clean up all controll

config.py

@@ -1,47 +0,0 @@
-class Config:
-    # ===== Камера =====
-    CAMERA_ID = 0
-    MIRROR_CAMERA = True
-
-    # ===== Управление руками (скорости) =====
-    ARM_CONTROL = {
-        'linear_arm': 'right',
-        'angular_arm': 'left',
-        'max_speed_linear': 1.0,
-        'max_speed_angular': 1.0,
-        'dead_zone': 0.2,  
-        'debug': False
-        # минимальное относительное смещение для отклика
-    }
-
-    # ===== Специальные жесты =====
-    SPECIAL_GESTURE_MODE = 'ml' #ml #geometric
-    ML_GESTURE_MODEL = '/home/ubuntu/sirius/models/rf/special_gestures_rf.pkl'
-    ML_GESTURE_CLASSES = ['dome', 'cross', 'none']
-    
-    DYNAMIC_GESTURE = {
-        'enabled': True,                     # включить/выключить
-        'model_path': '/home/ubuntu/sirius/models/lstm/dynamic_model.h5',
-        'classes_path': '/home/ubuntu/sirius/models/lstm/dynamic_model_classes.pkl',
-        'window_size': 14,                   # длина буфера
-        'threshold': 0.8,                    # порог уверенности
-        'actions': {
-            'wave_left': 'reset',            # при жесте wave_left – перезапуск симулятора
-            'wave_right': 'restart'          # при wave_right – рестарт
-        }
-        }
-
-    # ===== Робот =====
-    ROBOT_MODE = 'simulator'
-    ROBOT_IMAGE_PATH = 'robot.png'   # или None
-
-    # ===== Симулятор карты =====
-    MAP_WIDTH = 800
-    MAP_HEIGHT = 600
-    MAP_OBSTACLES = [
-        (200, 150, 100, 200),
-        (500, 300, 150, 50),
-    ]
-    START_POS = (100, 100)
-    FINISH_POS = (700, 500)
-    ROBOT_RADIUS = 20

