#!/usr/bin/env python3
# A basic example of using BlueInterface for joint positions control.
# It allows a user to record four sets of joint positions by manually moving the arm to each
# position and pressing enter. It then plays back a trajectory comprised of the four sets of
# joint positions in an infinite loop.
import sys
from blue_interface import BlueInterface
import numpy as np
import time
if __name__ == '__main__':
arm = "right"
address = "127.0.0.1"
blue = BlueInterface(arm, address)
blue.set_joint_positions(np.zeros(7), duration=3.0)
while True:
pass
# blue.shutdown()
for i in range(num_cycles): #iterate over the number of cycles
if shuff == 'y':
random.shuffle(
location_list
) #randomly shuffles the order of the list so that it goes to the poses in a different random order each time
print "Cycle #%d" % (i + 1)
for j in range(len(location_list)): #iterate over the shuffled pose list
curr_position = kk.get_joint_positions()
num_steps = 20
final = np.array(location_list[j][1])
for i in range(num_steps):
increment = (final - curr_position) / num_steps
incremental = curr_position + i * increment
kk.set_joint_positions(
) # tell the robot to go to a set of joint angles
print('position set')
time.sleep(3) #wait for any residual motion to subside
measured_pose = vv.get_vive_tracker_data(
) #measure the pose using the vive system
#print(measured_position)
if measured_pose == 0:
print "Don't forget to restart the Vive system on the other computer. Quitting now."
sys.exit()
pos = measured_pose.pose.position
ori = measured_pose.pose.orientation
measured_position = {
'vive_position': [pos.x, pos.y, pos.z],
'vive_orientation': [ori.x, ori.y, ori.z, ori.w]
}
# If no argument is passed for replay frequency, play the recording at the rate it was recorded.
if args.frequency == 0:
frequency = record_frequency # In Hertz
else:
frequency = args.frequency
input("Press enter to start replay. To exit, press <ctrl+c>.")
while True:
try:
last_time = 0.0
for i in range(len(joint_angle_list)):
#if len(joint_angle_list[i]) == 7:
blue.set_joint_positions(
np.array(joint_angle_list[i])
) # tell the robot to go to a set of joint angles
#blue.command_gripper(gripper_list[i], 30.0)
if gripper_list[i] > 0:
blue.command_gripper(2, 15.0)
else:
blue.command_gripper(-0.8, 10.0)
sleep_time = 1.0 / frequency - (time.time() - last_time)
if sleep_time > 0:
time.sleep(sleep_time)
last_time = time.time()
except:
print(sys.exc_info()[0])
print("Something went wrong... exiting")
break
if __name__ == '__main__':
arm_side = "right"
assert len(sys.argv) == 2
address = sys.argv[1]
# Python interface
blue = BlueInterface(arm_side, address)
home = [
-0.433836, -1.16384, 0.75438465, -1.58150699, -0.05635529, -1.67967716,
-0.13010218
]
home = [0.0, -1.571, 0.0, -1.571, 0.0, -1.571, 0.0]
blue.set_joint_positions( # TODO: this sometimes fights with the IK solver, and makes the robot really jittery
home,
duration=1.0,
# soft_position_control=True
)
position_control_mode = blue._control_mode # super sketchy
# Set up a publisher for our cartesian pose command (a little sketchy)
RBC = blue._RBC
pose_target_publisher = RBC.publisher(
"/{}_arm/pose_target/command".format(arm_side),
"geometry_msgs/PoseStamped")
# 3D mouse ~~~
mouse = spacemouse.SpaceMouse()
# Initial position
target_pose = blue.get_cartesian_pose()
class BlueRobotEnv(object):
def __init__(self, from_pixels=True, height=100, width=100, camera_id=0, control="torque"):
side = "right"
ip = "127.0.0.1"
self.blue = BlueInterface(side, ip)
self.blue.calibrate_gripper()
self._from_pixels = from_pixels
self.control = control
self._frame_skip = frame_skip
self.channels_first=True
self.camera = StreamVideo(height=height, width=width, camera_id=camera_id)
self.camera.start()
# true and normalized action spaces
self._true_action_space = spaces.Box(
low=[-3.3999, -2.2944, -2.6761, -2.2944, -2.6761, -2.2944, -2.6761, 0.0],
high=[2.3412, 0, 2.6761, 0, 2.6761, 0, 2.676, 0.0],
shape=np.zeros(8),
dtype=np.float32
)
self._norm_action_space = spaces.Box(
low=-1.0,
high=1.0,
shape=self._true_action_space.shape,
dtype=np.float32
)
# create observation space
if from_pixels:
shape = [3, height, width] if self.channels_first else [height, width, 3]
self._observation_space = spaces.Box(
low=0, high=255, shape=shape, dtype=np.uint8
)
else:
self._observation_space = _spec_to_box(
self._env.observation_spec().values()
)
self._state_space = _spec_to_box(
self._env.observation_spec().values()
)
self.current_state = None
# set seed
self.seed(seed=task_kwargs.get('random', 1))
def __delete__(self):
self.camera.stop()
@property
