284 lines
11 KiB
Python
284 lines
11 KiB
Python
import numpy as np
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from frankapy import FrankaArm
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from autolab_core import RigidTransform
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from scipy.spatial.transform import Rotation as R
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import serial
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import time
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class ControlUtil:
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__fa:FrankaArm = None
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__ser: serial.Serial = None
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curr_rotation = 0
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# BASE_TO_WORLD:np.ndarray = np.asarray([
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# [1, 0, 0, -0.68834619],
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# [0, 1, 0, -0.01785319],
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# [0, 0, 1, -0.11924244],
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# [0, 0, 0, 1]
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# ])
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# BASELINE_DIS = 0.1
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# LEFT_TO_RIGHT_ANGLE = -25.0
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# CAMERA_TO_LEFT_CAMERA:np.ndarray = np.asarray([
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# [1, 0, 0, BASELINE_DIS/2 * np.cos(np.radians(-LEFT_TO_RIGHT_ANGLE/2))],
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# [0, 1, 0, 0],
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# [0, 0, 1, BASELINE_DIS/2 * np.sin(np.radians(-LEFT_TO_RIGHT_ANGLE/2))],
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# [0, 0, 0, 1]
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# ])
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# CAMERA_TO_LEFT_CAMERA[:3, :3] = R.from_euler('y', LEFT_TO_RIGHT_ANGLE/2, degrees=True).as_matrix()
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CAMERA_CORRECTION_ANGLE = -13
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CAMERA_CORRECTION:np.ndarray = np.eye(4)
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CAMERA_CORRECTION[:3, :3] = R.from_euler('y', CAMERA_CORRECTION_ANGLE, degrees=True).as_matrix()
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BASE_TO_WORLD:np.ndarray = np.asarray([
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[1, 0, 0, -0.49602172],
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[0, 1, 0, 0.06688724],
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[0, 0, 1, -0.2488704 ],
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[0, 0, 0, 1]
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])
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CAMERA_TO_GRIPPER:np.ndarray = np.asarray(
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[[-0.00757086, -0.99984193, 0.01608569, 0.02644546],
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[ 0.99993362, -0.00770935, -0.00856502, -0.04860572],
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[ 0.00868767, 0.01601977, 0.99983391, -0.02169477],
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[ 0., 0. , 0. , 1. , ]
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])
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INIT_GRIPPER_POSE:np.ndarray = np.asarray(
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[[0.41869126 ,0.87596275 , 0.23951774 , 0.36005292],
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[ 0.70787907 ,-0.4800251 , 0.51813998 ,-0.26499909],
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[ 0.56884584, -0.04739109 ,-0.82107382 ,0.66881103],
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[ 0. , 0. , 0. , 1. ]])
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# INIT_GRIPPER_POSE:np.ndarray = np.asarray(
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# [[1 ,0 , 0 , 0.5],
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# [ 0 ,-1 , 0 ,0],
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# [ 0, 0 ,-1 ,0.6],
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# [ 0. , 0. , 0. , 1. ]])
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INIT_JOINTS:np.ndarray = np.asarray([-1.64987928,-0.73557812,-0.02676473,-2.08365335,0.01794927,1.5182423,0.73276058])
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@staticmethod
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def connect_robot():
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if ControlUtil.__fa is None:
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ControlUtil.__fa = FrankaArm(robot_num=1)
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if ControlUtil.__ser is None:
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ControlUtil.__ser = serial.Serial(port="/dev/ttyUSB0", baudrate=115200)
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@staticmethod
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def franka_reset() -> None:
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#ControlUtil.__fa.goto_joints(ControlUtil.INIT_JOINTS, duration=5, use_impedance=False, ignore_errors=False)
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ControlUtil.__fa.reset_joints()
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@staticmethod
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def init() -> None:
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ControlUtil.franka_reset()
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ControlUtil.set_gripper_pose(ControlUtil.INIT_GRIPPER_POSE)
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@staticmethod
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def get_pose() -> np.ndarray:
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gripper_to_base = ControlUtil.get_curr_gripper_to_base_pose()
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cam_to_world = ControlUtil.BASE_TO_WORLD @ gripper_to_base @ ControlUtil.CAMERA_TO_GRIPPER
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return cam_to_world
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@staticmethod
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def set_pose(cam_to_world: np.ndarray) -> None:
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gripper_to_base = ControlUtil.solve_gripper_to_base(cam_to_world)
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ControlUtil.set_gripper_pose(gripper_to_base)
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@staticmethod
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def rotate_display_table(degree):
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turn_directions = {
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"left": 1,
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"right": 0
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}
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delta_degree = degree - ControlUtil.curr_rotation
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ControlUtil.curr_rotation = degree
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print(f"Table rotated {ControlUtil.curr_rotation} degree")