gesture_control/arm_control.py

@@ -1,126 +0,0 @@
-import numpy as np
-
-class ArmController:
-    def __init__(self, config, mirror=False):
-        self.config = config
-        self.mirror = mirror
-        self.shoulder_idx = {'left': 11, 'right': 12}
-        self.wrist_idx = {'left': 15, 'right': 16}
-        self.hip_idx = {'left': 23, 'right': 24}
-        self.dead_zone = config.get('dead_zone', 0.2)
-        self.debug = config.get('debug', False)
-        
-    def _get_side_indices(self, side):
-        """
-        Возвращает (shoulder_idx, wrist_idx) для заданной стороны (left/right).
-        При mirror=True интерпретируем сторону как в реальности: левая/правая рука.
-        """
-        if self.mirror:
-            if side == 'left':
-                s_idx = 12
-                w_idx = 16
-            else:
-                s_idx = 11
-                w_idx = 15
-        else:
-            if side == 'left':
-                s_idx = 11
-                w_idx = 15
-            else:
-                s_idx = 12
-                w_idx = 16
-        return s_idx, w_idx
-
-    def _get_shoulder_width(self, landmarks):
-        """Ширина плеч для нормировки горизонтальных смещений."""
-        left = landmarks[11][:2]
-        right = landmarks[12][:2]
-        width = np.linalg.norm(right - left)
-        if width < 50 or width > 300:
-            return None
-        return width
-
-    def _get_torso_height(self, landmarks):
-        """Высота торса для нормировки вертикальных смещений."""
-        left_shoulder = landmarks[11][:2]
-        right_shoulder = landmarks[12][:2]
-        left_hip = landmarks[23][:2]
-        right_hip = landmarks[24][:2]
-        shoulder_center = (left_shoulder + right_shoulder) / 2
-        hip_center = (left_hip + right_hip) / 2
-        height = np.linalg.norm(shoulder_center - hip_center)
-        if height < 50:
-            return None
-        return height
-
-    def _horizontal_displacement_rel(self, landmarks, side):
-        """
-        Нормированное горизонтальное смещение запястья относительно плеча.
-        Сторона `side` — это реальная сторона руки
-        """
-        s_idx, w_idx = self._get_side_indices(side)
-
-        if landmarks[s_idx][3] < 0.5 or landmarks[w_idx][3] < 0.5:
-            return 0.0
-
-        shoulder = landmarks[s_idx][:2]
-        wrist = landmarks[w_idx][:2]
-
-        shoulder_width = self._get_shoulder_width(landmarks)
-        if shoulder_width is None:
-            return 0.0
-
-        disp = wrist[0] - shoulder[0]
-        return disp / shoulder_width
-
-    def _vertical_displacement_rel(self, landmarks, side):
-        """
-        Вертикальное смещение: верх/низ запястья относительно плеча.
-        Сторона `side` — реальная сторона руки.
-        """
-        s_idx, w_idx = self._get_side_indices(side)
-
-        if landmarks[s_idx][3] < 0.5 or landmarks[w_idx][3] < 0.5:
-            return 0.0
-
-        shoulder = landmarks[s_idx][:2]
-        wrist = landmarks[w_idx][:2]
-
-        torso_height = self._get_torso_height(landmarks)
-        if torso_height is None:
-            return 0.0
-
-        disp = shoulder[1] - wrist[1]
-        return disp / torso_height
-
-    def compute_speeds(self, landmarks):
-        if (landmarks[11][3] < 0.5 or landmarks[12][3] < 0.5 or
-            landmarks[15][3] < 0.5 or landmarks[16][3] < 0.5):
-            if self.debug:
-                print("Руки не видны")
-            return 0.0, 0.0
-
-        linear_side = self.config['linear_arm']
-        angular_side = self.config['angular_arm']
-
-        lin_rel = self._horizontal_displacement_rel(landmarks, linear_side)
-        ang_rel = self._vertical_displacement_rel(landmarks, angular_side)
-
-        if self.debug:
-            print(f"lin_rel={lin_rel:.3f}, ang_rel={ang_rel:.3f}")
-
-        # Линейная скорость (только вперёд)
-        if lin_rel < self.dead_zone:
-            linear = 0.0
-        else:
-            linear = min(lin_rel, 1.0) * self.config['max_speed_linear']
-
-        # Угловая скорость
-        if abs(ang_rel) < self.dead_zone:
-            angular = 0.0
-        else:
-            ang_rel_clipped = np.clip(ang_rel, -1.0, 1.0)
-            angular = ang_rel_clipped * self.config['max_speed_angular']
-
-        return linear, angular
-

gesture_control/feature_extractor.py

@@ -6,7 +6,7 @@ def normalize_landmarks(landmarks):
     Центрирует относительно центра бёдер и масштабирует по росту.
     Возвращает плоский вектор (99,) из x,y,z всех точек.
     """
-    lm = landmarks[:, :3].copy()   # (33,3)
+    lm = landmarks[:, :3].copy() # (33,3)
 
     # Центр бёдер (индексы 23 и 24)
     hip_center = (lm[23] + lm[24]) / 2
@@ -23,4 +23,4 @@ def normalize_landmarks(landmarks):
     lm_centered = lm - hip_center
     lm_normalized = lm_centered / height
 
-    return lm_normalized.flatten()   # (99,)
+    return lm_normalized.flatten() # (99,)

gesture_control/special_gestures.py

@@ -11,7 +11,7 @@ class SpecialGestureDetector:
             print("Использую статический ML классификатор")
         else:
             self.ml_predictor = None
-            print("Использую геометрические отношения для детекции специальных жестовq")
+            print("Использую геометрические отношения для детекции специальных жестов")
         self.debug = True  # Включите для отладки
 
     def predict(self, landmarks):

gesture_control/state.py

@@ -1,9 +0,0 @@
-class ControlState:
-    def __init__(self, initial_enabled=False):
-        self.enabled = initial_enabled
-
-    def update(self, special_gesture):
-        if special_gesture == 'dome':
-            self.enabled = True
-        elif special_gesture == 'cross':
-            self.enabled = False

