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404 lines (320 loc) · 20.5 KB
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import numpy as np
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import math
from sympy import symbols, Matrix , Symbol , exp , sin ,cos , sqrt , diff
# def randrange(n, vmin, vmax):
# return (vmax-vmin)*np.random.rand(n) + vmin
#
# fig = plt.figure()
# ax = fig.add_subplot(111, projection='3d')
# n = 100
# for c, m, zl, zh in [('r', 'o', -50, -25), ('b', '^', -30, -5)]:
# xs = randrange(n, 23, 32)
# ys = randrange(n, 0, 100)
# zs = randrange(n, zl, zh)
# ax.scatter(xs, ys, zs, c=c, marker=m)
#
# ax.set_xlabel('X Label')
# ax.set_ylabel('Y Label')
# ax.set_zlabel('Z Label')
#
# plt.show()
def randrange(n, vmin, vmax):
return (vmax-vmin)*np.random.rand(n) + vmin
## declare variables ##
def kinematic(str_fileName,plotKeyframe):
#str_fileName = "p1"
#int_numberOfKeyframe = 0
int_motorDirection = [1,-1,1,-1,1,-1,-1 ,-1,-1,1,1,1,-1,1 ,1,-1,1]
# read motor center value #
file_center = open('motor_center.txt', 'r')
int_motorCenterValue = file_center.read()
file_center.close()
int_motorCenterValue = int_motorCenterValue.split('\n')
print "motor center"
print int_motorCenterValue
for x in range (17):
int_motorCenterValue[x] = int(int_motorCenterValue[x])
int_motorValue = [[int_motorCenterValue[x] for x in range (17)] for y in range (30)]
# read motor value #
namePosture = str_fileName + '.txt'
print namePosture
file_posture = open(namePosture, 'r')
str_load_data = file_posture.read()
file_posture.close()
str_load_data = str_load_data.split('\n')
int_numberOfKeyframe = int(str_load_data[0])
int_count_data = 1
for x in range (int_numberOfKeyframe):
for y in range (17):
int_motorValue[x][y] = int(str_load_data[int_count_data])
int_count_data = int_count_data + 1
print"key frame amount"
print int_numberOfKeyframe
print"motor value all keyframe"
print int_motorValue
# cal diff from center value #
int_motorValueDiff = [[(int_motorValue[y][x]-int_motorCenterValue[x]) for x in range (17)] for y in range (int_numberOfKeyframe)]
print"motor value diff all keyframe"
print int_motorValueDiff
# convert to degree #
float_motorValueDiff_degree = [[(int_motorValueDiff[y][x]*359/4095.0) for x in range (17)] for y in range (int_numberOfKeyframe)]
print"motor value diff all keyframe in degree"
print float_motorValueDiff_degree
print float_motorValueDiff_degree[int_numberOfKeyframe-1]
# convert motor direction #
float_motorValueDiff_degree = [[(float_motorValueDiff_degree[y][x]*int_motorDirection[x]) for x in range (17)] for y in range (int_numberOfKeyframe)]
print"motor value diff all keyframe in degree"
print float_motorValueDiff_degree
print float_motorValueDiff_degree[int_numberOfKeyframe-1]
alpha0_r = math.radians(90)
alpha1_r = math.radians(90)
alpha2_r = math.radians(-90)
alpha3_r = math.radians(90)
alpha4_r = math.radians(-90)
alpha5_r = math.radians(90)
alpha6_r = math.radians(90)
