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Robotics_Summer_camp.py
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#!/usr/bin/env python
# coding: utf-8
# In[ ]:
# Import required packages
import pybullet as p
import pybullet_data
import numpy as np
import cv2
import time
import matplotlib.pyplot as plt
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
plane = p.loadURDF("plane.urdf")
p.setGravity(0, 0, -30)
huskypos = [0, 0, 1]
# Load URDFs
husky = p.loadURDF("husky/husky.urdf", huskypos[0], huskypos[1], huskypos[2])
cheetah = p.loadURDF("mini_cheetah/mini_cheetah.urdf",-5,+2, huskypos[2])
target= p.loadURDF("block0.urdf",3, +2, huskypos[2])
maxForce = 55#Force of car #Newton.m
dist_init=0#initial distance
f=50#force of cheetah #Newton.m
m1=0.01
d=50
s=0.15# distance travelled by cheetah for calling runcheetah() once
l=0
l1=0 #adjust the time.sleep(l1)
# Function to set cheetah's initial orientation(need was understood by experiment)
def setPos():
l2=0.1
n=0
while(n<d):
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=8,
controlMode =p.POSITION_CONTROL,
targetPosition=l2,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=9,
controlMode =p.POSITION_CONTROL,
targetPosition=l2,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=10,
controlMode =p.POSITION_CONTROL,
targetPosition=l2,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=12,
controlMode =p.POSITION_CONTROL,
targetPosition=l2,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=13,
controlMode =p.POSITION_CONTROL,
targetPosition=l2,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=14,
controlMode =p.POSITION_CONTROL,
targetPosition=l2,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=0,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=1,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=2,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=4,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=5,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=6,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
n+=1
p.stepSimulation()
# Function to run the cheetah(representing villain here)
def runCheetah():
fr_t= p.getLinkState(cheetah, 3)
fl_t= p.getLinkState(cheetah, 7)
hr_t= p.getLinkState(cheetah, 11)
hl_t= p.getLinkState(cheetah, 15)
k=0
n=0
while(k<s):
fr= p.calculateInverseKinematics(cheetah, 3, [fr_t[0][0]+k, fr_t[0][1], fr_t[0][2]])
fl= p.calculateInverseKinematics(cheetah, 7, [fl_t[0][0]+k, fl_t[0][1], fl_t[0][2]])
hr= p.calculateInverseKinematics(cheetah, 11, [hr_t[0][0]-k, hr_t[0][1], hr_t[0][2]])
hl= p.calculateInverseKinematics(cheetah, 15, [hl_t[0][0]-k, hl_t[0][1], hl_t[0][2]])
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=8,
controlMode =p.POSITION_CONTROL,
targetPosition=hr[6],
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=9,
controlMode =p.POSITION_CONTROL,
targetPosition=hr[7],
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=10,
controlMode =p.POSITION_CONTROL,
targetPosition=hr[8],
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=12,
controlMode =p.POSITION_CONTROL,
targetPosition=hl[9],
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=13,
controlMode =p.POSITION_CONTROL,
targetPosition=hl[10],
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=14,
controlMode =p.POSITION_CONTROL,
targetPosition=hl[11],