main.py

@@ -1,133 +0,0 @@
-import cv2
-import sys
-from config import Config
-from skeleton.mediapipe_detector import MediaPipeDetector
-from gesture_control.arm_control import ArmController
-from gesture_control.special_gestures import SpecialGestureDetector
-from gesture_control.state import ControlState
-from robot.map_simulator import MapSimulator
-from robot.dummy import DummyRobot
-
-def main():
-    cfg = Config()
-
-    # Детектор
-    detector = MediaPipeDetector()
-
-    # Состояние управления
-    state = ControlState()
-
-    # Специальные жесты
-    special_detector = SpecialGestureDetector(
-        mode=cfg.SPECIAL_GESTURE_MODE,
-        model_path=cfg.ML_GESTURE_MODEL,
-        class_names=cfg.ML_GESTURE_CLASSES
-    )
-    
-    # Динамические жесты
-    if cfg.DYNAMIC_GESTURE['enabled']:
-        from ml_gestures_dynamic.predict import DynamicGesturePredictor
-        dynamic_predictor = DynamicGesturePredictor(
-            cfg.DYNAMIC_GESTURE['model_path'],
-            cfg.DYNAMIC_GESTURE['classes_path'],
-            cfg.DYNAMIC_GESTURE['window_size'],
-            cfg.DYNAMIC_GESTURE['threshold']
-        )
-        
-    # Управление скоростями
-    arm_control = ArmController(cfg.ARM_CONTROL, mirror=cfg.MIRROR_CAMERA)
-
-    # Робот
-    if cfg.ROBOT_MODE == 'simulator':
-        robot = MapSimulator(cfg)
-    else:
-        robot = DummyRobot()
-
-    # Камера
-    cap = cv2.VideoCapture(cfg.CAMERA_ID)
-    if not cap.isOpened():
-        print("Ошибка: не удалось открыть камеру")
-        sys.exit(1)
-
-    print("Управление: крест руками = СТОП, домик = ПУСК")
-    print("Линейная скорость: правая рука в сторону, угловая: левая рука")
-    print("В симуляторе: R – перезапуск после Game Over/победы")
-    print("q – выход")
-    
-    last_dynamic_gesture = None
-    dynamic_gesture_counter = 0
-
-    while True:
-        ret, frame = cap.read()
-        if not ret:
-            break
-
-        if cfg.MIRROR_CAMERA:
-            frame = cv2.flip(frame, 1)
-
-        result = detector.detect(frame)
-
-        if result['success']:
-            landmarks = result['landmarks']
-            
-            if cfg.DYNAMIC_GESTURE['enabled']:
-                dynamic_predictor.add_frame(landmarks)
-                gesture = dynamic_predictor.predict()
-                if gesture:
-                    action = cfg.DYNAMIC_GESTURE['actions'].get(gesture)
-                    if action == 'reset':
-                        robot.reset()
-                    elif action == 'restart':
-                        robot.reset()
-                    last_dynamic_gesture = gesture
-                    dynamic_gesture_counter = 30
-                
-            vis_frame = detector.draw_landmarks(frame, result['pose_landmarks'])
-
-            special = special_detector.predict(landmarks)
-            state.update(special)
-
-            if state.enabled:
-                linear, angular = arm_control.compute_speeds(landmarks)
-            else:
-                linear, angular = 0.0, 0.0
-
-            robot.set_speeds(linear, angular)
-
-            # Отрисовка на видео
-            cv2.putText(vis_frame, f"State: {'ON' if state.enabled else 'OFF'}",
-                        (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1,
-                        (0,255,0) if state.enabled else (0,0,255), 2)
-            cv2.putText(vis_frame, f"L:{linear:.2f} A:{angular:.2f}",
-                        (10, 60), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,255,0), 2)
-            if special != 'none':
-                cv2.putText(vis_frame, f"Special: {special}", (10, 90),
-                            cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,255,0), 2)
-                
-            if dynamic_gesture_counter > 0 and last_dynamic_gesture:
-                cv2.putText(vis_frame, f"Dynamic: {last_dynamic_gesture}", (10, 120),
-                            cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2)
-                dynamic_gesture_counter -= 1
-                
-        else:
-            vis_frame = frame
-            cv2.putText(vis_frame, "No pose detected", (10, 30),
-                        cv2.FONT_HERSHEY_SIMPLEX, 1, (0,0,255), 2)
-
-        cv2.imshow('Camera', vis_frame)
-
-        if cfg.ROBOT_MODE == 'simulator':
-            if not robot.step():
-                break
-        else:
-            robot.step()
-
-        if cv2.waitKey(1) & 0xFF == ord('q'):
-            break
-
-    cap.release()
-    cv2.destroyAllWindows()
-    robot.quit()
-
-if __name__ == '__main__':
-    main()