alpha7_r = math.radians(0)
alpha0_l = math.radians(90)
alpha1_l = math.radians(90)
alpha2_l = math.radians(-90)
alpha3_l = math.radians(90)
alpha4_l = math.radians(-90)
alpha5_l = math.radians(90)
alpha6_l = math.radians(90)
alpha7_l = math.radians(0)
a0_r = 0
a1_r = 0
a2_r = 0
a3_r = 0
a4_r = 0
a5_r = 0
a6_r = 0
a7_r = -140
a0_l = 0
a1_l = 0
a2_l = 0
a3_l = 0
a4_l = 0
a5_l = 0
a6_l = 0
a7_l = -140
d1_r = 182
d2_r = 0
d3_r = 206.5
d4_r = 0
d5_r = 206
d6_r = 0
d7_r = 0
d8_r = 0
d1_l = -182
d2_l = 0
d3_l = 206.5
d4_l = 0
d5_l = 206
d6_l = 0
d7_l = 0
d8_l = 0
#float_motorValueDiff_degree[int_numberOfKeyframe-1]
if plotKeyframe == "first":
theta1_l = math.radians((float_motorValueDiff_degree[0][0])/3.0+90)
theta2_l = math.radians(float_motorValueDiff_degree[0][1]+90)
theta3_l = math.radians(float_motorValueDiff_degree[0][2]-90)
theta4_l = math.radians(float_motorValueDiff_degree[0][3])
theta5_l = math.radians(float_motorValueDiff_degree[0][4]+90)
theta6_l = math.radians(float_motorValueDiff_degree[0][5]-90)
theta7_l = math.radians(float_motorValueDiff_degree[0][6])
theta8_l = math.radians(0)
theta1_r = math.radians((float_motorValueDiff_degree[0][7])/3.0+90)
theta2_r = math.radians(float_motorValueDiff_degree[0][8]+90)
theta3_r = math.radians(float_motorValueDiff_degree[0][9]-90)
theta4_r = math.radians(float_motorValueDiff_degree[0][10])
theta5_r = math.radians(float_motorValueDiff_degree[0][11]+90)
theta6_r = math.radians(float_motorValueDiff_degree[0][12]-90)
theta7_r = math.radians(float_motorValueDiff_degree[0][13])
theta8_r = math.radians(0)
elif plotKeyframe == "last":
theta1_l = math.radians((float_motorValueDiff_degree[int_numberOfKeyframe-1][0])/3.0+90)
theta2_l = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][1]+90)
theta3_l = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][2]-90)
theta4_l = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][3])
theta5_l = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][4]+90)
theta6_l = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][5]-90)
theta7_l = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][6])
theta8_l = math.radians(0)
theta1_r = math.radians((float_motorValueDiff_degree[int_numberOfKeyframe-1][7])/3.0+90)
theta2_r = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][8]+90)
theta3_r = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][9]-90)
theta4_r = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][10])
theta5_r = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][11]+90)
theta6_r = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][12]-90)
theta7_r = math.radians(float_motorValueDiff_degree[int_numberOfKeyframe-1][13])
theta8_r = math.radians(0)
