dominika version

gesture_control/arm_control.py

@@ -2,125 +2,72 @@ 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.config = config
+        #self.mirror = mirror
+
+        #self.shoulder_idx = {'left': 11, 'right': 12}
+        #self.elbow_idx = {'left': 13, 'ri ght': 14}
+        #self.wrist_idx = {'left': 15, 'right': 16}
+        #self.hip_idx = {'left': 23, 'right': 24}
+
+        self.r_wirst_id = 15 #16
+        self.r_elbow_id = 13 #14
+        self.r_shoulder_id = 11 # 12
+
+        self.error = 23
+        self.bag = 27
+
         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 _get_angle(self, x1, y1, x2, y2):
+        angle = np.arctan2(y2 - y1, x2 - x1)
+        return angle
 
-    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):
+
+        linear = 0.
+        angular = 0.
+
         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']
+        right_shoulder_point = landmarks[self.r_shoulder_id]
+        right_shoulder_x = right_shoulder_point[0]
+        right_shoulder_y = right_shoulder_point[1]
 
-        lin_rel = self._horizontal_displacement_rel(landmarks, linear_side)
-        ang_rel = self._vertical_displacement_rel(landmarks, angular_side)
+        right_elbow_point = landmarks[self.r_elbow_id] # [x, y, z, v]
+        right_elbow_x = right_elbow_point[0]
+        right_elbow_y = right_elbow_point[1]
 
-        if self.debug:
-            print(f"lin_rel={lin_rel:.3f}, ang_rel={ang_rel:.3f}")
+        angle_shoulder_elbow = self._get_angle(right_shoulder_x, right_shoulder_y, right_elbow_x, right_elbow_y)
 
-        # 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']
+        right_wirst_point = landmarks[self.r_wirst_id]
+        right_wirst_x = right_wirst_point[0]
+        right_wirst_y = right_wirst_point[1]
 
-        # 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']
+        angle_elbow_wirst = self._get_angle(right_elbow_x, right_elbow_y, right_wirst_x, right_wirst_y)
+
+        five_deg_in_rad = np.deg2rad(self.error)
+
+
+        if (angle_shoulder_elbow < np.pi/2.5 + five_deg_in_rad) and (angle_shoulder_elbow > np.pi/2.5 -five_deg_in_rad):
+            print(f"Angle between shoulder and elbow is {angle_shoulder_elbow} {np.rad2deg(angle_shoulder_elbow)}")
+            #print(f"Angle between elbow and wirst is {angle_elbow_wirst}")
+            if (angle_elbow_wirst > np.deg2rad(-90 - self.error)) and (angle_elbow_wirst < np.deg2rad(-90 + self.error)):
+                linear = 1.
+            if (angle_elbow_wirst > np.deg2rad(90 - self.error)) and (angle_elbow_wirst < np.deg2rad(90 + self.error)):
+                linear = -1.
+            if (angle_elbow_wirst > np.deg2rad(-45 - self.bag)) and (angle_elbow_wirst < np.deg2rad(-45 + self.bag)):
+                angular = -1.
+            if (angle_elbow_wirst > np.deg2rad(-135 - self.bag)) and (angle_elbow_wirst < np.deg2rad(-135 + self.bag)):
+                angular = 1.
 
         return linear, angular
 
+