def stop_movements(): e.set() #kill movement processes time.sleep(0.2) global args if not args: args = utilities.parseConnectionArguments() with utilities.DeviceConnection.createTcpConnection( args) as router: #kann das "with" weg? Nein # Create required services base = BaseClient(router) base.Stop()
cv2_im = append_objs_to_img(cv2_im, objs, labels) #the robot will only target the first object (human/face) if objs: x0, y0, x1, y1 = list(objs[0].bbox) target_middle = (int(x0 + (x1 - x0) / 2), int(y0 + (y1 - y0) / 2)) #print("target_middle: ",target_middle) success_flag = True cv2.circle(cv2_im, target_middle, int(target_circle_size / 2), (0, 255, 0), 2) else: success_flag = False if success_flag == False: #human/face was not detected base.Stop() target_middle = vision_middle #draw the delta delta = [0, 0] delta[0] = target_middle[0] - vision_middle[0] delta[1] = target_middle[1] - vision_middle[1] cv2.line( cv2_im, vision_middle, (vision_middle[0] + delta[0], vision_middle[1] + delta[1]), (0, 255, 0), 1) if time.time( ) - t0 > action_time_interval and success_flag == True and beer_mode == False: #calculate the pose increment and move robot inot target target_reached_flag = functions_.rotate_to_target( delta, target_middle, vision_middle, w, h, max_speed,
def main(): target_middle_shared=multiprocessing.Array("i",[0,0]) delta_shared=multiprocessing.Array("i",[0,0]) success_flag_shared=multiprocessing.Value("i",0) vision_middle_shared=multiprocessing.Array("i",[0,0]) h_shared=multiprocessing.Value("i",0) w_shared=multiprocessing.Value("i",0) elapsed_time=multiprocessing.Value("d",0.0) args = utilities.parseConnectionArguments() # Create connection to the device and get the router e = multiprocessing.Event() p = multiprocessing.Process(target=cam, args=('rtsp://192.168.1.10/color',e,target_middle_shared,delta_shared,success_flag_shared,vision_middle_shared,h_shared,w_shared,elapsed_time,beer_time)) p.start() with utilities.DeviceConnection.createTcpConnection(args) as router: # Create required services base = BaseClient(router) base_cyclic = BaseCyclicClient(router) device_manager = DeviceManagerClient(router) #Activate the continuous auto-focus of the camera vision_config = VisionConfigClient(router) vision_device_id = vision_action.example_vision_get_device_id(device_manager) # if vision_device_id != 0: # vision_action.autofocus_action(vision_config, vision_device_id,action_id=2) # Initial Movements success = True #Move into transport position (home) home_pose=[184.19,291.7,171.7,213.3,181.8,45.8,266.6] #success &= highlevel_movements.angular_action_movement(base,joint_positions=home_pose,speed=5) #success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[-0.06,-0.096,0.8,-90.823,171.8,113.73],speed=speedl) # Grab the beer #Desk Sequence # highlevel_movements.send_gripper_command(base,value=0.0) # #success &= highlevel_movements.angular_action_movement(base,joint_positions=[89.695, 336.743, 176.642, 232.288, 180.629, 70.981, 272.165],speed=speedj) # success &= highlevel_movements.angular_action_movement(base,joint_positions=[91.583, 23.663, 174.547, 265.846, 180.949, 35.446, 272.106],speed=speedj) # success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[0.01796681061387062, -0.6095998287200928, 0.2607220709323883, -89.98168182373047, -176.41896057128906, 178.88327026367188],speed=speedl) # success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[0.015759950503706932, -0.6483935713768005, 0.2543827295303345, -91.34257507324219, 178.12986755371094, 178.2921905517578],speed=speedl) # # GRIPPER_ACTION # success &= highlevel_movements.send_gripper_command(base,value=0.7) # time.sleep(1) # success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[0.016505524516105652, -0.65036940574646, 0.38649141788482666, -92.8912353515625, 178.2748565673828, 179.34559631347656],speed=speedl) # success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[0.07478067278862, -0.1246325895190239, 0.8614432215690613, 90.16726684570312, 9.310687065124512, 5.854083061218262],speed=speedl) # # move to surveillance position #success &= highlevel_movements.angular_action_movement(base,joint_positions=[179.62, 307.879, 172.652, 289.174, 180.408, 69.243, 272.359],speed=speedj) #move to surveillance position #success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[-0.06,-0.096,0.8,-90.823,171.8,113.73],speed=0.1) #Dog Sequence Desired Pose : [249.37, 239.26, 223.77, 133.81, 217.24, 259.69, 307.95] #TODO Startposition [249.37, 239.26, 223.77, 133.81, 217.24, 259.69, 307.95] check #TODO Schwenk ins Publikum nach vorne (extra funktion, muss aufgerufen werden) Tkinter #TODO Winken nur mit oberen zwei Gelenken Tkinter #TODO Theta_y korrigieren #TODO Sicht korrigieren (Fokus und ggf. heller/Dunkler) # success &= highlevel_movements.angular_action_movement(base,joint_positions=[249.37, 239.26, 223.77, 133.81, 217.24, 259.69, 307.95],speed=10) #Dog Pose # sys.exit() success &= highlevel_movements.send_gripper_command(base,value=0) #open gripper success &= highlevel_movements.angular_action_movement(base,joint_positions=[233.73, 265.96, 71.5, 212.18, 349.19, 70.11, 8.31],speed=speedj) #pre snake pose success &= highlevel_movements.angular_action_movement(base,joint_positions=[257.64, 246.34, 31.6, 218.63, 214.63, 98.69, 129.78],speed=3) #desired dog pose #success &= highlevel_movements.angular_action_movement(base,joint_positions=[233.73, 265.96, 71.5, 212.18, 349.19, 70.11, 8.31],speed=speedj) #pre snake pose success &= highlevel_movements.angular_action_movement(base,joint_positions=[238.78, 264.98, 70.21, 217.99, 349.19, 120.32, 8.3],speed=3) #snake success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[0.006, -0.536, 0.191, 88.99, 1.239, 7.97],speed=speedl) #GRIPPER_ACTION success &= highlevel_movements.send_gripper_command(base,value=0.4) time.sleep(1.5) success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[0.008, -0.535, 0.275, 88.988, 1.245, 7.968],speed=speedl) #move a little up #success &= highlevel_movements.angular_action_movement(base,joint_positions=[235.7, 344.71, 64.58, 219.35, 49.72, 80.94, 54.84],speed=speedj) # upright1 #success &= highlevel_movements.angular_action_movement(base,joint_positions=[231.32, 353.1, 32.7, 304.08, 37.1, 321.32, 58.52],speed=speedj) #upright 2 success &= highlevel_movements.angular_action_movement(base,joint_positions=[270.94, 42.99, 348.31, 305.15, 0.84, 286.28, 91.49],speed=speedj) #final #success &= highlevel_movements.move_to_waypoint_linear(base, base_cyclic,[0.117, -0.058, 0.914, 86.046, 9.61, 6.732],speed=speedl) #final #sys.exit() #search for a face and interrupt when found #vision_action.autofocus_action(vision_config, vision_device_id,action_id=4) success &= highlevel_movements.example_send_joint_speeds(base,speeds=[18, 0, 0, 0, 0, 0, 0],timer=20,success_flag_shared=success_flag_shared) #sys.exit() #Find Face t0=time.time() token=False target_reached_flag=False beer_mode=False print("searching for person") while True: if time.time()-t0>action_time_interval and success_flag_shared.value==True and beer_mode==False and p.is_alive(): #calculate the pose increment and move robot into target target_reached_flag=functions_.rotate_to_target( delta_shared[:],target_middle_shared[:],vision_middle_shared[:],w_shared.value,h_shared.value,max_speed,min_speed, target_circle_size,base,base_cyclic) t0=time.time() elif time.time()-t0>action_time_interval and success_flag_shared.value==False and beer_mode==False: base.Stop() # if time.time()-t0>2: # vision_action.autofocus_action(vision_config, vision_device_id,action_id=6,focus_point=target_middle_shared[:]) elif p.is_alive()==False: base.Stop() print("Process aborded") sys.exit() #after robot is Xs in target, hand over beer if (target_reached_flag==True and token==True and success_flag_shared.value==True) or beer_mode==True: elapsed_time.value=time.time()-beer_timer if elapsed_time.value>beer_time: if beer_mode==False: reach_beer_twist_timer=time.time() beer_mode=True #the target was long enough in scope tool_twist_duration=6 if time.time()-reach_beer_twist_timer<tool_twist_duration: highlevel_movements.tool_twist_time(base,tool_twist_duration,pose_distance=[0,-0.35,0.4,0,0,0]) else: base.Stop() time.sleep(2) #swing out #wait until force applied to robot torque_tool=functions_.TorqueTool() torque_tool.tap_toggle(base_cyclic,torque_threshold=5) #open gripper highlevel_movements.send_gripper_command(base,value=0.0) time.sleep(2) home_pose=[184.19,291.7,171.7,213.3,181.8,45.8,266.6] #Desk #success &= highlevel_movements.angular_action_movement(base,joint_positions=[267.038, 