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=0,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=1,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=2,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=4,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=5,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=6,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
k+=m1
p.stepSimulation()
time.sleep(l1)
n=0
while(n<d):
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=8,
controlMode =p.POSITION_CONTROL,
targetPosition=l,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=9,
controlMode =p.POSITION_CONTROL,
targetPosition=l,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=10,
controlMode =p.POSITION_CONTROL,
targetPosition=l,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=12,
controlMode =p.POSITION_CONTROL,
targetPosition=l,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=13,
controlMode =p.POSITION_CONTROL,
targetPosition=l,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=14,
controlMode =p.POSITION_CONTROL,
targetPosition=l,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=0,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=1,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=2,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=4,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=5,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
p.setJointMotorControl2(bodyIndex=cheetah,
jointIndex=6,
controlMode =p.POSITION_CONTROL,
targetPosition=0,
force=f)
n+=1
p.stepSimulation()
time.sleep(l1)
# Calculate the magnitude of a vector
def mag(vec_A):
magnitude= ((vec_A[0])**2 + (vec_A[1])**2 + (vec_A[2])**2)**(0.5)
return magnitude
# Dot product of two vectors
def dotProduct(vect_A, vect_B):
product = 0
# Loop for calculate cot product
for i in range(0,3):
product = product + vect_A[i] * vect_B[i]
return product
# Cross product of two vectors
def crossProduct(vect_A, vect_B):
cross_P=[]
cross_P.append(vect_A[1] * vect_B[2] - vect_A[2] * vect_B[1])
cross_P.append(vect_A[2] * vect_B[0] - vect_A[0] * vect_B[2])
cross_P.append(vect_A[0] * vect_B[1] - vect_A[1] * vect_B[0])
return cross_P
# Calculate the speed correction using PID
def speedCorrection(vec_A, vec_B, last_error, m):
mag_A= mag(vec_A)
mag_B= mag(vec_B)
kp= 10*m
kd= 0.6* kp
dot= dotProduct(vec_A, vec_B)
cross= crossProduct(vec_A, vec_B)
z= cross[2]
sin= z/(mag_A*mag_B)
cos= dot/(mag_A*mag_B)
#theta= (cross[2]/abs(cross[2]))*np.arcsin(sin)
if cos<0:
theta= (z/abs(z))*np.pi - np.arcsin(sin)
else:
theta= np.arcsin(sin)
error= theta
if error<-0.5 and error>=-np.pi:
speed= -sp
elif error>0.5 and error<np.pi:
speed= sp
else:
speed= kp*error + kd*(error - last_error)
return (speed,error)
# Function to carry out movement in Auto mode
def turn(speed, sp, sx):
print("turn")
baseSpeed = sp
if baseSpeed!=0:
targetVel_R = baseSpeed + speed + sx
targetVel_L = baseSpeed - speed + sx
else:
targetVel_R = 0
targetVel_L = 0
for joint in range(1,3):
p.setJointMotorControl2(husky,2* joint, p.VELOCITY_CONTROL, targetVelocity =targetVel_R,force = maxForce)
for joint in range(1,3):
p.setJointMotorControl2(husky,2* joint+1, p.VELOCITY_CONTROL,targetVelocity =targetVel_L,force = maxForce)
p.stepSimulation()
'''
tune the kp and kd from experiments,
a hint set kd = 10*kp
'''
last_error=0
PID_CONTROL=False
h1=0
h2=0
setPos()
b= 0
while (1):
keys = p.getKeyboardEvents()
if b==0:
if (PID_CONTROL):
# calculate the speed of villain in unit/footstep
#########
#if h1==0:
h1= p.getLinkState(cheetah, 0)
runCheetah()
#if h2==0:
