ')
print(x_wld, y_wld, z_wld)
""" get the RGB value at the cursor location"""
# rgb_frame = cv2.cvtColor(self.video.currentVideoFrame, cv2.COLOR_RGB2BGR)
# print(rgb_frame[y-MIN_Y][x-MIN_X])
print('rgb: ')
print(self.video.currentVideoFrame[y - MIN_Y][
x - MIN_X]) # print RGB value at the click location
print(self.video.currentDepthFrame[y - MIN_Y][
x - MIN_X]) # print depth d at the click location
""" Return clicked coords """
# self.video.mouse_click_id = 0
if (self.video.click2grab == 1):
self.video.wld_coord[
self.video.mouse_click_id] = x_wld, y_wld, z_wld
self.video.mouse_click_id += 1
if (self.video.mouse_click_id == 2):
print('flag' + str(self.video.click2grab))
self.video.click2grab = 2
print('flag changed to ' + str(self.video.click2grab))
self.statemachine.runStateMachine(self.video, self.rex, 6)
""" If calibration is called to perform"""
if (self.video.cal_flag == 1
): # 0 - not performing calibration, 1 - performing calibraiton
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x - MIN_X),
(y - MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText("Affine Calibration: Click Point %d" %
(self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
TODO: LAB TASK: Change this code to use your workspace calibration routine
and NOT the simple calibration function as is done now.
"""
x = x - MIN_X
y = y - MIN_Y
if (self.ui.radioVideo.isChecked()):
x, y = np.dot(rgb2depthAff, np.array([x, y, 1]).T)
d = self.video.currentDepthFrame[int(y)][int(x)]
depth = cvtD2Z(d)
image_coord = np.append(
self.video.mouse_coord[self.video.mouse_click_id - 1], [1])
# projection_mat = np.array([[1,0,0,0],[0,1,0,0],[0,0,1,0]])
camera_c = depth * np.dot(invIntrinsicMat, image_coord)
print('Current cammera cord;')
print(camera_c)
self.video.camera_coord[self.video.mouse_click_id - 1] = camera_c
print('Current #' + str(self.video.mouse_click_id))
if (self.video.mouse_click_id == self.video.cal_points):
"""
Update status of calibration flag and number of mouse
clicks
"""
self.video.mouse_click_id = 0
wld2CamAffine = calAffine3D(self.video.real_coord,
self.video.camera_coord)
print(wld2CamAffine)
wld2CamPadding = np.zeros((1, 4), dtype=float)
wld2CamPadding[0, 3] = 1.
self.video.extrinsicMat = np.concatenate(
(wld2CamAffine, wld2CamPadding), axis=0)
print('Before thresholed extrinsic matrix:')
print(self.video.extrinsicMat)
threshold = 1e-7
self.video.invExtrinsicMat = np.linalg.pinv(
self.video.extrinsicMat)
img2CamPadding = np.zeros((1, 3), dtype=float)
img2CamPadding[0, 2] = 1.
self.video.imgHom2CamHom = np.concatenate(
(depth * invIntrinsicMat, img2CamPadding), axis=0)
self.video.CamHom2WldHom = np.linalg.pinv(
self.video.extrinsicMat)
self.video.aff_matrix = np.dot(self.video.CamHom2WldHom,
self.video.imgHom2CamHom)
print('Image coord is ')
# self.video.aff_matrix = np.dot(extrinsicMat, np.dot(projection_mat.T,intrinsicMat))
# self.video.aff_matrix = cv2.getAffineTransform(
# self.video.mouse_coord,
# self.video.real_coord)
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Waiting for input")
print('**' * 10)
# print(self.video.aff_matrix)
print('Extrinsic matrix:')
print(self.video.extrinsicMat)
print('Inverse of Extrinsic matrix:')
print(np.linalg.pinv(self.video.extrinsicMat))
print('Intrinsic matrix:')
print(intrinsicMat)
print('Inverse Intrinsic matrix:')
print(invIntrinsicMat)
print('camera_c:')
print(self.video.camera_coord)
self.viedo.cal_flag = 0
if (self.flag_pickAndPlace == 1):
# if(self.video.mouse_click_id == self.video.cal_points):
pos = np.array([x_wld, y_wld, z_wld])
self.executePickAndPlace(pos)
def simple_cal(self):
"""
Function called when affine calibration button is called.
Note it only chnages the flag to record the next mouse clicks
and updates the status text label
"""
self.video.cal_flag = 1
self.ui.rdoutStatus.setText("Affine Calibration: Click Point %d" %
(self.video.mouse_click_id + 1))
"""
Retired code, for testing kinematic
"""
