181 lines
8.0 KiB
Python
181 lines
8.0 KiB
Python
#!/usr/bin/env python
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import math
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from typing import Any
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from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
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from ufactory_lerobot.devices.umi.vive_tracker.transformations import Transformations
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from ufactory_lerobot.devices.umi.vive_tracker import ViveTracker
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from ufactory_lerobot.devices.umi.xvlib import XVLib
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from ..base_teleop import UFBaseTeleop
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from .umi_teleop_config import UmiTeleopConfig
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class UmiTeleop(UFBaseTeleop):
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config_class = UmiTeleopConfig
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name = "UMI Teleop For xArm"
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def __init__(self, config: UmiTeleopConfig, prefix=''):
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super().__init__(config)
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self.config = config
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self.prefix = '' if not prefix else f'{prefix}.'
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self._is_connected = False
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self._is_calibrated = True
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self._teleop_enabled = False
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self._last_action = None
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self.tracker = None
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self.xvlib = None
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# self.tracker = ViveTracker() if self.config.use_vive_tracker else None
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# self.xvlib = XVLib(self.config.serial_number, not self.config.use_vive_tracker, self.config.use_gripper)
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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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@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": {f"{self.prefix}pose.x": 0, f"{self.prefix}pose.y": 1, f"{self.prefix}pose.z": 2, f"{self.prefix}pose.rx": 3, f"{self.prefix}pose.ry": 4, f"{self.prefix}pose.rz": 5, f"{self.prefix}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": {f"{self.prefix}pose.x": 0, f"{self.prefix}pose.y": 1, f"{self.prefix}pose.z": 2, f"{self.prefix}pose.rx": 3, f"{self.prefix}pose.ry": 4, f"{self.prefix}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": {f"{self.prefix}pose.x": 0, f"{self.prefix}pose.y": 1, f"{self.prefix}pose.z": 2, f"{self.prefix}pose.rx": 3, f"{self.prefix}pose.ry": 4, f"{self.prefix}pose.rz": 5, f"{self.prefix}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": {f"{self.prefix}pose.x": 0, f"{self.prefix}pose.y": 1, f"{self.prefix}pose.z": 2, f"{self.prefix}pose.rx": 3, f"{self.prefix}pose.ry": 4, f"{self.prefix}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.tracker = ViveTracker() if self.config.use_vive_tracker else None
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self.xvlib = XVLib(self.config.serial_number, not self.config.use_vive_tracker, self.config.use_gripper)
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self._is_connected = True
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def disconnect(self):
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if self.xvlib:
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self.xvlib.xv_uninit()
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self._is_connected = False
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@staticmethod
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def normalize_angle(angle_deg):
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"""
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将角度归一化到 [-180, 180] 区间
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"""
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while angle_deg > 180:
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angle_deg -= 360
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while angle_deg < -180:
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angle_deg += 360
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return angle_deg
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def set_teleop_enabled(self, enabled: bool, obs=None):
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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}UMI] Teleoperation is start')
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else:
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obs = self._last_action
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if obs:
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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}UMI] Teleoperation has paused')
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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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"UmiTeleop is not connected. You need to run `connect()` before `get_action()`."
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)
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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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if self.tracker is not None:
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pose_data = self.tracker.get_pose(self.config.vive_tracker_id)
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if pose_data is None:
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print('cant not get pose from vive tracker')
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_, pose_data = self.xvlib.xv_get_slam_data()
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else:
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_, pose_data = self.xvlib.xv_get_slam_data()
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position = pose_data.position.to_list(6)
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quaternion = pose_data.quaternion.to_list(6)
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x, y, z = position[0] * 1000, position[1] * 1000, position[2] * 1000
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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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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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if self.config.use_gripper:
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_, clamp_data = self.xvlib.xv_get_clamp_stream_data()
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gripper_pos = (87 - clamp_data.data) / (87 - 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
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