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@Cadene
Cadene committed Nov 27, 2024
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320 changes: 320 additions & 0 deletions examples/test.py
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import time
from typing import Callable

import cv2
import numpy as np
from qai_hub_models.models.mediapipe_hand.app import MediaPipeHandApp
from qai_hub_models.models.mediapipe_hand.model import (
MediaPipeHand,
)
from qai_hub_models.utils.image_processing import (
app_to_net_image_inputs,
)

from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus


class HopeJuniorRobot:
def __init__(self):
self.arm_bus = FeetechMotorsBus(
port="/dev/tty.usbserial-2110",
motors={
# "motor1": (2, "sts3250"),
# "motor2": (1, "scs0009"),
"shoulder_pitch": [1, "sts3250"],
"shoulder_yaw": [2, "sts3215"], # TODO: sts3250
"shoulder_roll": [3, "sts3215"], # TODO: sts3250
"elbow_flex": [4, "sts3250"],
"wrist_roll": [5, "sts3215"],
"wrist_yaw": [6, "sts3215"],
"wrist_pitch": [7, "sts3215"],
},
protocol_version=0,
)
self.hand_bus = FeetechMotorsBus(
port="/dev/tty.usbserial-2140",
motors={
"thumb_basel_rotation": [30, "scs0009"],
"thumb_flexion": [27, "scs0009"],
"thumb_pinky_side": [26, "scs0009"],
"thumb_thumb_side": [28, "scs0009"],
"index_flexor": [25, "scs0009"],
"index_pinky_side": [31, "scs0009"],
"index_thumb_side": [32, "scs0009"],
"middle_flexor": [24, "scs0009"],
"middle_pinky_side": [33, "scs0009"],
"middle_thumb_side": [34, "scs0009"],
"ring_flexor": [21, "scs0009"],
"ring_pinky_side": [36, "scs0009"],
"ring_thumb_side": [35, "scs0009"],
"pinky_flexor": [23, "scs0009"],
"pinky_pinky_side": [38, "scs0009"],
"pinky_thumb_side": [37, "scs0009"],
},
protocol_version=1,
group_sync_read=False,
)

def connect(self):
self.arm_bus.connect()
self.hand_bus.connect()


ESCAPE_KEY_ID = 27


def capture_and_display_processed_frames(
frame_processor: Callable[[np.ndarray], np.ndarray],
window_display_name: str,
cap_device: int = 0,
) -> None:
"""
Capture frames from the given input camera device, run them through
the frame processor, and display the outputs in a window with the given name.
User should press Esc to exit.
Inputs:
frame_processor: Callable[[np.ndarray], np.ndarray]
Processes frames.
Input and output are numpy arrays of shape (H W C) with BGR channel layout and dtype uint8 / byte.
window_display_name: str
Name of the window used to display frames.
cap_device: int
Identifier for the camera to use to capture frames.
"""
cv2.namedWindow(window_display_name)
capture = cv2.VideoCapture(cap_device)
if not capture.isOpened():
raise ValueError("Unable to open video capture.")

frame_count = 0
has_frame, frame = capture.read()
while has_frame:
assert isinstance(frame, np.ndarray)

frame_count = frame_count + 1
# mirror frame
frame = np.ascontiguousarray(frame[:, ::-1, ::-1])

# process & show frame
processed_frame = frame_processor(frame)
cv2.imshow(window_display_name, processed_frame[:, :, ::-1])

has_frame, frame = capture.read()
key = cv2.waitKey(1)
if key == ESCAPE_KEY_ID:
break

capture.release()


def main():
robot = HopeJuniorRobot()
robot.connect()

print(robot.arm_bus.read("Present_Position"))
# print(motors_bus.write("Goal_Position", 500))
print(robot.hand_bus.read("Present_Position"))
# pos = hand_bus.read("Present_Position")
# hand_bus.write("Goal_Position", pos[0]+20, hand_bus.motor_names[0])
# hand_bus.write("Goal_Position", pos[i]+delta, hand_bus.motor_names[i])

robot.arm_bus.write("Torque_Enable", 1)

robot.arm_bus.write("Acceleration", 20)
robot.arm_bus.read("Acceleration")

robot.hand_bus.read("Acceleration")
robot.hand_bus.write("Acceleration", 10)

sleep = 1
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
robot.hand_bus.write(
"Goal_Position",
[500, 1000, 0, 1000],
["thumb_basel_rotation", "thumb_flexion", "thumb_pinky_side", "thumb_thumb_side"],
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position", [100, 950, 100], ["index_flexor", "index_pinky_side", "index_thumb_side"]
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position", [100, 1000, 150], ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position", [200, 200, 0], ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position", [200, 100, 700], ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
)
time.sleep(sleep)