# def inverse_kinematic_elbowup(self, target):
# using the x,y,z,phi from self.getCurLoc()
# to calculate theta0-3 and then go to the
# targeted location
# target = self.forward_kinematic()
# angles = self.rex.rexarm_IK(target, 1) # 1-elbow up
# if angles is None:
# print('ERROR: Can not reach the given location!')
# else:
# print(np.asarray(angles) * R2D)
# return angles
# def inverse_kinematic_elbowdown(self, target):
# # target = self.forward_kinematic()
# angles = self.rex.rexarm_IK(target, 0) # 0-elbow down
# if angles is None:
# print('ERROR: Can not reach the given location!')
# else:
# print(np.asarray(angles) * R2D)
# return angles
# def reach_up(self, target):
# angles = self.inverse_kinematic_elbowup(target)
# print(angles)
# self.rex.joint_angles[0], self.rex.joint_angles[1], \
# self.rex.joint_angles[2], self.rex.joint_angles[3] = angles
# # self.rex.cmd_publish()
# def reach_down(self, target):
# angles = self.inverse_kinematic_elbowdown(target)
# self.rex.joint_angles[0], self.rex.joint_angles[1], \
# self.rex.joint_angles[2], self.rex.joint_angles[3] = angles
# self.rex.cmd_publish()
# def forward_kinematic(self):
# self.rex.torque_multiplier = 0
# self.rex.cmd_publish()
# all angles are in radius
# theta1 = self.rex.joint_angles_fb[1] # squihoulder
# theta2 = self.rex.joint_angles_fb[2] # elbow
# theta3 = self.rex.joint_angles_fb[3] # wrist
# # TODO: check link with i
# a1 = 99 # link length
# a2 = 99
# a3 = 140
# baseTheta = self.rex.joint_angles_fb[0] # base angle
# dh_table = (theta1,theta2,theta3, a1, a2, a3, baseTheta)
# x, y, z, phi = self.rex.rexarm_FK(dh_table, None)
# self.ui.rdoutX.setText(str("%.2f mm" %x))
# self.ui.rdoutY.setText(str("%.2f mm" %y))
# self.ui.rdoutZ.setText(str("%.2f mm" %z))
# self.ui.rdoutT.setText(str("%.2f deg" % (phi*R2D)))
# return (x,y,z,phi)
""
"""
class Gui(QtGui.QMainWindow):
"""
Main GUI Class
contains the main function and interfaces between
the GUI and functions
"""
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm()
self.video = Video()
self.statemachine = Statemachine()
self.pos_idx_teach = 0
""" Other Variables """
self.last_click = np.float32([0, 0])
self.check_move_time = 60
self.check_time = 70
self.check_move_counter = 0
self.d_t = 10. * self.check_move_time / 1000.
self.spe_coef = [0.0] * self.rex.num_joints
self.pos_pre = [0.0] * self.rex.num_joints
self.plan_point = 0
self.move_to_point_cn = 0
self.event3_color_check = [0] * 8
self.event3_finish = 0
self.event4_color_idx = 0
self.vel = []
self.event4_f_idx = 0
self.event5_block_num = 0
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self, True)
"""
GUI timer
Creates a timer and calls update_gui() function
according to the given time delay (27ms)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.update_gui)
self._timer.start(27)
"""
LCM Arm Feedback timer
Creates a timer to call LCM handler for Rexarm feedback
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
# self._timer_setplan = QtCore.QTimer(self)
# self._timer_setplan.timeout.connect(self.setplan)
# self._timer_teach = QtCore.QTimer(self)
# self._timer_teach.timeout.connect(self.check_move)
self._timer_waypoint = QtCore.QTimer(self)
self._timer_waypoint.timeout.connect(self.move_to_point)
self._timer_event1 = QtCore.QTimer(self)
self._timer_event2 = QtCore.QTimer(self)
self._timer_event3 = QtCore.QTimer(self)
self._timer_event4 = QtCore.QTimer(self)
self._timer_event5 = QtCore.QTimer(self)
"""
Connect Sliders to Function
TODO: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
self.ui.sldrBase.valueChanged.connect(self.sliderChange)
self.ui.sldrShoulder.valueChanged.connect(self.sliderChange)
self.ui.sldrElbow.valueChanged.connect(self.sliderChange)
self.ui.sldrSpeed.valueChanged.connect(self.sliderChange)
self.ui.sldrWrist.valueChanged.connect(self.sliderChange)
self.ui.sldrGrip1.valueChanged.connect(self.sliderChange)
self.ui.sldrGrip2.valueChanged.connect(self.sliderChange)
self.ui.sldrMaxTorque.valueChanged.connect(self.sliderChange)
""" Initial command of the arm to home position"""
self.sliderChange()
""" Connect Buttons to Functions
TODO: NAME AND CONNECT BUTTONS AS NEEDED
"""
self.ui.btnUser1.setText("Configure Servos")
self.ui.btnUser1.clicked.connect(self.rex.cfg_publish_default)
self.ui.btnUser2.setText("Simple Calibration")
self.ui.btnUser2.clicked.connect(self.simple_cal)
# self.ui.btnUser3.setText("start teach and repeat")
# self.ui.btnUser3.clicked.connect(self.teach_repeat_start)
# self.ui.btnUser4.setText("record position")
# self.ui.btnUser4.clicked.connect(self.teach_repeat_record)
# self.ui.btnUser5.setText("play teach and repeat")
# self.ui.btnUser5.clicked.connect(self.teach_repeat_play)
# self.ui.btnUser6.setText("save rgb")
# self.ui.btnUser6.clicked.connect(self.save_rgb)
self.ui.btnUser3.setText("EVENT1")
self.ui.btnUser3.clicked.connect(self.event1)
self.ui.btnUser4.setText("EVENT2")
self.ui.btnUser4.clicked.connect(self.event2)
self.ui.btnUser5.setText("EVENT3")
self.ui.btnUser5.clicked.connect(self.event3)
self.ui.btnUser6.setText("EVENT4")
self.ui.btnUser6.clicked.connect(self.event4)
self.ui.btnUser7.setText("EVENT5")
self.ui.btnUser7.clicked.connect(self.event5)
self.ui.btnUser8.setText("depth test")
self.ui.btnUser8.clicked.connect(self.video.blockDetector)
self.ui.btnUser9.setText("recover")
self.ui.btnUser9.clicked.connect(self.recover)
self.ui.btnUser10.setText("click put")
self.ui.btnUser10.clicked.connect(self.click_put)
self.ui.btnUser12.setText("Emergency Stop!")
