Upload 2 files

Player_ECM.py

@@ -225,10 +225,16 @@ class VisPlayer(nn.Module):
         
     def _init_rcm(self):
         # TODO check matrix
-        self.tool_T_tip=np.array([[ 0. ,-1. , 0. , 0.],
-                         [ 0. , 0. , 1. , 0.],
-                         [-1. , 0. , 0. , 0.],
-                         [ 0. , 0. , 0. , 1.]])
+        self.tool_T_tip=np.array([[0.0, 1.0, 0.0, 0.0],
+                       [-1.0, 0.0, 0.0, 0.0],
+                       [0.0, 0.0, 1.0, 0.0],
+                       [0.0, 0.0, 0.0, 1.0]])
+        
+        ### check this matrix, this matrix was the originally used one, which is used for PSM
+        # np.array([[ 0. ,-1. , 0. , 0.],
+        #                  [ 0. , 0. , 1. , 0.],
+        #                  [-1. , 0. , 0. , 0.],
+        #                  [ 0. , 0. , 0. , 1.]])
 
         eul=np.array([np.deg2rad(-90), 0., 0.])
         eul= self.get_matrix_from_euler(eul)
@@ -514,6 +520,7 @@ class VisPlayer(nn.Module):
         return np.matmul(rcm_action, self.tool_T_tip)
     
     def _set_action(self, action, robot_pos, rot):
+        ########## TODO
         '''
         robot_pos in cam coodinate
         robot_rot in rcm; matrix
@@ -756,30 +763,29 @@ class VisPlayer(nn.Module):
                             [transform_2[1,0], transform_2[1,1], transform_2[1,2]],
                             [transform_2[2,0], transform_2[2,1], transform_2[2,2]]])
         
-        tip_psm_pose=np.zeros((4,4))
+        tip_ecm_pose=np.zeros((4,4))
         
-        tip_psm_pose[3,3]=1
-        tip_psm_pose[:3,:3]=np_m
-        tip_psm_pose[:3,3]=robot_pos
+        tip_ecm_pose[3,3]=1
+        tip_ecm_pose[:3,:3]=np_m
+        tip_ecm_pose[:3,3]=robot_pos
         #print('tip_psm_pose before: ',tip_psm_pose)
-        tip_psm_pose=self.rcm2tip(tip_psm_pose)
+        tip_ecm_pose=self.rcm2tip(tip_ecm_pose)
         #print('tip_psm_pose aft: ',tip_psm_pose)
         
-        np_m=tip_psm_pose[:3,:3]
-        robot_pos=tip_psm_pose[:3,3]
+        np_m=tip_ecm_pose[:3,:3]
+        robot_pos=tip_ecm_pose[:3,3]
         #print("pre action pos tip rcm: ",robot_pos)
 
 
         #robot_rot=np_m
         robot_rot=self.get_euler_from_matrix(np_m)        
-        robot_rot=self.convert_rot(robot_rot, cam_T_basePSM)
-        robot_rot=self.get_euler_from_matrix(robot_rot)
-        robot_pos=self.convert_pos(robot_pos,cam_T_basePSM)
+        # robot_rot=self.convert_rot(robot_rot, cam_T_basePSM)
+        # robot_rot=self.get_euler_from_matrix(robot_rot)
+        # robot_pos=self.convert_pos(robot_pos,cam_T_basePSM)
         print("pre action pos tip ecm: ",robot_pos)
         # end
 
-        jaw=self.p.jaw.measured_jp()
-        action=self._get_action(seg, depth ,robot_pos, robot_rot, jaw, self.goal)
+        action=self._get_action(seg, depth ,robot_pos, robot_rot, self.goal)
         print("finish get action")
         print("action: ",action)
         #obtained_object_position=player.convert_pos(action, basePSM_T_cam)