time.sleep(3)

def move_arm(loop=10):
sleep = 1
for i in range(loop):
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1195])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 2195])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1457, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 2357, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 974, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 2674, 1957, 1695])
time.sleep(sleep + 2)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 1632, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 1369, 1632, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 1330, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [2381, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1681, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)
robot.arm_bus.write("Goal_Position", [1981, 2030, 2069, 2032, 1874, 1957, 1695])
time.sleep(sleep)

def move_hand(loop=10):
sleep = 0.5
for i in range(loop):
robot.hand_bus.write(
"Goal_Position",
[500, 1000, 0, 1000],
["thumb_basel_rotation", "thumb_flexion", "thumb_pinky_side", "thumb_thumb_side"],
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position", [100, 950, 100], ["index_flexor", "index_pinky_side", "index_thumb_side"]
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position", [100, 1000, 150], ["middle_flexor", "middle_pinky_side", "middle_thumb_side"]
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position", [200, 200, 0], ["ring_flexor", "ring_pinky_side", "ring_thumb_side"]
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position", [200, 100, 700], ["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"]
)
time.sleep(sleep)

robot.hand_bus.write(
"Goal_Position",
[500, 1000 - 250, 0 + 300, 1000 - 200],
["thumb_basel_rotation", "thumb_flexion", "thumb_pinky_side", "thumb_thumb_side"],
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position",
[100 + 450, 950 - 400, 100 + 400],
["index_flexor", "index_pinky_side", "index_thumb_side"],
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position",
[100 + 350, 1000 - 450, 150 + 450],
["middle_flexor", "middle_pinky_side", "middle_thumb_side"],
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position",
[200 + 650, 200 + 350, 0 + 350],
["ring_flexor", "ring_pinky_side", "ring_thumb_side"],
)
time.sleep(sleep)
robot.hand_bus.write(
"Goal_Position",
[200 + 450, 100 + 400, 700 - 400],
["pinky_flexor", "pinky_pinky_side", "pinky_thumb_side"],
)
time.sleep(sleep)

move_hand(3)

move_arm(1)

from concurrent.futures import ThreadPoolExecutor

with ThreadPoolExecutor() as executor:
executor.submit(move_arm)
executor.submit(move_hand)

breakpoint()
# # initial position
# for i in range(3):
# robot.hand_bus.write("Goal_Position", [500, 1000, 0, 1000, 100, 950, 100, 100, 1000, 150, 200, 200, 0, 200, 100, 700])
# time.sleep(1)

# for i in range(3):
# robot.hand_bus.write("Goal_Position", [500, 1000-150, 0+250, 1000-150,
# 100+300, 950-250, 100+250,
# 100+200, 1000-300, 150+300,
# 200+500, 200+200, 0+200,
# 200+300, 100+200, 700-200])
# time.sleep(1)

camera = 0
score_threshold = 0.95
iou_threshold = 0.3

app = MediaPipeHandApp(MediaPipeHand.from_pretrained(), score_threshold, iou_threshold)

def frame_processor(frame: np.ndarray) -> np.ndarray:
# Input Prep
NHWC_int_numpy_frames, NCHW_fp32_torch_frames = app_to_net_image_inputs(frame)

# Run Bounding Box & Keypoint Detector
batched_selected_boxes, batched_selected_keypoints = app._run_box_detector(NCHW_fp32_torch_frames)

# The region of interest ( bounding box of 4 (x, y) corners).
# list[torch.Tensor(shape=[Num Boxes, 4, 2])],
# where 2 == (x, y)
#
# A list element will be None if there is no selected ROI.
batched_roi_4corners = app._compute_object_roi(batched_selected_boxes, batched_selected_keypoints)

# selected landmarks for the ROI (if any)
# list[torch.Tensor(shape=[Num Selected Landmarks, K, 3])],
# where K == number of landmark keypoints, 3 == (x, y, confidence)
#
# A list element will be None if there is no ROI.
landmarks_out = app._run_landmark_detector(NHWC_int_numpy_frames, batched_roi_4corners)

app._draw_predictions(
NHWC_int_numpy_frames,
batched_selected_boxes,
batched_selected_keypoints,
batched_roi_4corners,
*landmarks_out,
)

return NHWC_int_numpy_frames[0]

capture_and_display_processed_frames(frame_processor, "QAIHM Mediapipe Hand Demo", camera)


if __name__ == "__main__":
main()
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