239.612, 177.453, 212.171, 185.765, 56.095, 269.943],speed=speedj) highlevel_movements.tool_twist_time(base,tool_twist_duration,pose_distance=[0,-0.35,0.4,0,0,0]) #Wave Sequence wave_start_pose=[180, 0, 0, 0, 82, 90, 270] wave_left_pose=list(map(add,wave_start_pose,[0,0,0,30,0,0,-30])) wave_time=2 #seconds #wave_left_pose=list(map(add,wave_start_pose,[0,-30,0,-30,0,0,0])) highlevel_movements.angular_action_movement(base,joint_positions=wave_start_pose,speed=4) #while True: highlevel_movements.angular_action_movement(base,joint_positions=wave_left_pose,speed=2.5) #okay highlevel_movements.angular_action_movement(base,joint_positions=[180, 0, 0, 330, 82, 90, 300],speed=4.5) highlevel_movements.angular_action_movement(base,joint_positions=wave_left_pose,speed=4.5) highlevel_movements.angular_action_movement(base,joint_positions=[180, 0, 0, 330, 82, 90, 300],speed=4.5) highlevel_movements.angular_action_movement(base,joint_positions=wave_start_pose,speed=2.5) #sys.exit() #Moving back to init Pose success &= highlevel_movements.angular_action_movement(base,joint_positions=[233.73, 265.96, 71.5, 212.18, 349.19, 70.11, 8.31],speed=speedj) #pre snake pose success &= highlevel_movements.angular_action_movement(base,joint_positions=[257.64, 246.34, 31.6, 218.63, 214.63, 98.69, 129.78],speed=3) #desired dog pose #success &= highlevel_movements.angular_action_movement(base,joint_positions=home_pose,speed=speedj) e.set() #kill the camera process break elif target_reached_flag==True and success_flag_shared.value==True: beer_timer=time.time() token=True else: token=False elapsed_time.value=0
def main(): # Create connection to the device and get the router global args global e if not args: args = utilities.parseConnectionArguments() with utilities.DeviceConnection.createTcpConnection( args) as router: #kann das "with" weg? Nein # Create required services base = BaseClient(router) base_cyclic = BaseCyclicClient(router) device_manager = DeviceManagerClient(router) #Activate the continuous auto-focus of the camera vision_config = VisionConfigClient(router) vision_device_id = vision_action.example_vision_get_device_id( device_manager) # if vision_device_id != 0: # vision_action.autofocus_action(vision_config, vision_device_id,action_id=2) # Initial Movements success = True success &= highlevel_movements.send_gripper_command( base, value=0) #open gripper if functions_.pose_comparison( transport_pos, base_cyclic, "joint") == True: #Robot already in position? success &= highlevel_movements.angular_action_movement( e, base, base_cyclic, joint_positions=pre_transport_pos, speed=speedj) #pre transport pose temp_speed = 3 else: temp_speed = 10 #robot further away so give more time success &= highlevel_movements.angular_action_movement( e, base, base_cyclic, joint_positions=[ 231.4, 266.21, 67.14, 216.41, 346.65, 114.31, 10.59 ], speed=speedj) #snake time.sleep(0.4) success &= highlevel_movements.move_to_waypoint_linear( e, base, base_cyclic, [0.02, -0.511, 0.184, 90.689, 3.832, 4.054], speed=3) #pre bottle success &= highlevel_movements.move_to_waypoint_linear( e, base, base_cyclic, [0.023, -0.539, 0.184, 90.687, 3.828, 4.049], speed=3) #bottle success &= highlevel_movements.send_gripper_command(base, value=0.8) #time.sleep(2) success &= highlevel_movements.move_to_waypoint_linear( e, base, base_cyclic, [0.032, -0.553, 0.335, 90.691, 3.831, 4.048], speed=3) #move bottle up success &= highlevel_movements.angular_action_movement( e, base, base_cyclic, joint_positions=[ 270.94, 42.99, 348.31, 305.15, 0.84, 286.28, 91.49 ], speed=speedj) #final time.sleep(0.5) #INSERT Focus on target_pose #search for a face and interrupt when found success &= highlevel_movements.example_send_joint_speeds( e, base, speeds=[12, 0, 0, 0, 0, 0, 0], timer=0) #robot rotates until face found while success_flag_shared.value == False and e.is_set( ) == False: #success_flag_shared gets True when face was detected time.sleep(0.05) base.Stop() #Follow Face t0 = time.time() token = False # plays a role when beer has to be handed over after target was in lock for some time target_reached_flag = False beer_mode = False #hand over beer print("searching for person") while e.is_set() == False: if time.time( ) - t0 > action_time_interval and success_flag_shared.value == True