ml_gestures/predict.py

@@ -1,6 +1,6 @@
 import joblib
 import numpy as np
-from .feature_extractor import normalize_landmarks
+from ml_gestures.feature_extractor import normalize_landmarks
 
 class MLGesturePredictor:
     def __init__(self, model_path, class_names):

ml_gestures_dynamic/evaluate.py

@@ -4,7 +4,7 @@ import json
 import argparse
 import tensorflow as tf
 from sklearn.metrics import classification_report, confusion_matrix, accuracy_score
-from .sequence_utils import load_sequences_from_csv
+from ml_gestures_dynamic.sequence_utils import load_sequences_from_csv
 
 def evaluate(data_path, model_path, max_len=30, test_size=0.2):
     # Загружаем данные

ml_gestures_dynamic/predict.py

@@ -2,7 +2,7 @@ import numpy as np
 import tensorflow as tf
 import joblib
 from collections import deque
-from .feature_extractor import extract_sequence
+from ml_gestures_dynamic.feature_extractor import extract_sequence
 
 class DynamicGesturePredictor:
     def __init__(self, model_path, classes_path, window_size=30, threshold=0.7):

ml_gestures_dynamic/train.py

@@ -5,7 +5,7 @@ import argparse
 import tensorflow as tf
 from tensorflow.keras import layers, models
 from sklearn.metrics import classification_report, confusion_matrix, accuracy_score
-from .sequence_utils import load_sequences_from_csv
+from ml_gestures_dynamic.sequence_utils import load_sequences_from_csv
 
 def train(data_path, model_path, max_len=30, lstm_units=64, epochs=50, batch_size=16, test_size=0.2):
     # Загрузка данных

requirements.txt

@@ -1,7 +0,0 @@
-opencv-python
-mediapipe
-numpy
-pygame
-scikit-learn
-pandas
-joblib

robot/dummy.py

@@ -1,9 +0,0 @@
-class DummyRobot:
-    def set_speeds(self, linear, angular):
-        print(f"Robot: linear={linear:.2f}, angular={angular:.2f}")
-
-    def step(self):
-        pass
-
-    def quit(self):
-        pass

