Software

The software utilize Fibre to communicate with robot arm.

There are several command mode which you can choose from:

• Evaluate Kernel
• Paint Image
• Draw Outline
• Run Script
• Command Line Interface

For most the cases, we only need the last two command mode. The first three types are created specifically for sand painting.

Commander software

Commander software can be found here: https://github.com/Kevin75311/Sand_Art
The commander software was writen in python.

Structure

• Evaluate Kernel (E)
• Paint Image (P)
• Draw Outline (D)
• Run Script (R)
• Command Line Interface (C)

    System Architecture:
        Sand Painting
        |
        |-> main
        |   |-> KernelEvaluator (E)
        |   |-> SandArtRenderer (P, D)
        |   |-> RobotCommander (R, C)
        |
        -----------------------------------------------------------------------------------------------------------------------------------------------------
        |                           |                                                                           |
        |-> KernelEvaluator         |-> SandArtRenderer(open-loop/closed-loop, image_path, canvas_path)         |-> ImageSegmenter
            |                           |                                                                           |-> AreaTree
            |-> Camera                  |-> Camera                                                                  |-> ImageInpainter
            |-> Kernel                  |-> ImageProcessor                                                          |-> AreaClassifier
            |-> RobotCommander          |   |-> ImageSegmenter                                                          |-> PathPlanner    
                                        |        
                                        |-> Compensator: closed-loop condition
                                        |   |-> ImageSegmenter
                                        |
                                        |-> RobotCommander                      

How to run / Install

• The commander environment is based on Python 3.8.0
• First clone or download https://github.com/Kevin75311/Sand_Art
• Install all dependencies through
  • pip install -r ./requirements.txt
  • There might be some packages that are not listed in the requirements, just manually install them
• Run the entry main pyton
  • python ./src/main.py

Run script

for i in track(range(len(commands)), description="Executing script..."):
            command = commands[i]
            if command.find("wait") != -1:
                time.sleep(1)
            elif command.find("open") != -1:
                console.runcode("dummy0.robot.move_ee(-120)")
                time.sleep(1.5)
            elif command.find("close") != -1:
                init_point = True
                console.runcode("dummy0.robot.move_ee(0)")
                time.sleep(1.5)
            else:
                console.runcode(command)
                if init_point:
                    console.runcode(command)
                    time.sleep(6)
                    init_point = False
                else:
                    # moving command
                    console.runcode(command)
                    x_curr = float(((command.split(","))[0]).split("(")[1])
                    y_curr = float(command.split(",")[1])
                    wait_time = math.sqrt((x_curr - x_past)**2 + (y_curr - y_past)**2) / (self.speed * self.time_factor)
                    time.sleep(wait_time)
                    x_past = x_curr
                    y_past = y_curr