# theta1_l = math.radians(0+90)
# theta2_l = math.radians(0+90)
# theta3_l = math.radians(0-90)
# theta4_l = math.radians(0)
# theta5_l = math.radians(0+90)
# theta6_l = math.radians(0-90)
# theta7_l = math.radians(0)
# theta8_l = math.radians(0)
#
# theta1_r = math.radians(90+90)
# theta2_r = math.radians(0+90)
# theta3_r = math.radians(0-90)
# theta4_r = math.radians(0)
# theta5_r = math.radians(0+90)
# theta6_r = math.radians(0-90)
# theta7_r = math.radians(0)
# theta8_r = math.radians(0)
t01_r = Matrix (( [(cos(theta1_r)) , (-sin(theta1_r)) , 0 , a0_r ],
[(sin(theta1_r)*(cos(alpha0_r))) , (cos(theta1_r))*(cos(alpha0_r)) , (-sin(alpha0_r)) , (-sin(alpha0_r))*d1_r ],
[(sin(theta1_r)*(sin(alpha0_r))) , (cos(theta1_r))*(sin(alpha0_r)) , (cos(alpha0_r)) , (cos(alpha0_r))*d1_r ],
[0 , 0 , 0 , 1 ]))
t12_r = Matrix (( [(cos(theta2_r)) , (-sin(theta2_r)) , 0 , a1_r ],
[(sin(theta2_r)*(cos(alpha1_r))) , (cos(theta2_r))*(cos(alpha1_r)) , (-sin(alpha1_r)) , (-sin(alpha1_r))*d2_r ],
[(sin(theta2_r)*(sin(alpha1_r))) , (cos(theta2_r))*(sin(alpha1_r)) , (cos(alpha1_r)) , (cos(alpha1_r))*d2_r ],
[0 , 0 , 0 , 1 ]))
t23_r = Matrix (( [(cos(theta3_r)) , (-sin(theta3_r)) , 0 , a2_r ],
[(sin(theta3_r)*(cos(alpha2_r))) , (cos(theta3_r))*(cos(alpha2_r)) , (-sin(alpha2_r)) , (-sin(alpha2_r))*d3_r ],
[(sin(theta3_r)*(sin(alpha2_r))) , (cos(theta3_r))*(sin(alpha2_r)) , (cos(alpha2_r)) , (cos(alpha2_r))*d3_r ],
[0 , 0 , 0 , 1 ]))
t34_r = Matrix (( [(cos(theta4_r)) , (-sin(theta4_r)) , 0 , a3_r ],
[(sin(theta4_r)*(cos(alpha3_r))) , (cos(theta4_r))*(cos(alpha3_r)) , (-sin(alpha3_r)) , (-sin(alpha3_r))*d4_r ],
[(sin(theta4_r)*(sin(alpha3_r))) , (cos(theta4_r))*(sin(alpha3_r)) , (cos(alpha3_r)) , (cos(alpha3_r))*d4_r ],
[0 , 0 , 0 , 1 ]))
t45_r = Matrix (( [(cos(theta5_r)) , (-sin(theta5_r)) , 0 , a4_r ],
[(sin(theta5_r)*(cos(alpha4_r))) , (cos(theta5_r))*(cos(alpha4_r)) , (-sin(alpha4_r)) , (-sin(alpha4_r))*d5_r ],
[(sin(theta5_r)*(sin(alpha4_r))) , (cos(theta5_r))*(sin(alpha4_r)) , (cos(alpha4_r)) , (cos(alpha4_r))*d5_r ],
[0 , 0 , 0 , 1 ]))
t56_r = Matrix (( [(cos(theta6_r)) , (-sin(theta6_r)) , 0 , a5_r ],
[(sin(theta6_r)*(cos(alpha5_r))) , (cos(theta6_r))*(cos(alpha5_r)) , (-sin(alpha5_r)) , (-sin(alpha5_r))*d6_r ],
[(sin(theta6_r)*(sin(alpha5_r))) , (cos(theta6_r))*(sin(alpha5_r)) , (cos(alpha5_r)) , (cos(alpha5_r))*d6_r ],
[0 , 0 , 0 , 1 ]))
t67_r = Matrix (( [(cos(theta7_r)) , (-sin(theta7_r)) , 0 , a6_r ],
[(sin(theta7_r)*(cos(alpha6_r))) , (cos(theta7_r))*(cos(alpha6_r)) , (-sin(alpha6_r)) , (-sin(alpha6_r))*d7_r ],
[(sin(theta7_r)*(sin(alpha6_r))) , (cos(theta7_r))*(sin(alpha6_r)) , (cos(alpha6_r)) , (cos(alpha6_r))*d7_r ],
[0 , 0 , 0 , 1 ]))
t78_r = Matrix (( [(cos(theta8_r)) , (-sin(theta8_r)) , 0 , a7_r ],
[(sin(theta8_r)*(cos(alpha7_r))) , (cos(theta8_r))*(cos(alpha7_r)) , (-sin(alpha7_r)) , (-sin(alpha7_r))*d8_r ],
[(sin(theta8_r)*(sin(alpha7_r))) , (cos(theta8_r))*(sin(alpha7_r)) , (cos(alpha7_r)) , (cos(alpha7_r))*d8_r ],
[0 , 0 , 0 , 1 ]))
t02_r = t01_r * t12_r
t03_r = t02_r * t23_r
t04_r = t03_r * t34_r
t05_r = t04_r * t45_r
t06_r = t05_r * t56_r
t07_r = t06_r * t67_r
t08_r = t07_r * t78_r
#t08_r = t01_r * t12_r * t23_r * t34_r * t45_r * t56_r * t67_r * t78_r