self.ui.btnUser12.clicked.connect(self.estop)
# def save_rgb(self):
# img = cv2.cvtColor(self.video.currentVideoFrame, cv2.COLOR_RGB2BGR)
# cv2.imwrite('real_example.png',img)
# def teach_repeat_start(self):
# print "i enter"
# global Record_Value
# Record_Value = [[]]
# self.statemachine.idle(self.rex)
# # self.statemachine.moving(self.rex, self.rex.rexarm_IK([207,14, 30, np.pi/2],1) + [0.0, -10], [0.1,0.1,0.1,0.1,0.1,0.1])
# # print self.rex.rexarm_IK([-100,-100, 40, np.pi/2],1)
# def teach_repeat_record(self):
# temp_record = [self.rex.joint_angles_fb[0],
# self.rex.joint_angles_fb[1],
# self.rex.joint_angles_fb[2],
# self.rex.joint_angles_fb[3],
# self.rex.joint_angles_fb[4]]
# if len(Record_Value[0]) == 0:
# Record_Value[0] = temp_record
# else :
# Record_Value.append(temp_record)
# def teach_repeat_play(self):
# print Record_Value
# self._timer_teach.start(self.check_time)
# # def check_move(self):
# print "111111"
# if len(Record_Value[0]) == 0:
# self.check_move_counter = 0
# self._timer_teach.stop()
# return
# if self.check_move_counter == 0:
# T = np.array([[1,0,0,0,0,0],[0,1,0,0,0,0],[0,0,2,0,0,0],[1,self.d_t,self.d_t**2,self.d_t**3,self.d_t**4,self.d_t**5],
# [0,1,2*self.d_t,3*self.d_t**2,4*self.d_t**3,5*self.d_t**4],[0,0,2,6*self.d_t,12*self.d_t**2,20*self.d_t**3]])
# for i in range(self.rex.num_joints):
# self.spe_coef[i] = np.dot(np.linalg.inv(T), np.array([[self.rex.joint_angles_fb[i]],[0.01],[0],
# [Record_Value[self.pos_idx_teach][i]],[0.1],[0.]]))
# print "haha"
# print Record_Value[self.pos_idx_teach]
# print "fb"
# print self.rex.joint_angles_fb
# self.check_move_counter += 1
# pos = [0.] * self.rex.num_joints
# speed = [0.] * self.rex.num_joints
# for i in range(self.rex.num_joints):
# pos[i] = np.polynomial.polynomial.polyval((self.check_move_counter * self.check_move_time / 1000), self.spe_coef[i])
# if i == 3:
# speed[i] = abs(np.polynomial.polynomial.polyval((self.check_move_counter * self.check_move_time / 1000),
# np.polynomial.polynomial.polyder(self.spe_coef[i]))) / SPEED_AX12
# else:
# speed[i] = abs(np.polynomial.polynomial.polyval((self.check_move_counter * self.check_move_time / 1000),
# np.polynomial.polynomial.polyder(self.spe_coef[i]))) / SPEED_MX28 * 20
# if self.check_move_counter * self.check_move_time / 1000. <= self.d_t and np.linalg.norm(np.transpose(np.asarray(Record_Value[self.pos_idx_teach])) - np.transpose(np.asarray(self.rex.joint_angles_fb))) > 0.1:
# # and np.linalg.norm(Record_Value[self.pos_idx_teach] - np.asarray(self.rex.joint_angles_fb)) > 0.1
# if self.pos_pre != pos:
# self.statemachine.moving(self.rex, pos, speed)
# self.pos_pre = pos
# print "pos"
# print pos
# print "feedback"
# print self.rex.joint_angles_fb
# print "speed"
# print speed
# print self.check_move_counter
# # self.check_move_counter += 1
# if np.linalg.norm(np.transpose(np.asarray(pos)) - np.transpose(np.asarray(self.rex.joint_angles_fb)),axis = 1) < 0.01:
# self.check_move_counter += 1
# else:
# self.check_move_counter = 0
# if self.pos_idx_teach < len(Record_Value) - 1:
# self.pos_idx_teach += 1;
# else:
# print "i stop"
# self.pos_idx_teach = 0
# self._timer_teach.stop()
# print "222222"
# def check_move(self):
# pos = 0
# if len(Record_Value[0]) == 0:
# self._timer_teach.stop()
# return
# print len(Record_Value[self.pos_idx_teach])
# print np.linalg.norm(np.asarray(Record_Value[self.pos_idx_teach]) - np.asarray(self.rex.joint_angles_fb[0:5]))
# if np.linalg.norm(np.transpose(np.asarray(Record_Value[self.pos_idx_teach])) - np.transpose(np.asarray(self.rex.joint_angles_fb[0:5]))) > 0.04:
# pos = Record_Value[self.pos_idx_teach] + [0]
# self.statemachine.moving(self.rex, pos,[0.1,0.1,0.1,0.1,0.1,0.1])
# print pos
# else:
# if self.pos_idx_teach < len(Record_Value) - 1:
# self.pos_idx_teach += 1;
# else:
# print "i stop"
# self.pos_idx_teach = 0
# self._timer_teach.stop()
def recover(self):
self.rex.moving_status = 0
def move_to_point(self):
pos = 0
if len(self.rex.plan) == 0:
self._timer_waypoint.stop()
return
# print len(self.rex.plan[self.pos_idx_teach])
# print self.check_arrival(self.rex.plan[self.pos_idx_teach],self.rex.joint_angles_fb)
if self.check_arrival(self.rex.plan[self.pos_idx_teach],
self.rex.joint_angles_fb
) > 0.07 and self.move_to_point_cn < 40:
pos = self.rex.plan[self.pos_idx_teach]
vel = self.vel[self.pos_idx_teach]
self.statemachine.moving(self.rex, pos, vel)
self.move_to_point_cn += 1
# print "load load"
# print self.rex.load_fb
# print "going to pos:"
# print pos
else:
if self.move_to_point_cn >= 70:
print "cant move to that point within %d s" % (
self.check_time * self.move_to_point_cn)
self.move_to_point_cn = 0
if self.pos_idx_teach < len(self.rex.plan) - 1:
self.pos_idx_teach += 1
else:
print "i stop"
self.pos_idx_teach = 0
self.rex.plan = []
self.rex.plan_status = 0
self._timer_waypoint.stop()
def click_grab(self):
x = self.last_click[0]
y = self.last_click[1]
z = 0.
world_z = 0.
