179 lines
6.5 KiB
Python
179 lines
6.5 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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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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cnt_rotation = 0
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BASE_TO_WORLD:np.ndarray = np.asarray([
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[1, 0, 0, -0.7323],
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[0, 1, 0, 0.05926],
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[0, 0, 1, -0.21],
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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, -1, 0, 0.01],
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[1, 0, 0, -0.05],
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[0, 0, 1, 0.075],
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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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[ 0.44808722 , 0.61103352 , 0.65256787 , 0.36428118],
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[ 0.51676868 , -0.77267257 , 0.36866054, -0.26519364],
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[ 0.72948524 , 0.17203456 ,-0.66200043 , 0.60938969],
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[ 0. , 0. , 0. , 1. ]
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])
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@staticmethod
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def connect_robot():
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ControlUtil.__ser = serial.Serial(port="/dev/ttyUSB0", baudrate=115200)
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ControlUtil.__fa = FrankaArm(robot_num=2)
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@staticmethod
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def franka_reset() -> None:
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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": 0,
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"right": 1
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}
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ControlUtil.cnt_rotation += degree
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print("total rot:", ControlUtil.cnt_rotation)
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if degree >= 0:
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turn_angle = degree
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turn_direction = turn_directions["right"]
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else:
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turn_angle = -degree
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turn_direction = turn_directions["left"]
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write_len = ControlUtil.__ser.write(f"CT+TRUNSINGLE({turn_direction},{turn_angle});".encode('utf-8'))
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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 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=5, use_impedance=False, ignore_errors=False)
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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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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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if tan_y_x < np.sqrt(3)/3 or tan_y_x > np.sqrt(3):
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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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display_table_rot_z_pose = ControlUtil.get_z_axis_rot_mat(display_table_rot)
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new_cam_to_world = display_table_rot_z_pose @ cam_to_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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print("table rot degree:", rot_degree)
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exec_time = rot_degree/9
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start_time = time.time()
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ControlUtil.rotate_display_table(rot_degree)
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ControlUtil.set_pose(cam_to_world)
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end_time = time.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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# ----------- Debug Test -------------
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if __name__ == "__main__":
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ControlUtil.connect_robot()
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print(ControlUtil.get_curr_gripper_to_base_pose())
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ControlUtil.init()
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# import time
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# start = time.time()
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# test_pose = np.asarray([[ 0.06023737 ,-0.81328565, 0.57872715, -0.23602393],
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# [-0.99107872 ,-0.11773834, -0.06230158, 0.24174289],
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# [ 0.11880735 ,-0.56981127 ,-0.813138 , 0.15199069],
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# [ 0. , 0. , 0. , 1. , ]])
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# print(test_pose)
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# rot_degree, cam_to_world = ControlUtil.solve_display_table_rot_and_cam_to_world(test_pose)
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# print(rot_degree, cam_to_world)
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# end = time.time()
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# print(f"Time: {end-start}")
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# ControlUtil.set_pose(test_pose)
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# import ipdb; ipdb.set_trace()
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# ControlUtil.move_to(test_pose)
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# print("End!")
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