#print t08_r
#print t08_r[0,3]
#print t08_r[1,3]
#print t08_r[2,3]
#print t08_r[3,3]
pointSet_r = [[t01_r[0,3],t01_r[1,3],t01_r[2,3]],
[t02_r[0,3],t02_r[1,3],t02_r[2,3]],
[t03_r[0,3],t03_r[1,3],t03_r[2,3]],
[t04_r[0,3],t04_r[1,3],t04_r[2,3]],
[t05_r[0,3],t05_r[1,3],t05_r[2,3]],
[t06_r[0,3],t06_r[1,3],t06_r[2,3]],
[t07_r[0,3],t07_r[1,3],t07_r[2,3]],
[t08_r[0,3],t08_r[1,3],t08_r[2,3]],]
print "pointset R = "
print pointSet_r
t01_l = Matrix (( [(cos(theta1_l)) , (-sin(theta1_l)) , 0 , a0_l ],
[(sin(theta1_l)*(cos(alpha0_l))) , (cos(theta1_l))*(cos(alpha0_l)) , (-sin(alpha0_l)) , (-sin(alpha0_l))*d1_l ],
[(sin(theta1_l)*(sin(alpha0_l))) , (cos(theta1_l))*(sin(alpha0_l)) , (cos(alpha0_l)) , (cos(alpha0_l))*d1_l ],
[0 , 0 , 0 , 1 ]))
t12_l = Matrix (( [(cos(theta2_l)) , (-sin(theta2_l)) , 0 , a1_l ],
[(sin(theta2_l)*(cos(alpha1_l))) , (cos(theta2_l))*(cos(alpha1_l)) , (-sin(alpha1_l)) , (-sin(alpha1_l))*d2_l ],
[(sin(theta2_l)*(sin(alpha1_l))) , (cos(theta2_l))*(sin(alpha1_l)) , (cos(alpha1_l)) , (cos(alpha1_l))*d2_l ],
[0 , 0 , 0 , 1 ]))
t23_l = Matrix (( [(cos(theta3_l)) , (-sin(theta3_l)) , 0 , a2_l ],
[(sin(theta3_l)*(cos(alpha2_l))) , (cos(theta3_l))*(cos(alpha2_l)) , (-sin(alpha2_l)) , (-sin(alpha2_l))*d3_l ],
[(sin(theta3_l)*(sin(alpha2_l))) , (cos(theta3_l))*(sin(alpha2_l)) , (cos(alpha2_l)) , (cos(alpha2_l))*d3_l ],
[0 , 0 , 0 , 1 ]))
t34_l = Matrix (( [(cos(theta4_l)) , (-sin(theta4_l)) , 0 , a3_l ],
[(sin(theta4_l)*(cos(alpha3_l))) , (cos(theta4_l))*(cos(alpha3_l)) , (-sin(alpha3_l)) , (-sin(alpha3_l))*d4_l ],
[(sin(theta4_l)*(sin(alpha3_l))) , (cos(theta4_l))*(sin(alpha3_l)) , (cos(alpha3_l)) , (cos(alpha3_l))*d4_l ],
[0 , 0 , 0 , 1 ]))
t45_l = Matrix (( [(cos(theta5_l)) , (-sin(theta5_l)) , 0 , a4_l ],
[(sin(theta5_l)*(cos(alpha4_l))) , (cos(theta5_l))*(cos(alpha4_l)) , (-sin(alpha4_l)) , (-sin(alpha4_l))*d5_l ],
[(sin(theta5_l)*(sin(alpha4_l))) , (cos(theta5_l))*(sin(alpha4_l)) , (cos(alpha4_l)) , (cos(alpha4_l))*d5_l ],
[0 , 0 , 0 , 1 ]))
t56_l = Matrix (( [(cos(theta6_l)) , (-sin(theta6_l)) , 0 , a5_l ],
[(sin(theta6_l)*(cos(alpha5_l))) , (cos(theta6_l))*(cos(alpha5_l)) , (-sin(alpha5_l)) , (-sin(alpha5_l))*d6_l ],
[(sin(theta6_l)*(sin(alpha5_l))) , (cos(theta6_l))*(sin(alpha5_l)) , (cos(alpha5_l)) , (cos(alpha5_l))*d6_l ],
[0 , 0 , 0 , 1 ]))
t67_l = Matrix (( [(cos(theta7_l)) , (-sin(theta7_l)) , 0 , a6_l ],
[(sin(theta7_l)*(cos(alpha6_l))) , (cos(theta7_l))*(cos(alpha6_l)) , (-sin(alpha6_l)) , (-sin(alpha6_l))*d7_l ],
[(sin(theta7_l)*(sin(alpha6_l))) , (cos(theta7_l))*(sin(alpha6_l)) , (cos(alpha6_l)) , (cos(alpha6_l))*d7_l ],
[0 , 0 , 0 , 1 ]))
t78_l = Matrix (( [(cos(theta8_l)) , (-sin(theta8_l)) , 0 , a7_l ],
[(sin(theta8_l)*(cos(alpha7_l))) , (cos(theta8_l))*(cos(alpha7_l)) , (-sin(alpha7_l)) , (-sin(alpha7_l))*d8_l ],
[(sin(theta8_l)*(sin(alpha7_l))) , (cos(theta8_l))*(sin(alpha7_l)) , (cos(alpha7_l)) , (cos(alpha7_l))*d8_l ],
[0 , 0 , 0 , 1 ]))