rw = np.array([[0], [0], [0]])
M = self.video.aff_matrix
M_RGBtoDEP = self.video.aff_matrix_RGBtoDEP
v = np.array([[x], [y], [1]])
DEP_xy = np.dot(M_RGBtoDEP, v)
if ((DEP_xy[0] >= 0) and (DEP_xy[0] <= 640) and (DEP_xy[1] >= 0)
and (DEP_xy[1] <= 480)):
world_z = self.video.depth - 123.6 * np.tan(
self.video.currentDepthFrame[int(DEP_xy[1])][int(DEP_xy[0])] /
2842.5 + 1.1863)
z = self.video.currentDepthFrame[int(DEP_xy[1])][int(DEP_xy[0])]
rw = np.dot(
np.linalg.inv(self.video.WORLDtoRGB[:, [0, 1, 3]]),
np.subtract(v, self.video.WORLDtoRGB[:, 2:3] * (-world_z)))
else:
z = 0.0
if rw[2] != 0:
# self.statemachine.moving(self.rex, self.rex.rexarm_IK([rw[0]/rw[2],rw[1]/rw[2], world_z + 30, np.pi/2],1) + [0.0, -10], [0.1,0.1,0.1,0.1,0.1,0.1])
t = self.rex.rexarm_IK(
[rw[0] / rw[2], rw[1] / rw[2], world_z - 9, np.pi], 1)
self.rex.plan = [[t[0], -200, -200, -200, 0, -50 * D2R],
[-200, -200, t[2], t[3], 0, -200],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, 7 * D2R],
[-200, 0, -200, -200, -200, -200],
[0, 0, 0, 0 * D2R, 0, -200]]
self._timer_waypoint.start(self.check_time)
print "plan"
print self.rex.plan
else:
print "try again"
def click_put(self):
x = self.last_click[0]
y = self.last_click[1]
z = 0.
world_z = 0.
rw = np.array([[0], [0], [0]])
M = self.video.aff_matrix
M_RGBtoDEP = self.video.aff_matrix_RGBtoDEP
v = np.array([[x], [y], [1]])
DEP_xy = np.dot(M_RGBtoDEP, v)
if ((DEP_xy[0] >= 0) and (DEP_xy[0] <= 640) and (DEP_xy[1] >= 0)
and (DEP_xy[1] <= 480)):
world_z = self.video.depth - 123.6 * np.tan(
self.video.currentDepthFrame[int(DEP_xy[1])][int(DEP_xy[0])] /
2842.5 + 1.1863)
z = self.video.currentDepthFrame[int(DEP_xy[1])][int(DEP_xy[0])]
rw = np.dot(
np.linalg.inv(self.video.WORLDtoRGB[:, [0, 1, 3]]),
np.subtract(v, self.video.WORLDtoRGB[:, 2:3] * (-world_z)))
else:
z = 0.0
if rw[2] != 0:
# self.statemachine.moving(self.rex, self.rex.rexarm_IK([rw[0]/rw[2],rw[1]/rw[2], world_z + 30, np.pi/2],1) + [0.0, -10], [0.1,0.1,0.1,0.1,0.1,0.1])
t = self.rex.rexarm_IK(
[rw[0] / rw[2], rw[1] / rw[2], world_z + 40, np.pi / 2], 1)
self.rex.plan = [[t[0], -200, -200, -200, 0, -200],
[-200, -200, t[2], t[3], 0, -200],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, -20 * D2R],
[-200, 0, -200, -200, -200, -200],
[0, 0, 0, 0 * D2R, 0, -200]]
self._timer_waypoint.start(self.check_time)
print "plan"
print self.rex.plan
else:
print "try again"
def check_arrival(self, pos0, pos1):
t = 0
for i in range(len(pos0)):
if pos0[i] != -200:
if i != 5:
t = t + (pos0[i] - pos1[i])**2
else:
t = t + 0.25 * (pos0[i] - pos1[i])**2
return np.sqrt(t)
def event1(self):
print "entering event1"
self.video.det_pts_ = []
self.video.blockDetector()
self.plan_point = 0
self._timer_event1.timeout.connect(self.event1_timer)
self._timer_event1.start(self.check_time)
def event2(self):
print "entering event2"
self._timer_event2.stop()
self.video.det_pts_ = []
self.video.blockDetector()
self.plan_point = 0
self._timer_event2.timeout.connect(self.event2_timer)
self._timer_event2.start(self.check_time)
def event3(self):
print "entering event3"
# self.video.blockDetector()
self.video.det_pts_ = []
self.event3_finish = 0
self.plan_point = 0
self.event3_color_check = [0] * 8
self._timer_event3.timeout.connect(self.event3_timer)
self._timer_event3.start(self.check_time)
def event4(self):
print "entering event4"
# self.video.blockDetector()
self.video.det_pts_ = []
self.plan_point = 0
self.event4_color_idx = 0
self.event4_f_idx = 0
self._timer_event4.timeout.connect(self.event4_timer)
self._timer_event4.start(self.check_time)
def event5(self):
print "entering event5"
# self.video.blockDetector()
self.video.det_pts_ = []
self.plan_point = 0
self.event5_block_num = 0
self._timer_event5.timeout.connect(self.event5_timer)
self._timer_event5.start(self.check_time)
def event1_timer(self):
if self.rex.moving_status == 1:
self._timer_event1.stop()
self.rex.plan = []
self.vel = []
self._timer_waypoint.stop()
if len(self.video.det_pts_) == 0:
print "no block detected"
self.plan_point = 0
self._timer_event1.stop()
else:
if self.rex.plan_status == 0 and self.plan_point < len(
self.video.det_pts_):
x = self.video.det_pts_[self.plan_point].rgb_real_pos[0]
y = self.video.det_pts_[self.plan_point].rgb_real_pos[1]
print "grapping %d %d %d" % (self.plan_point, x, y)
world_z = self.video.det_pts_[self.plan_point].depth
rw = np.array([[0], [0], [0]])
M = self.video.aff_matrix
M_RGBtoDEP = self.video.aff_matrix_RGBtoDEP
v = np.array([[x], [y], [1]])
