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import gym
import numpy as np
from gym import error, spaces

import diffusion_policy.env.gym_envs
from diffusion_policy.env.gym_envs.utils import ctrl_set_action, mocap_set_action
import cv2
import mujoco_py
from diffusion_policy.env.gym_envs import rotations

from scipy.spatial.transform import Rotation as R

import forcedimension_core.containers as containers
import forcedimension_core.dhd as dhd
import forcedimension_core.drd as drd

import ctypes



dhd.open()


pos = np.zeros(3)
matrix = np.zeros((3, 3))
gripper_pointer = ctypes.pointer(ctypes.c_double(0.0))
linear_velocity = np.zeros(3)
angular_velocity = np.zeros(3)
euler = np.zeros(3)


devicePosition = np.zeros(3)
deviceRotation = np.zeros((3, 3))
deviceLinearVelocity = np.zeros(3)
deviceAngularVelocity = np.zeros(3)

flagHoldPosition = True
flagHoldPositionReady = True
holdPosition = np.zeros(3)
holdRotation = np.zeros((3, 3))
last_display_time = dhd.os_independent.getTime()







if drd.open() < 0:
    print("无法打开设备: " + drd.error())
    dhd.os_independent.sleep(2)
if not drd.isInitialized() and drd.autoInit() < 0:
    print("无法初始化设备: " + drd.error())
    dhd.os_independent.sleep(2)
if drd.start() < 0:
    print("无法启动设备: " + drd.error())
    dhd.os_independent.sleep(2)
if drd.moveToPos(pos, block=True) < 0:
    print("无法移动到位置: " + drd.error())
    dhd.os_independent.sleep(2)
if drd.moveToRot(euler, block=True) < 0:
    print("无法移动到旋转矩阵: " + drd.error())
    dhd.os_independent.sleep(2)
if drd.stop(True) < 0:
    print("无法停止设备: " + drd.error())
    dhd.os_independent.sleep(2)


last_action = np.array([1.17, 0.75, 0.70, -np.pi, 0., -np.pi/2, 0.])
action_list = []



def quaternion2euler(quaternion):
    r = R.from_quat(quaternion)
    euler = r.as_euler('xyz', degrees=True)
    return euler


def euler2quaternion(euler):
    r = R.from_euler('xyz', euler, degrees=True)
    quaternion = r.as_quat()
    return quaternion


test_env = gym.make('PutInDrawer-v0')
test_env.reset()







i=0

while True:
    
    
    dhd.getPositionAndOrientationFrame(pos, matrix)
    
    dhd.getGripperAngleDeg(gripper_pointer)
    gripper = gripper_pointer.contents.value
    
    dhd.getLinearVelocity(linear_velocity)
    
    dhd.getAngularVelocityDeg(angular_velocity)

    
    
    devicePosition = pos
    deviceRotation = matrix
    deviceLinearVelocity = linear_velocity
    deviceAngularVelocity = angular_velocity
    deviceForce = np.zeros(3)
    deviceTorque = np.zeros(3)
    deviceGripperForce = 0.0

    
    Kp = 2000.0
    Kv = 10.0
    Kr = 5.0
    Kw = 0.05

    
    if flagHoldPosition:
        if flagHoldPositionReady:
            
            force = -Kp * (devicePosition - holdPosition) - Kv * deviceLinearVelocity
            
            deltaRotation = np.transpose(deviceRotation) @ holdRotation
            axis, angle = np.zeros(3), 0.0
            
            angle = np.arccos((np.trace(deltaRotation) - 1) / 2)
            if angle > 1e-6:
                axis = np.array([deltaRotation[2, 1] - deltaRotation[1, 2],
                                 deltaRotation[0, 2] - deltaRotation[2, 0],
                                 deltaRotation[1, 0] - deltaRotation[0, 1]]) / (2 * np.sin(angle))
            torque = deviceRotation @ ((Kr * angle) * axis) - Kw * deviceAngularVelocity

            
            deviceForce = deviceForce + force
            deviceTorque = deviceTorque + torque
        else:
            holdPosition = devicePosition
            holdRotation = deviceRotation
            flagHoldPositionReady = True

    
    MaxTorque = 0.3
    if np.linalg.norm(deviceTorque) > MaxTorque:
        deviceTorque = MaxTorque * deviceTorque / np.linalg.norm(deviceTorque)
    

    if dhd.setForceAndTorqueAndGripperForce(np.zeros(3), np.zeros(3), 0.0) < 0:
        print("无法设置力和力矩: " + dhd.error())
        dhd.os_independent.sleep(2)
        break

    
    if dhd.os_independent.kbHit():
        keyboard = dhd.os_independent.kbGet()
        if keyboard == ' ':
            continue
        if keyboard == 'q':
            break

    
    device_time = dhd.os_independent.getTime()
    if device_time - last_display_time > 0.1:
        last_display_time = device_time
        print("Pos (%.3f %.3f %.3f) m | Gripper %.3f deg | Rot (%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f) | Force (%.3f %.3f %.3f) N | Freq %.2f kHz \r" 
              % (pos[0], pos[1], pos[2], gripper, matrix[0, 0], matrix[0, 1], matrix[0, 2], matrix[1, 0], matrix[1, 1], matrix[1, 2], matrix[2, 0], matrix[2, 1], matrix[2, 2], deviceForce[0], deviceForce[1], deviceForce[2], dhd.getComFreq()), end="\r", flush=True)

    
    
    action_pos = pos
    action_matrix = matrix
    action_gripper = gripper

	
    
    action_pos[0] = pos[0]*7    
    
    action_pos[1] = pos[1]*6    
    
    action_pos[2] = pos[2]*4    

    
    action_matrix *= 0.05
    
    matrix_rotation_x_180 = np.array([[1, 0, 0], [0, -1, 0], [0, 0, -1]])
    
    matrix_rotation_z_n90 = np.array([[0, 1, 0], [-1, 0, 0], [0, 0, 1]])
    
    action_matrix = np.dot(action_matrix, matrix_rotation_x_180)
    action_matrix = np.dot(action_matrix, matrix_rotation_z_n90)


    action_quat = rotations.mat2quat(action_matrix)
    
    
    action_gripper = abs((action_gripper - 30.0) / 30.0)

    
    action = np.concatenate([action_pos, action_quat, [action_gripper]])
    test_env.step(action)             

    
    test_env.render(mode="human")

    
    action_list.append(action)
    

action_list = np.array(action_list)


if drd.close() < 0:
    print("无法关闭设备: " + drd.error())
    dhd.os_independent.sleep(2)
print("\n设备已关闭")