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our_data_collection.py
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"""
Usage:
(robodiff)$ python demo_real_robot.py -o <demo_save_dir> --robot_ip <ip_of_ur5>
Robot movement:
Move your SpaceMouse to move the robot EEF (locked in xy plane).
Press SpaceMouse right button to unlock z axis.
Press SpaceMouse left button to enable rotation axes.
Recording control:
Click the opencv window (make sure it's in focus).
Press "C" to start recording.
Press "S" to stop recording.
Press "Q" to exit program.
Press "Backspace" to delete the previously recorded episode.
"""
# %%
import time
from multiprocessing.managers import SharedMemoryManager
import click
import cv2
import numpy as np
import scipy.spatial.transform as st
from diffusion_policy.real_world.real_env import PiperRealEnv
# from diffusion_policy.real_world.spacemouse_shared_memory import Spacemouse
from diffusion_policy.common.precise_sleep import precise_wait
from diffusion_policy.real_world.keystroke_counter import (
KeystrokeCounter, Key, KeyCode
)
from diffusion_policy.encapsulated_oculusReader.oculus_reader import OculusReader
from diffusion_policy.encapsulated_oculusReader.oculus_data import OculusHandler
from scipy.spatial.transform import Rotation as R
import math
@click.command()
@click.option('--output', '-o', default = 'data/test', help="Directory to save demonstration dataset.")
@click.option('--can_interface', '-c', default='can_piper', help="CAN interface to use.")
@click.option('--vis_camera_idx', default=0, type=int, help="Which RealSense camera to visualize.")
@click.option('--reset', '-r', is_flag=True, default=True, help="Whether to initialize robot joint configuration in the beginning.")
@click.option('--frequency', '-f', default=30, type=float, help="Control frequency in Hz.")
@click.option('--command_latency', '-cl', default=0.01, type=float, help="Latency between receiving SapceMouse command to executing on Robot in Sec.")
def main(output, can_interface, vis_camera_idx, reset, frequency, command_latency):
dt = 1/frequency
hz = 60
ocu_hz = hz
oculus_reader = OculusReader()
handler = OculusHandler(oculus_reader, right_controller=True, hz=ocu_hz, use_filter=False, max_threshold=0.6/ocu_hz)
with SharedMemoryManager() as shm_manager:
with KeystrokeCounter() as key_counter, \
PiperRealEnv(
output_dir=output,
can_interface = can_interface,
# recording resolution
obs_image_resolution=(1280,720),
frequency=frequency,
n_obs_steps=2,
enable_multi_cam_vis=True,
record_raw_video=True,
# number of threads per camera view for video recording (H.264)
thread_per_video=3,
# video recording quality, lower is better (but slower).
video_crf=21,
shm_manager=shm_manager,
reset = reset
) as env:
cv2.setNumThreads(1)
# realsense exposure
env.realsense.set_exposure(exposure=120, gain=0)
# realsense white balance
env.realsense.set_white_balance(white_balance=5900)
time.sleep(1.0)
state = env.get_robot_state()
print("now robot state is",state)
target_pose = state['ActualTCPPose']
print(target_pose)
t_start = time.monotonic()
iter_idx = 0
stop = False
is_recording = False
while not stop:
# calculate timing
t_cycle_end = t_start + (iter_idx + 1) * dt
t_sample = t_cycle_end - command_latency
t_command_target = t_cycle_end + dt
# pump obs
obs = env.get_obs()
# handle key presses
press_events = key_counter.get_press_events()
for key_stroke in press_events:
if key_stroke == KeyCode(char='q'):
# Exit program
stop = True
elif key_stroke == KeyCode(char='c'):
# Start recording
env.start_episode(t_start + (iter_idx + 2) * dt - time.monotonic() + time.time())
key_counter.clear()
is_recording = True
print('Recording!')
elif key_stroke == KeyCode(char='s'):
# Stop recording
env.end_episode()
key_counter.clear()
is_recording = False
print('Stopped.')
elif key_stroke == Key.backspace:
# Delete the most recent recorded episode
if click.confirm('Are you sure to drop an episode?'):
env.drop_episode()
key_counter.clear()
is_recording = False
# delete
stage = key_counter[Key.space]
# visualize
vis_img = obs[f'camera_{vis_camera_idx}'][-1,:,:,::-1].copy()
episode_id = env.replay_buffer.n_episodes
text = f'Episode: {episode_id}, Stage: {stage}'
if is_recording:
text += ', Recording!'
cv2.putText(
vis_img,
text,
(10,30),
fontFace=cv2.FONT_HERSHEY_SIMPLEX,
fontScale=1,
thickness=2,
color=(255,255,255)
)
cv2.imshow('default', vis_img)
cv2.pollKey()
precise_wait(t_sample)
# get teleop command
increment = handler.get_increment()
buttons = handler.get_buttons()
original_orientation = handler.get_original_orientation()
#-----------------旋转矩阵转欧拉角---------------------
r = R.from_matrix(original_orientation)
euler_angles = r.as_euler('xyz', degrees=True)
rpy_vr = np.array(np.mod(euler_angles + 180, 360) - 180)
#---------------------------------------------------
A_button = buttons.get("A", [0])
B_button = buttons.get("B", [0])
right_trigger = buttons.get("rightTrig", [0])[0]
delta_pos = increment['position']
# buttons, position, speed, acc = iter
right_trigger = buttons.get("rightTrig", [0])[0]
# 判断是否按下A键，按下A，机械臂允许移动
#---------------------------------------------------
if not A_button:
freeze = False
else:
freeze = True
#----------------------------------------------------
#------------------更新endpose状态---------------------
#获得当前机械臂状态
target_pose = env.get_robot_state()['ActualTCPPose']
print("target_pose",target_pose)
#Scale机械臂位置信息，0.001mm->m, 0.001度->度
target_pose[0] = target_pose[0] / 1000000
target_pose[1] = target_pose[1] / 1000000
target_pose[2] = target_pose[2] / 1000000
target_pose[3] = target_pose[3] / 1000
target_pose[4] = target_pose[4] / 1000
target_pose[5] = target_pose[5] / 1000
if freeze:
pass
else:
print("target_pose",target_pose)
target_pose[0] = target_pose[0] + delta_pos[0]*0.1
target_pose[1] = target_pose[1] + delta_pos[1]*0.1
target_pose[2] = target_pose[2] + delta_pos[2]*0.1
# TODO: 目前VR的旋转是用绝对值，xyz是增量，其原因是VR的旋转增量没有调通
target_pose[3] = np.deg2rad(rpy_vr[0])
target_pose[4] = np.deg2rad(rpy_vr[1])
target_pose[5] = np.deg2rad(rpy_vr[2])
#---------------------------------------------------
# execute teleop command
env.exec_actions(
actions=[target_pose],
timestamps=[t_command_target-time.monotonic()+time.time()],
stages=[stage]
)
precise_wait(t_cycle_end)
iter_idx += 1
# %%
if __name__ == '__main__':
main()