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if delta_degree >= 0:
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turn_angle = delta_degree
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turn_direction = turn_directions["left"]
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else:
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turn_angle = -delta_degree
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turn_direction = turn_directions["right"]
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write_len = ControlUtil.__ser.write(f"CT+TRUNSINGLE({turn_direction},{turn_angle});".encode('utf-8'))
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print(f"send command: CT+TRUNSINGLE({turn_direction},{turn_angle});")
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return delta_degree
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@staticmethod
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def get_curr_gripper_to_base_pose() -> np.ndarray:
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return ControlUtil.__fa.get_pose().matrix
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@staticmethod
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def get_curr_joints() -> np.ndarray:
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return ControlUtil.__fa.get_joints()
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@staticmethod
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def set_gripper_pose(gripper_to_base: np.ndarray) -> None:
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gripper_to_base = RigidTransform(rotation=gripper_to_base[:3, :3], translation=gripper_to_base[:3, 3], from_frame="franka_tool", to_frame="world")
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ControlUtil.__fa.goto_pose(gripper_to_base, duration=6, use_impedance=False, ignore_errors=False, ignore_virtual_walls=True)
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@staticmethod
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def solve_gripper_to_base(cam_to_world: np.ndarray) -> np.ndarray:
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return np.linalg.inv(ControlUtil.BASE_TO_WORLD) @ cam_to_world @ np.linalg.inv(ControlUtil.CAMERA_TO_GRIPPER)
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@staticmethod
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def sovle_cam_to_world(gripper_to_base: np.ndarray) -> np.ndarray:
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return ControlUtil.BASE_TO_WORLD @ gripper_to_base @ ControlUtil.CAMERA_TO_GRIPPER
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@staticmethod
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def check_limit(new_cam_to_world):
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if new_cam_to_world[0,3] > 0 or new_cam_to_world[1,3] > 0:
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# if new_cam_to_world[0,3] > 0:
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return False
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x = abs(new_cam_to_world[0,3])
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y = abs(new_cam_to_world[1,3])
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tan_y_x = y/x
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min_angle = 20 / 180 * np.pi
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max_angle = 50 / 180 * np.pi
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if tan_y_x < np.tan(min_angle) or tan_y_x > np.tan(max_angle):
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return False
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return True
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@staticmethod
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def solve_display_table_rot_and_cam_to_world(cam_to_world: np.ndarray) -> tuple:
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if ControlUtil.check_limit(cam_to_world):
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return 0, cam_to_world
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else:
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min_display_table_rot = 180
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min_new_cam_to_world = None
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for display_table_rot in np.linspace(0.1,360, 1800):
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new_world_to_world = ControlUtil.get_z_axis_rot_mat(display_table_rot)
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new_cam_to_new_world = cam_to_world
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new_cam_to_world = new_world_to_world @ new_cam_to_new_world
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if ControlUtil.check_limit(new_cam_to_world):
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if display_table_rot < min_display_table_rot:
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min_display_table_rot, min_new_cam_to_world = display_table_rot, new_cam_to_world
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if abs(display_table_rot - 360) < min_display_table_rot:
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min_display_table_rot, min_new_cam_to_world = display_table_rot - 360, new_cam_to_world
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if min_new_cam_to_world is None:
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raise ValueError("No valid display table rotation found")
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return min_display_table_rot, min_new_cam_to_world
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@staticmethod
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def get_z_axis_rot_mat(degree):
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radian = np.radians(degree)
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return np.array([
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[np.cos(radian), -np.sin(radian), 0, 0],
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[np.sin(radian), np.cos(radian), 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1]
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])
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@staticmethod
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def get_gripper_to_base_axis_angle(gripper_to_base: np.ndarray) -> bool:
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rot_mat = gripper_to_base[:3,:3]
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gripper_z_axis = rot_mat[:,2]
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base_x_axis = np.array([1,0,0])
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angle = np.arccos(np.dot(gripper_z_axis, base_x_axis))
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return angle
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@staticmethod
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def move_to(pose: np.ndarray):
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rot_degree, cam_to_world = ControlUtil.solve_display_table_rot_and_cam_to_world(pose)
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delta_degree = ControlUtil.rotate_display_table(rot_degree)
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exec_time = abs(delta_degree)/9