h2= p.getLinkState(cheetah, 0)
h= mag([h1[0][0]-h2[0][0], h1[0][1]-h2[0][1], h1[0][2]-h2[0][2]])
##############
rear_bump= p.getLinkState(husky,9)
front_bump= p.getLinkState(husky,8)
target_pos= p.getBasePositionAndOrientation(target)
###############
h3= p.getLinkState(cheetah, 0)
enemy_dist= mag([h3[0][0]-target_pos[0][0], h3[0][0]-target_pos[0][0], 0])
############# I f eenemy comes in a distance of 4.5 unit then the car will automatically start and will come before the enemy how much far it is###########
if enemy_dist<6:
rear_bump= p.getLinkState(husky,9)
front_bump= p.getLinkState(husky,8)
v1= front_bump[0][0]-rear_bump[0][0]
v2= front_bump[0][1]-rear_bump[0][1]
v3= front_bump[0][2]-rear_bump[0][2]
frontVec= np.array(list((v1, v2, v3)))
t1= target_pos[0][0]-rear_bump[0][0]
t2= target_pos[0][1]-rear_bump[0][1]
t3= 0
targetVec= np.array(list((t1, t2, t3)))
if dist_init==0:
dist_init= mag(targetVec)
sp= int((dist_init-1.5)*10)# initial speed depend on initial distance
m= (sp//10)-1 # To set kp and kd according to the basespeed
if mag(targetVec)>3:
sp= int((mag(targetVec)-1.5)*10)
m= (sp//10)-1 # To set kp and kd according to the basespeed
else:
sp=0
sx= (mag(targetVec)/3)*h-1# Dependence on speed of enemy
print(sp)
speed_correction, last_error=speedCorrection(targetVec, frontVec, last_error, m)
turn(speed_correction, sp, sx)
for k, v in keys.items():
if (k == p.B3G_UP_ARROW and (v & p.KEY_IS_DOWN) and PID_CONTROL==False):
targetVel = 20
for joint in range(2,6):
p.setJointMotorControl2(husky,joint, p.VELOCITY_CONTROL, targetVelocity =targetVel, force = maxForce)
p.stepSimulation()
if (k == p.B3G_UP_ARROW and (v & p.KEY_WAS_RELEASED) and PID_CONTROL==False):
targetVel = 0
for joint in range(2, 6):
p.setJointMotorControl2(husky, joint, p.VELOCITY_CONTROL,targetVelocity = targetVel,force = maxForce)
if (k == p.B3G_DOWN_ARROW and (v & p.KEY_IS_DOWN) and PID_CONTROL==False):
targetVel = -20
for joint in range(2,6):
p.setJointMotorControl2(husky,joint, p.VELOCITY_CONTROL, targetVelocity =targetVel, force = maxForce)
p.stepSimulation()
if (k == p.B3G_DOWN_ARROW and (v & p.KEY_WAS_RELEASED) and PID_CONTROL==False):
targetVel = 0
for joint in range(2, 6):
p.setJointMotorControl2(husky, joint, p.VELOCITY_CONTROL,targetVelocity = targetVel,force = maxForce)
if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_IS_DOWN) and PID_CONTROL==False):
targetVel = 5
for joint in range(1,3):
p.setJointMotorControl2(husky,2*joint, p.VELOCITY_CONTROL, targetVelocity =targetVel,force = maxForce)
for joint in range(1,3):
p.setJointMotorControl2(husky,2*joint+1, p.VELOCITY_CONTROL,targetVelocity =-1*targetVel,force = maxForce)
p.stepSimulation()
if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_WAS_RELEASED)):
targetVel = 0
for joint in range(2, 6):
p.setJointMotorControl2(husky, joint, p.VELOCITY_CONTROL,targetVelocity = targetVel,force = maxForce)
if (k == p.B3G_LEFT_ARROW and (v & p.KEY_IS_DOWN)and PID_CONTROL==False):
targetVel = 5
for joint in range(1,3):
p.setJointMotorControl2(husky,2* joint+1, p.VELOCITY_CONTROL,targetVelocity = targetVel,force = maxForce)
for joint in range(1,3):
p.setJointMotorControl2(husky,2* joint, p.VELOCITY_CONTROL,targetVelocity =-1* targetVel,force = maxForce)
p.stepSimulation()
if (k == p.B3G_LEFT_ARROW and (v & p.KEY_WAS_RELEASED)):
targetVel = 0
for joint in range(2, 6):
p.setJointMotorControl2(husky, joint, p.VELOCITY_CONTROL, targetVelocity =targetVel,force = maxForce)
p.stepSimulation()