t = self.rex.rexarm_IK([x, y, world_z, np.pi / 2], 1)
t1 = self.rex.rexarm_IK([x, -y, world_z, np.pi / 2], 1)
# if t[0] < 0:
# t[0] = np.pi + t[0]
# t[1] = 0 - t[1]
# t[2] = 0 - t[2]
# t[3] = 0 - t[3]
# if t1[0] < 0:
# t1[0] = np.pi + t1[0]
# t1[1] = 0 - t1[1]
# t1[2] = 0 - t1[2]
# t1[3] = 0 - t1[3]
# self.rex.plan = [[t[0],-200,-200,-200,0,-30*D2R],[-200,-200,t[2],t[3],0,-200],[-200,t[1],-200,-200,0,-200],[-200,-200,-200,-200,0,10*D2R],[-200,0,-200,-200,-200,-200],[-200,0,0,0*D2R,0,-200]]
self.rex.plan = [[t[0], -200, t[2], t[3], 0, -30 * D2R],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, 8 * D2R],
[
-200, t1[1] -
55 * D2R if t1[1] - 55 * D2R > 0 else 0,
-200, -200, -200, -200
]]
# t = self.rex.rexarm_IK([x,-y, world_z, np.pi/2],1)
self.rex.plan.extend(
[[t1[0], -200, -200, -200, 0, -200],
[-200, -200, t1[2], t1[3], 0, -200],
[-200, t1[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, -15 * D2R],
[
-200, t1[1] - 55 * D2R if t1[1] - 55 * D2R > 0 else 0,
t1[2] + 5 * D2R, -200, -200, -200
]])
self.vel = [[0.3, 0.25, 0.15, 0.15, 0.7, 0.8]] * len(
self.rex.plan)
self.plan_point += 1
self._timer_waypoint.start(self.check_time)
self.rex.plan_status = 1
elif self.plan_point == len(
self.video.det_pts_) and self.rex.plan_status == 0:
print "event1 stops"
self._timer_event1.stop()
self.rex.plan = []
self.vel = []
else:
pass
def event2_timer(self):
if self.rex.moving_status == 1:
self._timer_event2.stop()
self.rex.plan = []
self._timer_waypoint.stop()
if len(self.video.det_pts_) == 0:
print "no block detected"
self.plan_point = 0
self._timer_event2.stop()
else:
if self.rex.plan_status == 0 and self.plan_point < len(
self.video.det_pts_):
x = self.video.det_pts_[self.plan_point].rgb_real_pos[0]
y = self.video.det_pts_[self.plan_point].rgb_real_pos[1]
print "grapping %d %d %d" % (self.plan_point, x, y)
world_z = self.video.det_pts_[self.plan_point].depth
rw = np.array([[0], [0], [0]])
M = self.video.aff_matrix
M_RGBtoDEP = self.video.aff_matrix_RGBtoDEP
v = np.array([[x], [y], [1]])
t = self.rex.rexarm_IK([x, y, world_z, np.pi / 2], 1)
t1 = self.rex.rexarm_IK(
[EVEN2_X, EVEN2_Y, 25 + 38 * self.plan_point, np.pi / 2],
1)
self.rex.plan = [[t[0], -200, t[2], t[3], 0, -20 * D2R],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, 8 * D2R],
[
-200, t1[1] -
55 * D2R if t1[1] - 55 * D2R > 0 else 0,
t1[2], t1[3], -200, -200
]]
self.rex.plan.extend(
[[t1[0], -200, t1[2], t1[3], 0, -200],
[-200, t1[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, -20 * D2R],
[
-200, t1[1] - 55 * D2R if t1[1] - 55 * D2R > 0 else 0,
t1[2] + 5 * D2R, -200, -200, -200
]])
self.vel = [[0.3, 0.25, 0.15, 0.15, 0.7, 0.8]] * len(
self.rex.plan)
self.plan_point += 1
self._timer_waypoint.start(self.check_time)
self.rex.plan_status = 1
elif self.plan_point == len(
self.video.det_pts_) and self.rex.plan_status == 0:
print "event2 stops"
self._timer_event2.stop()
self.rex.plan = []
self.vel = []
else:
pass
def event3_timer(self):
if self.rex.moving_status == 1:
self._timer_event3.stop()
self.rex.plan = []
self._timer_waypoint.stop()
if len(self.video.det_pts_) == 0:
print "begin to detect"
self.video.blockDetector()
points_temp = []
for points_i in self.video.det_pts_:
if self.event3_color_check[
points_i.color] == 0 and points_i.rgb_real_pos[0] < 0:
self.event3_color_check[points_i.color] = 1
points_temp.append(points_i)
self.video.det_pts_ = points_temp
self.plan_point = 0
if len(self.video.det_pts_) == 0:
if self.event3_finish == 0 and self.rex.plan_status == 0:
print "pushing blocks"
self.rex.plan = [[
-115 * D2R, 68 * D2R, 19 * D2R, 76 * D2R, -115 * D2R, 0
], [
-122 * D2R, 57 * D2R, 47 * D2R, 76 * D2R, -122 * D2R, 0
]]
self.vel = [[0.2, 0.1, 0.05, 0.05, 0.3, 0.3]] * len(
self.rex.plan)
self._timer_waypoint.start(self.check_time)
self.rex.plan_status = 1
self.event3_finish = 1
elif self.event3_finish == 1 and self.rex.plan_status == 0:
print "event finishes"
self._timer_event3.stop()
self.rex.plan = []
self.vel = []
return
# self._timer_event.stop()
if self.rex.plan_status == 0 and self.plan_point < len(
self.video.det_pts_):
x = self.video.det_pts_[self.plan_point].rgb_real_pos[0]
y = self.video.det_pts_[self.plan_point].rgb_real_pos[1]
print "grapping %d %d %d" % (self.plan_point, x, y)
world_z = self.video.det_pts_[self.plan_point].depth
rw = np.array([[0], [0], [0]])
M = self.video.aff_matrix
M_RGBtoDEP = self.video.aff_matrix_RGBtoDEP
v = np.array([[x], [y], [1]])
if np.arctan2(y, x) < -np.pi / 2 and np.arctan2(