robot/map_simulator.py

@@ -1,137 +0,0 @@
-import pygame
-import sys
-import math
-
-class MapSimulator:
-    def __init__(self, config):
-        pygame.init()
-        self.width = config.MAP_WIDTH
-        self.height = config.MAP_HEIGHT
-        self.screen = pygame.display.set_mode((self.width, self.height))
-        pygame.display.set_caption("Robot Map Simulator")
-        self.clock = pygame.time.Clock()
-        self.font = pygame.font.SysFont(None, 24)
-
-        self.obstacles = config.MAP_OBSTACLES
-        self.start = config.START_POS
-        self.finish = config.FINISH_POS
-        self.robot_radius = config.ROBOT_RADIUS
-
-        if config.ROBOT_IMAGE_PATH:
-            try:
-                self.robot_image = pygame.image.load(config.ROBOT_IMAGE_PATH)
-                self.robot_image = pygame.transform.scale(self.robot_image,
-                                                          (self.robot_radius*2, self.robot_radius*2))
-            except:
-                self.robot_image = None
-        else:
-            self.robot_image = None
-
-        self.reset()
-
-    def reset(self):
-        self.x, self.y = self.start
-        self.angle = 0.0
-        self.linear_speed = 0.0
-        self.angular_speed = 0.0
-        self.game_over = False
-        self.won = False
-
-    def set_speeds(self, linear, angular):
-        self.linear_speed = linear
-        self.angular_speed = angular
-
-    def update(self):
-        if self.game_over or self.won:
-            return
-
-        dt = 1/30.0
-        self.angle += self.angular_speed * dt * 2
-        dx = self.linear_speed * math.cos(self.angle) * dt * 100
-        dy = self.linear_speed * math.sin(self.angle) * dt * 100
-        new_x = self.x + dx
-        new_y = self.y + dy
-
-        # Ограничение границами карты
-        new_x = max(self.robot_radius, min(self.width - self.robot_radius, new_x))
-        new_y = max(self.robot_radius, min(self.height - self.robot_radius, new_y))
-
-        # Проверка столкновений с препятствиями
-        if not self.check_collision(new_x, new_y):
-            self.x, self.y = new_x, new_y
-        else:
-            self.game_over = True
-
-        # Проверка финиша
-        dist = math.hypot(self.x - self.finish[0], self.y - self.finish[1])
-        if dist < self.robot_radius:
-            self.won = True
-
-    def check_collision(self, x, y):
-        for ox, oy, ow, oh in self.obstacles:
-            closest_x = max(ox, min(x, ox + ow))
-            closest_y = max(oy, min(y, oy + oh))
-            dist = math.hypot(x - closest_x, y - closest_y)
-            if dist < self.robot_radius:
-                return True
-        return False
-
-    def draw(self):
-        self.screen.fill((255,255,255))
-
-        for obs in self.obstacles:
-            pygame.draw.rect(self.screen, (100,100,100), obs)
-
-        pygame.draw.circle(self.screen, (0,255,0),
-                           (int(self.finish[0]), int(self.finish[1])), self.robot_radius, 2)
-
-        if self.robot_image:
-            rotated = pygame.transform.rotate(self.robot_image, -math.degrees(self.angle))
-            rect = rotated.get_rect(center=(int(self.x), int(self.y)))
-            self.screen.blit(rotated, rect)
-        else:
-            nose = (self.x + self.robot_radius * math.cos(self.angle),
-                    self.y + self.robot_radius * math.sin(self.angle))
-            left = (self.x + self.robot_radius * math.cos(self.angle + 2.5),
-                    self.y + self.robot_radius * math.sin(self.angle + 2.5))
-            right = (self.x + self.robot_radius * math.cos(self.angle - 2.5),
-                     self.y + self.robot_radius * math.sin(self.angle - 2.5))
-            pygame.draw.polygon(self.screen, (0,0,255), [nose, left, right])
-
-        texts = [
-            f"Linear: {self.linear_speed:.2f}",
-            f"Angular: {self.angular_speed:.2f}",
-        ]
-        y = 10
-        for t in texts:
-            surf = self.font.render(t, True, (0,0,0))
-            self.screen.blit(surf, (10, y))
-            y += 25
-
-        if self.game_over:
-            msg = self.font.render("GAME OVER – Press R to restart", True, (255,0,0))
-            self.screen.blit(msg, (self.width//2 - 150, self.height//2))
-        elif self.won:
-            msg = self.font.render("YOU WIN! – Press R to restart", True, (0,100,0))
-            self.screen.blit(msg, (self.width//2 - 120, self.height//2))
-
-        pygame.display.flip()
-
-    def handle_events(self):
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                return False
-            if event.type == pygame.KEYDOWN and event.key == pygame.K_r:
-                self.reset()
-        return True
-
-    def step(self):
-        if not self.handle_events():
-            return False
-        self.update()
-        self.draw()
-        self.clock.tick(30)
-        return True
-
-    def quit(self):
-        pygame.quit()

utils/annotate.py

@@ -5,7 +5,7 @@ import sys
 from pathlib import Path
 import argparse
 
-sys.path.append(str(Path(__file__).parent.parent))
+#sys.path.append(str(Path(__file__).parent.parent))
 from skeleton.mediapipe_detector import MediaPipeDetector
 from ml_gestures.feature_extractor import normalize_landmarks
 

utils/record_dynamic.py

@@ -7,7 +7,7 @@ from pathlib import Path
 import argparse
 import pandas as pd
 
-sys.path.append(str(Path(__file__).parent.parent))
+#sys.path.append(str(Path(__file__).parent.parent))
 from skeleton.mediapipe_detector import MediaPipeDetector
 from ml_gestures_dynamic.feature_extractor import extract_sequence