### Press c to start auto mode
if (k == ord('c') and (v & p.KEY_WAS_TRIGGERED)):
print("\nPID Control-on/Auto mode on")
PID_CONTROL = True
if (k == ord('r') and (v & p.KEY_WAS_TRIGGERED)):
print("\nPID Control-off ,back to manual")
PID_CONTROL = False
### Press m to change mode
if (k == ord('m') and (v & p.KEY_WAS_TRIGGERED)):
b=~b
print("\nVisual mode")
### Press p to take a picture from driver's view
if (k == ord('p') and (v & p.KEY_IS_DOWN)):
rear_bump= p.getLinkState(husky,9)
front_bump= p.getLinkState(husky,8)
v1= front_bump[0][0]-rear_bump[0][0]
v2= front_bump[0][1]-rear_bump[0][1]
v3= front_bump[0][2]-rear_bump[0][2]
frontVec= np.array(list((v1, v2, v3)))
t= (frontVec[0]**2 + frontVec[1]**2 + frontVec[2]**2)**(0.5)
frontDrn= frontVec/t
s1=20
eyePos= [front_bump[0][0], front_bump[0][1], front_bump[0][2]]
targetPos= list(frontDrn*s1)
upVec= [0,0,1]
view_matrix= p.computeViewMatrix(eyePos, targetPos, upVec)
width= 512
height= 512
aspect_ratio= width/height
near= 0.1
far= 10
fov= 120
projection_matrix= p.computeProjectionMatrixFOV(fov, aspect_ratio, near, far)
images= p.getCameraImage(width, height, view_matrix, projection_matrix, shadow=True, renderer= p.ER_BULLET_HARDWARE_OPENGL)
image= images[2].reshape((height, width, 4))
image= cv2.cvtColor(image, cv2.COLOR_RGBA2BGRA)
cv2.imshow('Driver_View', image)
cv2.waitKey(0)
cv2.destroyAllWindows()
## Visual instructing mode(a little slower due to waitkey, background should be light coloured than instrucor's hand)
else:
#update your droid cam code for better control and visualisation
cap= cv2.VideoCapture("http://192.168.43.53:4747/video")
while(True):
_,image= cap.read()
#gray= cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
#mask= cv2.adaptiveThreshold(gray, 255, cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY_INV, 641, 2)
#mask= cv2.erode(mask, (5,5), iterations=10)
image=cv2.cvtColor(image,cv2.COLOR_BGR2RGB)
image=cv2.rotate(image,cv2.ROTATE_90_CLOCKWISE)
lower=np.array([80,60,50])
high=np.array([165,126,110])
mask=cv2.inRange(image,lower,high)
length= mask.shape[1]
bredth= mask.shape[0]
ex= length//3
screen1= mask[:, 0:ex]
screen2= mask[:, ex:(length-ex)]
screen3= mask[:, (length-ex):]
c1,_= cv2.findContours(screen1, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
c2,_= cv2.findContours(screen2, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
c3,_= cv2.findContours(screen3, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if len(c1)!=0:
c= sorted(c1, key= cv2.contourArea, reverse= True)[0]
a1= cv2.contourArea(c)
else:
a1=0
if len(c2)!=0:
c= sorted(c2, key= cv2.contourArea, reverse= True)[0]
a2= cv2.contourArea(c)
else:
a2=0
if len(c3)!=0:
c= sorted(c3, key= cv2.contourArea, reverse= True)[0]
a3= cv2.contourArea(c)
else:
a3=0
a4= max(a1, a2, a3)
if a4==a3:
##speed= 40##((sp+sx)/3)*2
speed1= 160
speed2= -160
print("R")
elif a4==a1:
#speed= -40#-((sp+sx)/3)*2
speed1= -160
speed2= 160
print("L")
else:
speed1= 160
speed2= 160
print("F")
targetVel_R = speed1
targetVel_L = speed2
for joint in range(1,3):
p.setJointMotorControl2(husky,2* joint, p.VELOCITY_CONTROL, targetVelocity =targetVel_R,force = maxForce)
for joint in range(1,3):
p.setJointMotorControl2(husky,2* joint+1, p.VELOCITY_CONTROL,targetVelocity =targetVel_L,force = maxForce)
p.stepSimulation()
mask[:,ex]=255
mask[:, length-ex]=255
cv2.imshow("mask", mask)
k= cv2.waitKey(1)
if k==27:
b=0
cap.release()
cv2.destroyAllWindows()
break
p.disconnect()