def observation_space(self):
return self._observation_space
@property
def state_space(self):
return self._state_space
@property
def action_space(self):
return self._norm_action_space
def step(self,a):
for _ in range(self._frame_skip):
# time_step = self._env.step(action)
# reward += time_step.reward or 0
if control=="torque":
self.blue.set_joint_torques(a[:-1])
self.blue.command_gripper(a[-1], 20.0, wait=True)
else:
self.blue.set_joint_positions(a[:-1], duration=0.1)
self.blue.command_gripper(a[-1], 20.0, wait=True)
obs = self._get_obs()
reward = 0
done = False
return obs, reward, done, None
def reset(self):
init_pos = np.array([0, -2.31, 1.57, -0.75, -1.57, 0, 0])
self.blue.set_joint_positions(init_pos, duration=0.0)
self.blue.calibrate_gripper()
self.blue.command_gripper(0.0, 20.0, wait=False)
obs = self._get_obs()
return obs
def _get_obs(self):
if self._from_pixels:
obs = self.render()
if self._channels_first:
obs = obs.transpose(2, 0, 1).copy()
else:
obs = get_robot_joints()
return obs
def render(self):
return self.camera()
@property
def get_qpos(self):
joint = self.blue.get_joint_positions()
gripper = self.blue.get_gripper_position()
return np.concatenate((joint,gripper),axis=0)
@property
def get_qvel(self):
joint = self.blue.get_joint_velocities()
gripper = 0
return np.concatenate((joint,gripper),axis=0)
def get_robot_joints(self):
return np.concatenate([
self.get_qpos,
self.get_qvel,
])
args = parser.parse_args()
arm = consts.default_arm
address = args.address
port = args.port
filename = args.tape_file
blue = BlueInterface(arm, address, port) #creates object of class KokoInterface at the IP in quotes with the name 'blue'
print("..")
recorded_positions = []
error = 0.5
blue.disable_control()
blue.disable_gripper()
#TODO: make number of positions a command line arg
with open(filename, 'rb') as handle:
recorded_positions = pickle.load(handle)
input("Press enter to start trajectory.")
while True:
for desired_position in recorded_positions:
current_position = (blue.get_gripper_position(), blue.get_joint_positions())
blue.set_joint_positions(np.array(desired_position[1]))
blue.command_gripper(desired_position[0], 2.0, True)
while np.linalg.norm(desired_position[1] - current_position[1]) > error:
current_position = (blue.get_gripper_position(), blue.get_joint_positions())
time.sleep(0.1)
# Adjust the offset
target_position[0] -= 0.4
target_position[2] += 0.3
target_orientation = list(euler2quat(ori)) # w, x, y, z
# target_orientation = target_orientation[1:] + target_orientation[:1]
# Compute IK solution
goal_curr = blue.inverse_kinematics(target_position,
target_orientation)
# Send command to robot
if goal_curr != []:
goal = goal_curr
print("goal: ", goal)
blue.set_joint_positions(goal,
duration=3,
soft_position_control=False)
blue.command_gripper(grab_strength, 10.0, wait=False)
# Wait for system to settle
i += 1
time.sleep(3)
# Direct motor angle mapping approach
else:
if "Right hand" in hands_data.keys():
hand_data = hands_data["Right hand"]
pos = hand_data['palm_position']
ori = [
hand_data['palm_pitch'], hand_data['palm_roll'],
hand_data['palm_yaw']
#!/usr/bin/env python3
# A basic example of using BlueInterface for joint positions control.
from blue_interface import BlueInterface
import numpy as np
import sys
assert len(sys.argv) == 2
side = "right"
ip = sys.argv[1]
blue = BlueInterface(side, ip)
current_joints = blue.get_joint_positions()
blue.set_joint_positions(current_joints, duration=3.0)
while True:
pass
# When this script terminates (eg via Ctrl+C), the robot will automatically
# stop all controllers and go back to gravity compensation mode
import numpy as np
import time
side = "right"
ip = "127.0.0.1"
blue = BlueInterface(side, ip)
# Compute IK solution
target_position = [0.4, 0, 0] # x, y, z
target_orientation = [0.6847088, -0.17378805, -0.69229771,
-0.1472938] # x, y, z, w
target_joint_positions = blue.inverse_kinematics(target_position,
target_orientation)
# Send command to robot
blue.set_joint_positions(target_joint_positions, duration=5)
# Wait for system to settle
time.sleep(5)
# Print results
joint_positions = blue.get_joint_positions()
pose = blue.get_cartesian_pose()
print_aligned = lambda left, right: print("{:30} {}".format(
left, np.round(right, 4)))
print_aligned("Target joint positions: ", target_joint_positions)
print_aligned("End joint positions: ", joint_positions)
print_aligned("Target cartesian position:", target_position)
print_aligned("End cartesian position:", pose["position"])
print_aligned("Target orientation:", target_orientation)
print_aligned("End orientation:", pose["orientation"])
