189 lines
8.2 KiB
Python
189 lines
8.2 KiB
Python
#!/usr/bin/env python
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import time
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import math
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from typing import Any
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from threading import Thread, Event, Lock
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from lerobot.utils.errors import DeviceNotConnectedError
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from ufactory_lerobot.devices.pika import PikaDevice
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from ufactory_lerobot.devices.umi.vive_tracker.transformations import Transformations
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from ..base_teleop import UFBaseTeleop
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from .pika_teleop_config import PikaTeleopConfig
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class PikaTeleop(UFBaseTeleop, Thread):
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config_class = PikaTeleopConfig
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name = "Pika Teleop For xArm"
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def __init__(self, config: PikaTeleopConfig, prefix=''):
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super().__init__(config)
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Thread.__init__(self) # Do NOT REMOVE!
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self.stop_event = Event()
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self.config = config
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self._is_connected = False
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self._is_calibrated = True
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self._data_lock = Lock()
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self._teleop_enabled = False
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self._last_action = None
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self._need_initial = False
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self.prefix = '' if not prefix else f'{prefix}.'
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tracker_to_robot_eef = list(self.config.tracker_to_robot_eef[:3]) + list(map(math.radians, self.config.tracker_to_robot_eef[3:6]))
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self.tracker_to_robot_matrix = Transformations.xyzrpy_to_rotation_matrix(*tracker_to_robot_eef)
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robot_base_pose = list(self.config.robot_base_pose[:3]) + list(map(math.radians, self.config.robot_base_pose[3:6]))
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self.robot_base_matrix = Transformations.xyzrpy_to_rotation_matrix(*robot_base_pose)
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self.begin_tracker_robot_matrix = None
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self._last_robot_pose = Transformations.rotation_matrix_to_xyzrxryrz(self.robot_base_matrix)
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self._last_gripper_pos = 0.0
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self.pika_device = PikaDevice(1, pika_sense_port=self.config.port)
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self.pika_sense = self.pika_device.pika_sense
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@property
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def action_features(self) -> dict:
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if self.config.use_gripper:
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return {
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"dtype": "float32",
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"shape": (7,),
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"names": {"pose.x": 0, "pose.y": 1, "pose.z": 2, "pose.rx": 3, "pose.ry": 4, "pose.rz": 5, "gripper.pos": 6},
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}
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else:
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return {
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"dtype": "float32",
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"shape": (6,),
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"names": {"pose.x": 0, "pose.y": 1, "pose.z": 2, "pose.rx": 3, "pose.ry": 4, "pose.rz": 5},
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}
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@property
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def feedback_features(self) -> dict:
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if self.config.use_gripper:
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return {
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"dtype": "float32",
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"shape": (7,),
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"names": {"pose.x": 0, "pose.y": 1, "pose.z": 2, "pose.rx": 3, "pose.ry": 4, "pose.rz": 5, "gripper.pos": 6},
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}
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else:
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return {
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"dtype": "float32",
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"shape": (6,),
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"names": {"pose.x": 0, "pose.y": 1, "pose.z": 2, "pose.rx": 3, "pose.ry": 4, "pose.rz": 5},
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}
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@property
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def is_connected(self) -> bool:
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return self._is_connected
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@property
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def is_calibrated(self) -> bool:
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return self._is_calibrated
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def calibrate(self) -> None:
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# CHECK!!
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pass
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def configure(self) -> None:
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pass
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def connect(self, calibrate: bool = False) -> None:
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self.start()
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def disconnect(self):
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if not self._is_connected:
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DeviceNotConnectedError(f"{self} is not connected.")