y, x) > -3 * np.pi / 4:
t = self.rex.rexarm_IK([x, y, world_z, np.pi / 2], 1)
else:
t = self.rex.rexarm_IK([x, y, world_z - 5, np.pi / 2], 1)
self.rex.plan = [[t[0] - 2 * D2R, -200, -200, -200, 0, -30 * D2R],
[-200, -200, t[2], t[3], 0, -200],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, 8 * D2R],
[-200, 0, -200, -200, -200, -200],
[-200, 0, 0, 0 * D2R, 0, -200]]
self.vel = [[0.2, 0.15, 0.13, 0.13, 0.7, 0.7]] * len(self.rex.plan)
color_idx = self.video.det_pts_[self.plan_point].color
t = self.rex.rexarm_IK(
[EVENT3_X, EVENT3_Y[color_idx], 24 + 38, np.pi / 2], 1)
t1 = self.rex.rexarm_IK(
[EVENT3_X, EVENT3_Y[color_idx], 24, np.pi / 2], 1)
# self.rex.plan.extend([[t[0],-200,-200,-200,t[0],-200],[-200,-200,t[2],t[3],-200,-200],[-200,t[1],-200,-200,-200,-200],[-200,-200,-200,-200,-200,-50*D2R],[-200,0,-200,-200,-200,-200],[-200,0,0,0*D2R,0,-200]])
t4 = t[0] + np.pi / 2 if t[0] < 0 else t[0] - 3 * np.pi / 2
self.rex.plan.extend([[t[0], -200, -200, -200, t4, -200],
[-200, -200, t[2], t[3], -200, -200],
[-200, t[1], -200, -200, -200, -200],
[t1[0], t1[1], t1[2], t1[3], t4, -200],
[-200, -200, -200, -200, -200, -50 * D2R],
[-200, 0, -200, -200, -200, -200],
[-200, 0, 0, 0 * D2R, 0, -200]])
self.vel.extend([[0.2, 0.15, 0.13, 0.13, 0.7, 0.7],
[0.2, 0.15, 0.13, 0.13, 0.7, 0.7],
[0.2, 0.15, 0.13, 0.13, 0.7, 0.7],
[0.07, 0.05, 0.05, 0.05, 0.7, 0.5],
[0.2, 0.15, 0.13, 0.13, 0.7, 0.7],
[0.2, 0.15, 0.13, 0.13, 0.7, 0.7],
[0.2, 0.15, 0.13, 0.13, 0.7, 0.7]])
self.event3_color_check[self.video.det_pts_[
self.plan_point].color] = 1
self.plan_point += 1
self._timer_waypoint.start(self.check_time)
self.rex.plan_status = 1
elif self.plan_point == len(
self.video.det_pts_) and self.rex.plan_status == 0:
print "event3 finish once"
# self._timer_event.stop()
self.rex.plan = []
self.vel = []
self.plan_point = 0
self.video.det_pts_ = []
else:
pass
def event4_timer(self):
color_status = 0
if self.rex.moving_status == 1:
self._timer_event4.stop()
self.rex.plan = []
self._timer_waypoint.stop()
if len(self.video.det_pts_) == 0:
print "begin to detect"
self.video.blockDetector()
points_temp = []
if self.event4_color_idx == 8:
print "event finishes"
self._timer_event4.stop()
self.rex.plan = []
self.vel = []
return
for points_i in self.video.det_pts_:
if points_i.color == RE_COLOR[self.event4_color_idx]:
points_temp.append(points_i)
self.event4_color_idx += 1
color_status = 1
break
if color_status == 0:
for points_i in self.video.det_pts_:
if points_i.depth > 50 and points_i.rgb_real_pos[0] < 0:
points_temp.append(points_i)
break
self.video.det_pts_ = points_temp
self.plan_point = 0
# self._timer_event.stop()
if self.rex.plan_status == 0 and self.plan_point < len(
self.video.det_pts_):
x = self.video.det_pts_[self.plan_point].rgb_real_pos[0]
y = self.video.det_pts_[self.plan_point].rgb_real_pos[1]
print "grapping %d %d %d" % (self.plan_point, x, y)
world_z = self.video.det_pts_[self.plan_point].depth
rw = np.array([[0], [0], [0]])
M = self.video.aff_matrix
M_RGBtoDEP = self.video.aff_matrix_RGBtoDEP
v = np.array([[x], [y], [1]])
t = self.rex.rexarm_IK([x, y, world_z, np.pi / 2], 1)
self.rex.plan = [[t[0], -200, -200, -200, 0, -30 * D2R],
[-200, -200, t[2], t[3], 0, -200],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, 8 * D2R],
[-200, 0, -200, -200, -200, -200],
[-200, 0, 0, 0 * D2R, 0, -200]]
self.vel = [[0.25, 0.2, 0.18, 0.18, 0.7, 0.7]] * len(self.rex.plan)
color_idx = self.video.det_pts_[self.plan_point].color
if color_status == 1:
t = self.rex.rexarm_IK([
EVENT4_X, EVENT4_Y,
(self.event4_color_idx - 1) * 38 + 24, np.pi / 2
], 1)
else:
t = self.rex.rexarm_IK([
EVENT4_XF[self.event4_f_idx], EVENT4_YF[self.event4_f_idx],
24, np.pi / 2
], 1)
self.event4_f_idx += 1
self.rex.plan.extend([[t[0], -200, -200, -200, 0, -200],
[-200, -200, t[2], t[3], 0, -200],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, -20 * D2R],
[-200, 0, t[2], -200, -200, -200],
[-200, 0, 0, 0 * D2R, 0, -200]])
self.vel.extend([[0.25, 0.2, 0.18, 0.18, 0.7, 0.7]] * 6)
self.plan_point += 1
self._timer_waypoint.start(self.check_time)
self.rex.plan_status = 1
elif self.plan_point == len(
self.video.det_pts_) and self.rex.plan_status == 0:
print "event4 finish once"
# self._timer_event.stop()
self.rex.plan = []
self.vel = []
self.plan_point = 0
self.video.det_pts_ = []
else:
pass
def event5_timer(self):
if self.rex.moving_status == 1:
self._timer_event5.stop()
self.rex.plan = []
self._timer_waypoint.stop()