and beer_mode == False: #calculate the pose increment and rotate robot into target target_reached_flag = functions_.rotate_to_target( delta_shared[:], w_shared.value, h_shared.value, max_speed, min_speed, target_circle_size, base, base_cyclic) t0 = time.time() elif time.time( ) - t0 > action_time_interval and success_flag_shared.value == False and beer_mode == False: #no target in sight base.Stop() # if no target was detected, search with base rotation if time.time() - t0 > 3: #search for a face and interrupt when found highlevel_movements.example_send_joint_speeds( e, base, speeds=[12, 0, 0, 0, 0, 0, 0], timer=0) #robot rotates until face found while success_flag_shared.value == False and e.is_set( ) == False: #success_flag_shared gets True when face was detected time.sleep(0.05) base.Stop() t0 = time.time() #after robot is Xs in target, hand over beer if (target_reached_flag == True and token == True and success_flag_shared.value == True) or beer_mode == True: elapsed_time.value = time.time() - beer_timer if elapsed_time.value > beer_time: if beer_mode == False: reach_beer_twist_timer = time.time() beer_mode = True #the target was long enough in scope tool_twist_duration = 6 if time.time( ) - reach_beer_twist_timer < tool_twist_duration: highlevel_movements.tool_twist_time( e, base, tool_twist_duration, pose_distance=beer_pass_dist) else: base.Stop() time.sleep(2) #swing out #wait until force applied to robot torque_tool = functions_.TorqueTool() torque_tool.tap_toggle(base_cyclic, torque_threshold=5) #open gripper highlevel_movements.send_gripper_command(base, value=0.0) time.sleep(2) #move into idle upright joint_position #success &= highlevel_movements.angular_action_movement(e,base,base_cyclic,joint_positions=[87.58, 78.68, 353.68, 216.49, 4.0, 336.91, 89.14],speed=speedj) print("beer was passed") break elif target_reached_flag == True and success_flag_shared.value == True: beer_timer = time.time() token = True else: token = False elapsed_time.value = 0 if e.is_set() == True or no_high_five == True: return else: # move robot up so he is on face eight again rev_beer_pass_dist = [i * (-1) for i in beer_pass_dist] tool_twist_duration = 6 # highlevel_movements.tool_twist_time(e,base,tool_twist_duration,pose_distance=beer_pass_dist) highlevel_movements.tool_twist_time( e, base, tool_twist_duration, pose_distance=rev_beer_pass_dist) # print("Done") #sys.exit() # follow a little then high five to person t0 = time.time() t0_wave = time.time() time_to_wave = False while e.is_set() == False: if time.time( ) - t0 > action_time_interval and success_flag_shared.value == True and time_to_wave == False: target_reached_flag = functions_.rotate_to_target( delta_shared[:], target_middle_shared[:], vision_middle_shared[:], w_shared.value, h_shared.value, max_speed, min_speed, target_circle_size, base, base_cyclic) t0 = time.time() elif time.time( ) - t0 > action_time_interval and success_flag_shared.value == False and time_to_wave == False: base.Stop() if time.time() - t0_wave > 5: time_to_wave = True base.Stop() time.sleep(0.5) break if time.time() - t0_wave > 5: elapsed_time.value = -1 print("time to high five!") #read the joint angles to get the base angle pose = highlevel_movements.get_joint_angles(base_cyclic) base_angle = pose[0] #enter high five position with base rotation # high_five(base_angle=base_angle) high_five_pos[0] = base_angle success &= highlevel_movements.angular_action_movement( e, base, base_cyclic, joint_positions=high_five_pos, speed=speedj) torque_tool = functions_.TorqueTool() torque_tool.tap_toggle(base_cyclic, torque_threshold=12) time.sleep(0.1) success &= highlevel_movements.angular_action_movement( e, base, base_cyclic, joint_positions=[ base_angle, 352.44, 355.16, 329.09, 1.48, 38.79, 96.13 ], speed=speedj) success &= highlevel_movements.angular_action_movement( e, base, base_cyclic, joint_positions=high_five_pos, speed=speedj) elapsed_time.value = -2 # transport_position() success = True success &= highlevel_movements.angular_action_movement( e, base, base_cyclic, joint_positions=pre_transport_pos, speed=speedj) #pre transport safety pose success &= highlevel_movements.angular_action_movement( e, base, base_cyclic, joint_positions=transport_pos, speed=speedj) #transport pose #process finished base.Stop()