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start_time = time.time()
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ControlUtil.set_pose(cam_to_world)
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end_time = time.time()
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print(f"Move to pose with rotation {rot_degree} degree, exec time: {end_time - start_time}|exec time: {exec_time}")
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if end_time - start_time < exec_time:
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time.sleep(exec_time - (end_time - start_time))
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@staticmethod
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def absolute_rotate_display_table(degree):
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exec_time = abs(degree)/9
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write_len = ControlUtil.__ser.write(f"CT+TRUNSINGLE({0},{degree});".encode('utf-8'))
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print(f"send command: CT+TRUNSINGLE({0},{degree});")
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time.sleep(exec_time)
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# ----------- Debug Test -------------
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if __name__ == "__main__":
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ControlUtil.connect_robot()
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#ControlUtil.franka_reset()
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print(ControlUtil.get_curr_gripper_to_base_pose())
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# ControlUtil.rotate_display_table(180)
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# ControlUtil.init()
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# ControlUtil.franka_reset()
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# def main_test():
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# print(ControlUtil.get_curr_gripper_to_base_pose())
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# ControlUtil.init()
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# def rotate_back(rotation):
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# ControlUtil.rotate_display_table(-rotation)
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# #main_test()
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# import sys; sys.path.append("/home/yan20/nbv_rec/project/franka_control")
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# from utils.communicate_util import CommunicateUtil
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# import ipdb
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# ControlUtil.init()
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# view_data_0 = CommunicateUtil.get_view_data(init=True)
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# depth_extrinsics_0 = view_data_0["depth_extrinsics"]
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# cam_to_world_0 = ControlUtil.get_pose()
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# print("cam_extrinsics_0")
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# print(depth_extrinsics_0)
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# print("cam_to_world_0")
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# print(cam_to_world_0)
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# ipdb.set_trace()
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# TEST_POSE:np.ndarray = np.asarray([
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# [ 0.46532393, 0.62171798, 0.63002284, 0.30230963],
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# [ 0.43205618, -0.78075723, 0.45136491, -0.29127173],
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# [ 0.77251656, 0.06217437, -0.63193429, 0.559957 ],
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# [ 0. , 0. , 0. , 1. ],
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# ])
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# TEST_POSE_CAM_TO_WORLD = ControlUtil.BASE_TO_WORLD @ TEST_POSE @ ControlUtil.CAMERA_TO_GRIPPER
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# ControlUtil.move_to(TEST_POSE_CAM_TO_WORLD)
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# view_data_1 = CommunicateUtil.get_view_data()
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# depth_extrinsics_1 = view_data_1["depth_extrinsics"]
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# depth_extrinsics_1[:3,3] = depth_extrinsics_1[:3,3] / 1000
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# cam_to_world_1 = ControlUtil.get_pose()
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# print("cam_extrinsics_1")
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# print(depth_extrinsics_1)
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# print("cam_to_world_1")
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# print(TEST_POSE_CAM_TO_WORLD)
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# actual_cam_to_world_1 = cam_to_world_0 @ depth_extrinsics_1
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# print("actual_cam_to_world_1")
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# print(actual_cam_to_world_1)
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# ipdb.set_trace()
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# TEST_POSE_2:np.ndarray = np.asarray(
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# [[ 0.74398544, -0.61922696, 0.251049, 0.47000935],
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# [-0.47287207, -0.75338888, -0.45692666, 0.20843903],
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# [ 0.47207883 , 0.22123272, -0.85334192, 0.57863381],
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# [ 0. , 0. , 0. , 1. , ]]
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# )
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# TEST_POSE_CAM_TO_WORLD_2 = ControlUtil.BASE_TO_WORLD @ TEST_POSE_2 @ ControlUtil.CAMERA_TO_GRIPPER
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# #ControlUtil.move_to(TEST_POSE_CAM_TO_WORLD_2)
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# ControlUtil.set_pose(TEST_POSE_CAM_TO_WORLD_2)
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# view_data_2 = CommunicateUtil.get_view_data()
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# depth_extrinsics_2 = view_data_2["depth_extrinsics"]
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# depth_extrinsics_2[:3,3] = depth_extrinsics_2[:3,3] / 1000
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# cam_to_world_2 = ControlUtil.get_pose()
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# print("cam_extrinsics_2")
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# print(depth_extrinsics_2)
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# print("cam_to_world_2")
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# print(TEST_POSE_CAM_TO_WORLD_2)
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# actual_cam_to_world_2 = cam_to_world_0 @ depth_extrinsics_2
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# print("actual_cam_to_world_2")
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# print(actual_cam_to_world_2)
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# ipdb.set_trace() |