t02_l = t01_l * t12_l
t03_l = t02_l * t23_l
t04_l = t03_l * t34_l
t05_l = t04_l * t45_l
t06_l = t05_l * t56_l
t07_l = t06_l * t67_l
t08_l = t07_l * t78_l
#t08_l = t01_l * t12_l * t23_l * t34_l * t45_l * t56_l * t67_l * t78_l
#print t08_l
#print t08_l[0,3]
#print t08_l[1,3]
#print t08_l[2,3]
#print t08_l[3,3]
pointSet_l = [[t01_l[0,3],t01_l[1,3],t01_l[2,3]],
[t02_l[0,3],t02_l[1,3],t02_l[2,3]],
[t03_l[0,3],t03_l[1,3],t03_l[2,3]],
[t04_l[0,3],t04_l[1,3],t04_l[2,3]],
[t05_l[0,3],t05_l[1,3],t05_l[2,3]],
[t06_l[0,3],t06_l[1,3],t06_l[2,3]],
[t07_l[0,3],t07_l[1,3],t07_l[2,3]],
[t08_l[0,3],t08_l[1,3],t08_l[2,3]],]
print "pointset L = "
print pointSet_l
#data_x = [1 ,2, 3 ,4]
#data_y = [1 ,2, 3, 4]
#data_z = [1, 2, 3, 4]
data_x_l = [pointSet_l[0][0],pointSet_l[1][0],pointSet_l[2][0],pointSet_l[3][0],pointSet_l[4][0],pointSet_l[5][0],pointSet_l[6][0],pointSet_l[7][0]]
data_y_l = [pointSet_l[0][1],pointSet_l[1][1],pointSet_l[2][1],pointSet_l[3][1],pointSet_l[4][1],pointSet_l[5][1],pointSet_l[6][1],pointSet_l[7][1]]
data_z_l = [pointSet_l[0][2],pointSet_l[1][2],pointSet_l[2][2],pointSet_l[3][2],pointSet_l[4][2],pointSet_l[5][2],pointSet_l[6][2],pointSet_l[7][2]]
data_x_r = [pointSet_r[0][0],pointSet_r[1][0],pointSet_r[2][0],pointSet_r[3][0],pointSet_r[4][0],pointSet_r[5][0],pointSet_r[6][0],pointSet_r[7][0]]
data_y_r = [pointSet_r[0][1],pointSet_r[1][1],pointSet_r[2][1],pointSet_r[3][1],pointSet_r[4][1],pointSet_r[5][1],pointSet_r[6][1],pointSet_r[7][1]]
data_z_r = [pointSet_r[0][2],pointSet_r[1][2],pointSet_r[2][2],pointSet_r[3][2],pointSet_r[4][2],pointSet_r[5][2],pointSet_r[6][2],pointSet_r[7][2]]
data = [data_x_l,data_y_l,data_z_l,data_x_r,data_y_r,data_z_r]
return data
data_p1 = kinematic("p1","last")
data_p2 = kinematic("p2","last")
data_p3 = kinematic("p3","last")
data_p4 = kinematic("p4","last")
data_p5 = kinematic("p5","last")
data_p5_f = kinematic("p5","first")
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
n = 100
for c, m, zl, zh in [('r', 'o', -50, -25), ('b', '^', -30, -5)]:
xs = randrange(n, 23, 32)
ys = randrange(n, 0, 100)
zs = randrange(n, zl, zh)
ax.plot(data_p1[0],data_p1[1], data_p1[2], c=u'b', marker=u's')
ax.plot(data_p1[3],data_p1[4], data_p1[5], c=u'b', marker=u'p')
ax.plot(data_p2[0],data_p2[1], data_p2[2], c=u'r', marker=u's')
ax.plot(data_p2[3],data_p2[4], data_p2[5], c=u'r', marker=u'p')
ax.plot(data_p3[0],data_p3[1], data_p3[2], c=u'g', marker=u's')
ax.plot(data_p3[3],data_p3[4], data_p3[5], c=u'g', marker=u'p')
ax.plot(data_p4[0],data_p4[1], data_p4[2], c=u'y', marker=u's')
ax.plot(data_p4[3],data_p4[4], data_p4[5], c=u'y', marker=u'p')
ax.plot(data_p5[0],data_p5[1], data_p5[2], c=u'c', marker=u's')
ax.plot(data_p5[3],data_p5[4], data_p5[5], c=u'c', marker=u'p')
ax.plot(data_p5_f[0],data_p5_f[1], data_p5_f[2], c=u'c', marker=u's')
ax.plot(data_p5_f[3],data_p5_f[4], data_p5_f[5], c=u'c', marker=u'p')
ax.set_xlabel('X Axis')
ax.set_ylabel('Y Axis')
ax.set_zlabel('Z Axis')
plt.show()