if len(self.video.det_pts_) == 0:
if self.event5_block_num == 29:
print "event finishes"
self._timer_event5.stop()
self.rex.plan = []
self.vel = []
return
print "begin to detect"
self.video.blockDetector()
points_temp = []
points_max = 0
for points_i in self.video.det_pts_:
if points_i.rgb_real_pos[0] > 0 and abs(
np.arctan2(points_i.rgb_real_pos[1],
points_i.rgb_real_pos[0])) > points_max:
points_temp.append(points_i)
points_max = abs(
np.arctan2(points_i.rgb_real_pos[1],
points_i.rgb_real_pos[0]))
# print points_i.depth
self.video.det_pts_ = [points_temp[-1]]
self.plan_point = 0
if self.rex.plan_status == 0 and self.plan_point < len(
self.video.det_pts_):
x = self.video.det_pts_[self.plan_point].rgb_real_pos[0]
y = self.video.det_pts_[self.plan_point].rgb_real_pos[1]
print "grapping %d %d %d" % (self.plan_point, x, y)
world_z = self.video.det_pts_[self.plan_point].depth
rw = np.array([[0], [0], [0]])
M = self.video.aff_matrix
M_RGBtoDEP = self.video.aff_matrix_RGBtoDEP
v = np.array([[x], [y], [1]])
t = self.rex.rexarm_IK([x, y, world_z, np.pi / 2], 1)
if x > 0 and y > 0:
t[0] -= 2 * D2R
self.rex.plan = [[t[0], -200, -200, -200, 0, -30 * D2R],
[-200, -200, t[2], t[3], 0, -200],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, 8 * D2R],
[-200, 0, -200, -200, -200, -200],
[-200, 0, 0, 0 * D2R, 0, -200]]
self.vel = [[0.3, 0.2, 0.18, 0.18, 0.7, 0.7]] * len(self.rex.plan)
color_idx = self.video.det_pts_[self.plan_point].color
if self.event5_block_num < 28:
t = self.rex.rexarm_IK([
EVENT5_X[self.event5_block_num],
EVENT5_Y[self.event5_block_num],
29 + EVENT5_Z[self.event5_block_num] * 38, np.pi / 2
], 1)
else:
t = self.rex.rexarm_IK([
EVENT5_X[27], EVENT5_Y[27], 29 + EVENT5_Z[27] * 38 + 38,
np.pi / 2
], 1)
self.rex.plan.extend([[t[0], -200, -200, -200, 0, -200],
[-200, -200, t[2], t[3], 0, -200],
[-200, t[1], -200, -200, 0, -200],
[-200, -200, -200, -200, 0, -20 * D2R],
[-200, 0, t[2] + 5 * D2R, -200, -200, -200],
[-200, 0, 0, 0 * D2R, 0, -200]])
self.vel.extend([[0.285, 0.2, 0.18, 0.18, 0.7, 0.7]] * 6)
self.plan_point += 1
self.event5_block_num += 1
self._timer_waypoint.start(self.check_time)
self.rex.plan_status = 1
elif self.plan_point == len(
self.video.det_pts_) and self.rex.plan_status == 0:
print "event5 finish once"
# self._timer_event.stop()
self.rex.plan = []
self.vel = []
self.plan_point = 0
self.video.det_pts_ = []
else:
pass
def estop(self):
self.statemachine.estop(self.rex)
def update_gui(self):
"""
update_gui function
Continuously called by timer1
"""
""" Renders the video frames
Displays a dummy image if no video available
HINT: you can use the radio buttons to select different
video sources like is done below
"""
if (self.video.kinectConnected == 1):
try:
self.video.captureVideoFrame()
self.video.captureDepthFrame()
except TypeError:
self.video.kinectConnected = 0
self.video.loadVideoFrame()
self.video.loadDepthFrame()
if (self.ui.radioVideo.isChecked()):
self.ui.videoFrame.setPixmap(self.video.convertFrame())
# x = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).x()
# y = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).y()
# if ((x > MIN_X) and (x < MAX_X) and (y > MIN_Y) and (y < MAX_Y)):
# img = self.video.currentVideoFrame
# hsv = cv2.cvtColor(img, cv2.COLOR_RGB2HSV)
# y -= 30
# x -= 310
# h = hsv[y][x][0]
# s = hsv[y][x][1]
# v = hsv[y][x][2]
# global hp, xp, yp
# if ((xp - x)*(xp - x) > 4 and (yp - y)*(yp - y) > 4) or (hp - h)*(hp - h) >= 1:
# print "x: %d y: %d hsv : (%d, %d, %d)" % (x,y,h,s,v)
# xp = x
# yp = y
# hp = h
if (self.ui.radioDepth.isChecked()):
self.ui.videoFrame.setPixmap(self.video.convertDepthFrame())
"""
Update GUI Joint Coordinates Labels
"""
self.rex.rexarm_FK()
self.ui.rdoutBaseJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[0] * R2D)))
self.ui.rdoutShoulderJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[1] * R2D)))
self.ui.rdoutElbowJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[2] * R2D)))
self.ui.rdoutWristJC.setText(
str("%.2f" % (self.rex.joint_angles_fb[3] * R2D)))
self.ui.rdoutX.setText(str("%.2f" % (self.rex.endeffector_global[0])))
self.ui.rdoutY.setText(str("%.2f" % (self.rex.endeffector_global[1])))
self.ui.rdoutZ.setText(str("%.2f" % (self.rex.endeffector_global[2])))
self.ui.rdoutT.setText(str("%.2f" % (self.rex.endeffector_global[3])))
"""
Mouse position presentation in GUI
TODO: after implementing workspace calibration
display the world coordinates the mouse points to
in the RGB video image.
