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Fix the quaternion interpolation issue during reset #30

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Fix the quaternion interpolation issue during reset #30

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13 changes: 11 additions & 2 deletions serl_robot_infra/franka_env/envs/franka_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import cv2
import copy
from scipy.spatial.transform import Rotation
from scipy.spatial.transform import Slerp
import time
import requests
import queue
Expand Down Expand Up @@ -289,8 +290,16 @@ def interpolate_move(self, goal: np.ndarray, timeout: float):
goal = np.concatenate([goal[:3], euler_2_quat(goal[3:])])
steps = int(timeout * self.hz)
self._update_currpos()
key_times = [0, 1]
key_rots = Rotation.from_quat([self.currpos[3:], goal[3:]])
slerp = Slerp(key_times, key_rots)
steps = int(timeout * self.hz)
interpolate_times = np.linspace(0, 1, steps)
path_slerp = slerp(interpolate_times)
path_slerp = [rot.as_quat() for rot in path_slerp]
path = np.linspace(self.currpos, goal, steps)
for p in path:
for idx, p in enumerate(path):
p[3:] = path_slerp[idx]
self._send_pos_command(p)
time.sleep(1 / self.hz)
self.nextpos = p
Expand Down Expand Up @@ -489,4 +498,4 @@ def close(self):
if self.display_image:
self.img_queue.put(None)
cv2.destroyAllWindows()
self.displayer.join()
self.displayer.join()