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self.stop_event.set()
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self._is_connected = False
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self.join()
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def set_teleop_enabled(self, enabled: bool, obs=None):
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with self._data_lock:
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if enabled:
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if obs is not None:
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self._last_robot_pose = [obs[f"{self.prefix}pose.x"], obs[f"{self.prefix}pose.y"], obs[f"{self.prefix}pose.z"], obs[f"{self.prefix}pose.rx"], obs[f"{self.prefix}pose.ry"], obs[f"{self.prefix}pose.rz"]]
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if self.config.use_gripper:
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self._last_gripper_pos = obs[f"{self.prefix}gripper.pos"]
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self.robot_base_matrix = Transformations.xyzrxryrz_to_rotation_matrix(*self._last_robot_pose)
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self.begin_tracker_robot_matrix = None
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self._last_action = None
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self._teleop_enabled = True
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print(f'[{self.prefix}PIKA] Teleoperation is start')
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else:
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obs = self._last_action
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self._last_robot_pose = [obs[f"{self.prefix}pose.x"], obs[f"{self.prefix}pose.y"], obs[f"{self.prefix}pose.z"], obs[f"{self.prefix}pose.rx"], obs[f"{self.prefix}pose.ry"], obs[f"{self.prefix}pose.rz"]]
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if self.config.use_gripper:
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self._last_gripper_pos = obs[f"{self.prefix}gripper.pos"]
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self._teleop_enabled = False
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self._last_action = None
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print(f'[{self.prefix}PIKA] Teleoperation has paused')
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def run(self):
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self._is_connected = True
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init_state = self.pika_sense.get_command_state()
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curr_state = init_state
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sleep_time = 1 / self.config.frequency
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while not self.stop_event.is_set():
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time.sleep(sleep_time)
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state = self.pika_sense.get_command_state()
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if state != curr_state:
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curr_state = state
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if not self._teleop_enabled and curr_state != init_state:
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self.set_teleop_enabled(True, self._last_action)
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time.sleep(1)
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elif self._teleop_enabled and curr_state == init_state:
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self.self.set_teleop_enabled(False)
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continue
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# delta action
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def get_action(self) -> dict[str, Any]:
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if not self.is_connected:
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raise DeviceNotConnectedError(
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"PikaTeleop is not connected. You need to run `connect()` before `get_action()`."
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)
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with self._data_lock:
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if self._last_action is None:
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self._last_action = {
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f"{self.prefix}pose.x": self._last_robot_pose[0],
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f"{self.prefix}pose.y": self._last_robot_pose[1],
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f"{self.prefix}pose.z": self._last_robot_pose[2],
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f"{self.prefix}pose.rx": self._last_robot_pose[3],
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f"{self.prefix}pose.ry": self._last_robot_pose[4],
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f"{self.prefix}pose.rz": self._last_robot_pose[5],
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}
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if self.config.use_gripper:
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self._last_action.update({f"{self.prefix}gripper.pos": self._last_gripper_pos})
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if not self._teleop_enabled:
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return self._last_action
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pose = self.pika_sense.get_pose(self.pika_device.pika_tracker_device)
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if pose:
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x, y, z = pose.position[0] * 1000 * self.config.scale_xyz, pose.position[1] * 1000 * self.config.scale_xyz, pose.position[2] * 1000 * self.config.scale_xyz
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quaternion = pose.rotation
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tracker_robot_matrix = Transformations.tracker_pose_to_robot_matrix(x, y, z, quaternion, self.tracker_to_robot_matrix)
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if self.begin_tracker_robot_matrix is None:
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self.begin_tracker_robot_matrix = tracker_robot_matrix
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robot_target_pose = Transformations.tracker_robot_matrix_to_robot_pose(self.begin_tracker_robot_matrix, tracker_robot_matrix, self.robot_base_matrix, is_axis_angle=True)
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# print(['{:.6f}'.format(val) for val in robot_target_pose])
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self._last_action[f"{self.prefix}pose.x"] = robot_target_pose[0]
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self._last_action[f"{self.prefix}pose.y"] = robot_target_pose[1]
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self._last_action[f"{self.prefix}pose.z"] = robot_target_pose[2]
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self._last_action[f"{self.prefix}pose.rx"] = robot_target_pose[3]
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self._last_action[f"{self.prefix}pose.ry"] = robot_target_pose[4]
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self._last_action[f"{self.prefix}pose.rz"] = robot_target_pose[5]
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else:
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pass
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if self.config.use_gripper:
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distance = min(max(self.pika_sense.get_gripper_distance(), 0), 100)
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if distance is not None:
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gripper_pos = (100 - distance) / (100 - 0)
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else:
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gripper_pos = 0.0
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self._last_action.update({f"{self.prefix}gripper.pos": gripper_pos})
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return self._last_action
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def send_feedback(self, feedback: dict[str, float]) -> None:
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raise NotImplementedError |