forked from real-stanford/diffusion_policy
-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathtmp2.py
161 lines (144 loc) · 6 KB
/
tmp2.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
# %%
import sys
import os
ROOT_DIR = os.path.dirname(os.path.dirname(__file__))
sys.path.append(ROOT_DIR)
os.chdir(ROOT_DIR)
# %%
import time
from multiprocessing.managers import SharedMemoryManager
import click
import cv2
import numpy as np
import scipy.spatial.transform as st
from umi.real_world.real_env import RealEnv
from umi.real_world.spacemouse_shared_memory import Spacemouse
from umi.common.precise_sleep import precise_wait
from umi.real_world.keystroke_counter import (
KeystrokeCounter, Key, KeyCode
)
@click.command()
@click.option('--output', '-o', required=True)
@click.option('--robot_ip', default='172.24.95.9')
@click.option('--gripper_ip', default='172.24.95.17')
# @click.option('--robot_ip', default='172.24.95.8')
# @click.option('--gripper_ip', default='172.24.95.18')
@click.option('--vis_camera_idx', default=0, type=int)
@click.option('--init_joints', '-j', is_flag=True, default=False)
@click.option('-gs', '--gripper_speed', type=float, default=200.0)
def main(output, robot_ip, gripper_ip, vis_camera_idx, init_joints, gripper_speed):
max_gripper_width = 90.
frequency = 10
command_latency = 1 / 100
dt = 1 / frequency
with SharedMemoryManager() as shm_manager:
with KeystrokeCounter() as key_counter, \
Spacemouse(shm_manager=shm_manager) as sm, \
RealEnv(
output_dir=output,
robot_ip=robot_ip,
gripper_ip=gripper_ip,
n_obs_steps=2,
obs_image_resolution=(256, 256),
frequency=frequency,
init_joints=init_joints,
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
) as env:
cv2.setNumThreads(1)
time.sleep(1.0)
print('Ready!')
state = env.get_robot_state()
target_pose = state['TargetTCPPose']
gripper_target_pos = max_gripper_width
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 != None:
# print(key_stroke)
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
sm_state = sm.get_motion_state_transformed()
# print(sm_state)
dpos = sm_state[:3] * (env.max_pos_speed / frequency)
drot_xyz = sm_state[3:] * (env.max_rot_speed / frequency)
drot = st.Rotation.from_euler('xyz', drot_xyz)
target_pose[:3] += dpos
target_pose[3:] = (drot * st.Rotation.from_rotvec(
target_pose[3:])).as_rotvec()
dpos = 0
if sm.is_button_pressed(0):
# close gripper
dpos = -gripper_speed / frequency
if sm.is_button_pressed(1):
dpos = gripper_speed / frequency
gripper_target_pos = np.clip(gripper_target_pos + dpos, 0, max_gripper_width)
action = np.zeros((7,))
action[:6] = target_pose
action[-1] = gripper_target_pos
# execute teleop command
env.exec_actions(
actions=[action],
timestamps=[t_command_target - time.monotonic() + time.time()],
stages=[stage])
precise_wait(t_cycle_end)
iter_idx += 1
# %%
if __name__ == '__main__':
main()