"""
x = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self, QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-,-)")
self.ui.rdoutMouseWorld.setText("(-,-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
z = 0.
world_z = 0.
rw = np.array([[0], [0], [0]])
self.ui.rdoutMousePixels.setText("(%.0f,%.0f,%f)" % (x, y, z))
if (self.video.cal_flag == 2):
M = self.video.aff_matrix
M_RGBtoDEP = self.video.aff_matrix_RGBtoDEP
v = np.array([[x], [y], [1]])
DEP_xy = np.dot(M_RGBtoDEP, v)
if ((DEP_xy[0] >= 0) and (DEP_xy[0] <= 640)
and (DEP_xy[1] >= 0) and (DEP_xy[1] <= 480)):
world_z = self.video.depth - 123.6 * np.tan(
self.video.currentDepthFrame[int(DEP_xy[1])][int(
DEP_xy[0])] / 2842.5 + 1.1863)
z = self.video.currentDepthFrame[int(DEP_xy[1])][int(
DEP_xy[0])]
rw = np.dot(
np.linalg.inv(self.video.WORLDtoRGB[:, [0, 1, 3]]),
np.subtract(v, self.video.WORLDtoRGB[:, 2:3] *
(-world_z)))
else:
z = 0.0
if rw[2] != 0:
self.ui.rdoutMouseWorld.setText(
"(%.0f,%.0f, %.0f)" %
(rw[0] / rw[2], rw[1] / rw[2], world_z))
else:
self.ui.rdoutMouseWorld.setText("(-,-,-)")
else:
self.ui.rdoutMouseWorld.setText("(-,-,-)")
"""
Updates status label when rexarm playback is been executed.
This can be extended to include other appropriate messages
"""
if (self.rex.plan_status == 1):
self.ui.rdoutStatus.setText("Playing Back - Waypoint %d" %
(self.rex.wpt_number + 1))
def sliderChange(self):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value()))
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
# self.ui.rdoutGrip1.setText(str(self.ui.sldrGrip1.value()))
# self.ui.rdoutGrip2.setText(str(self.ui.sldrGrip2.value()))
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutSpeed.setText(str(self.ui.sldrSpeed.value()) + "%")
self.rex.torque_multiplier = self.ui.sldrMaxTorque.value() / 100.0
self.rex.speed_multiplier = self.ui.sldrSpeed.value() / 100.0
self.rex.joint_angles[0] = self.ui.sldrBase.value() * D2R
self.rex.joint_angles[1] = self.ui.sldrShoulder.value() * D2R
self.rex.joint_angles[2] = self.ui.sldrElbow.value() * D2R
self.rex.joint_angles[3] = self.ui.sldrWrist.value() * D2R
self.rex.joint_angles[4] = self.ui.sldrGrip1.value() * D2R
self.rex.joint_angles[5] = self.ui.sldrGrip2.value() * D2R
# self.rex.joint_angles[6] = self.ui.sldrGrip2.value()*D2R
self.rex.cmd_publish()
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
""" If calibration has been performed """
if (self.video.cal_flag == 1):
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x - MIN_X),
(y - MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText("Affine Calibration: Click Point %d" %
(self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
LAB TASK: Change this code to use your workspace calibration routine
and NOT the simple calibration function as is done now.
"""
if (self.video.mouse_click_id == 2 * self.video.cal_points):
"""
Update status of calibration flag and number of mouse
clicks
"""
self.video.cal_flag = 2
self.video.mouse_click_id = 0
""" Perform affine calibration with OpenCV """
self.video.aff_matrix = cv2.getAffineTransform(
self.video.mouse_coord[0:3], self.video.real_coord[0:3])
self.video.aff_matrix_RGBtoDEP = cv2.getAffineTransform(
self.video.mouse_coord[0:3], self.video.mouse_coord[5:8])
self.video.aff_matrix_DEPtoRGB = cv2.getAffineTransform(
self.video.mouse_coord[5:8], self.video.mouse_coord[0:3])
object_points = np.insert(self.video.real_coord,
2, [0, -38, -76, -76, -38],
axis=1)
image_points = np.array(
self.video.mouse_coord[0:self.video.cal_points])
reval, rvec, tvec = cv2.solvePnP(object_points, image_points,
self.video.intrinsic,
self.video.distortion,
cv2.SOLVEPNP_EPNP)
self.video.WORLDtoRGB = np.dot(
self.video.intrinsic,
np.insert(cv2.Rodrigues(rvec)[0], [3], tvec, axis=1))
t = np.dot(self.video.WORLDtoRGB,
np.array([[-100.0], [100.0], [-114.], [1.]]))
self.video.WORLDtoRGB /= t[2]
# print t[2]
z1_temp = np.tan(self.video.currentDepthFrame[int(
self.video.mouse_coord[5][1])][int(
self.video.mouse_coord[5][0])] / 2842.5 + 1.1863)
z2_temp = np.tan(self.video.currentDepthFrame[int(
self.video.mouse_coord[6][1])][int(
self.video.mouse_coord[6][0])] / 2842.5 + 1.1863)
z3_temp = np.tan(self.video.currentDepthFrame[int(
self.video.mouse_coord[7][1])][int(
self.video.mouse_coord[7][0])] / 2842.5 + 1.1863)
z4_temp = np.tan(self.video.currentDepthFrame[int(
self.video.mouse_coord[8][1])][int(
self.video.mouse_coord[8][0])] / 2842.5 + 1.1863)
z5_temp = np.tan(self.video.currentDepthFrame[int(
self.video.mouse_coord[9][1])][int(
self.video.mouse_coord[9][0])] / 2842.5 + 1.1863)
# print z1_temp
# print z2_temp
# print z3_temp
# print z4_temp
# self.video.depth = 123.6 * (z1_temp + z2_temp) / 2
self.video.depth = 123.6 * (z1_temp + z2_temp + z3_temp +
z4_temp + z5_temp) / 5 + 45.5
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Waiting for input")
def simple_cal(self):
"""
Function called when affine calibration button is called.
Note it only chnages the flag to record the next mouse clicks
and updates the status text label
"""
self.video.cal_flag = 1
self.ui.rdoutStatus.setText("Affine Calibration: Click Point %d" %
(self.video.mouse_click_id + 1))
