def trajectory_cmd(self,
goal_x,
goal_y,
goal_heading,
cmd_duration,
frame_name='odom'):
"""Send a trajectory motion command to the robot.
Args:
goal_x: Position X coordinate in meters
goal_y: Position Y coordinate in meters
goal_heading: Pose heading in radians
cmd_duration: Time-to-live for the command in seconds.
frame_name: frame_name to be used to calc the target position. 'odom' or 'vision'
"""
self._at_goal = False
self._logger.info("got command duration of {}".format(cmd_duration))
end_time = time.time() + cmd_duration
if frame_name == 'vision':
vision_tform_body = frame_helpers.get_vision_tform_body(
self._robot_state_client.get_robot_state(
).kinematic_state.transforms_snapshot)
body_tform_goal = math_helpers.SE3Pose(
x=goal_x,
y=goal_y,
z=0,
rot=math_helpers.Quat.from_yaw(goal_heading))
vision_tform_goal = vision_tform_body * body_tform_goal
response = self._robot_command(
RobotCommandBuilder.trajectory_command(
goal_x=vision_tform_goal.x,
goal_y=vision_tform_goal.y,
goal_heading=vision_tform_goal.rot.to_yaw(),
frame_name=frame_helpers.VISION_FRAME_NAME,
params=self._mobility_params),
end_time_secs=end_time)
elif frame_name == 'odom':
odom_tform_body = frame_helpers.get_odom_tform_body(
self._robot_state_client.get_robot_state(
).kinematic_state.transforms_snapshot)
body_tform_goal = math_helpers.SE3Pose(
x=goal_x,
y=goal_y,
z=0,
rot=math_helpers.Quat.from_yaw(goal_heading))
odom_tform_goal = odom_tform_body * body_tform_goal
response = self._robot_command(
RobotCommandBuilder.trajectory_command(
goal_x=odom_tform_goal.x,
goal_y=odom_tform_goal.y,
goal_heading=odom_tform_goal.rot.to_yaw(),
frame_name=frame_helpers.ODOM_FRAME_NAME,
params=self._mobility_params),
end_time_secs=end_time)
else:
raise ValueError('frame_name must be \'vision\' or \'odom\'')
if response[0]:
self._last_trajectory_command = response[2]
return response[0], response[1]
def go_to_tag(self, fiducial_rt_world):
"""Use the position of the april tag in vision world frame and command the robot."""
# Compute the go-to point (offset by .5m from the fiducial position) and the heading at
# this point.
self._current_tag_world_pose, self._angle_desired = self.offset_tag_pose(
fiducial_rt_world, self._tag_offset)
#Command the robot to go to the tag in kinematic odometry frame
mobility_params = self.set_mobility_params()
tag_cmd = RobotCommandBuilder.trajectory_command(
goal_x=self._current_tag_world_pose[0],
goal_y=self._current_tag_world_pose[1],
goal_heading=self._angle_desired,
frame_name=VISION_FRAME_NAME,
params=mobility_params,
body_height=0.0,
locomotion_hint=spot_command_pb2.HINT_AUTO)
end_time = 5.0
if self._movement_on and self._powered_on:
#Issue the command to the robot
self._robot_command_client.robot_command(
lease=None,
command=tag_cmd,
end_time_secs=time.time() + end_time)
# #Feedback to check and wait until the robot is in the desired position or timeout
start_time = time.time()
current_time = time.time()
while (not self.final_state()
and current_time - start_time < end_time):
time.sleep(.25)
current_time = time.time()
return
def get_go_to(world_tform_object,
robot_state,
mobility_params,
dist_margin=1.2):
"""Gets trajectory command to a goal location
Args:
world_tform_object (SE3Pose): Transform from vision frame to target object
robot_state (RobotState): Current robot state
mobility_params (MobilityParams): Mobility parameters
dist_margin (float): Distance margin to target
"""
vo_tform_robot = get_vision_tform_body(
robot_state.kinematic_state.transforms_snapshot)
delta_ewrt_vo = np.array([
world_tform_object.x - vo_tform_robot.x,
world_tform_object.y - vo_tform_robot.y, 0
])
norm = np.linalg.norm(delta_ewrt_vo)
if norm == 0:
return None
delta_ewrt_vo_norm = delta_ewrt_vo / norm
heading = _get_heading(delta_ewrt_vo_norm)
vo_tform_goal = np.array([
world_tform_object.x - delta_ewrt_vo_norm[0] * dist_margin,
world_tform_object.y - delta_ewrt_vo_norm[1] * dist_margin
])
tag_cmd = RobotCommandBuilder.trajectory_command(
goal_x=vo_tform_goal[0],
goal_y=vo_tform_goal[1],
goal_heading=heading,
frame_name=VISION_FRAME_NAME,
params=mobility_params)
return tag_cmd
def trajectory_cmd_srv(self, trajectory):
'''
Callback that specifies waypoint(s) (Point) [m] with a final orientation [rad]
The name of the frame that trajectory is relative to.
The trajectory must be expressed in a gravity aligned frame, so either "vision", "odom", or "flat_body".
Any other provided se2_frame_name will be rejected and the trajectory command will not be exectuted.
'''
# TODO: Support other reference frames (currently only VISION ref. frame)
for pose in trajectory.waypoints.poses:
x = pose.position.x
y = pose.position.y
heading = math.atan2(y,x)
frame = VISION_FRAME_NAME
cmd = RobotCommandBuilder.trajectory_command(
goal_x=x,
goal_y=y,
goal_heading=heading,
frame_name=frame,
)
self.command_client.robot_command(lease=None, command=cmd, end_time_secs=time.time() + self.TRAJECTORY_CMD_TIMEOUT)
robot_state = self.get_robot_state()[0].vision_tform_body
final_pose = geometry_msgs.msg.Pose()
final_pose.position = robot_state.translation
final_pose.orientation = robot_state.rotation
spot_ros_srvs.srv.TrajectoryResponse(final_pose)
def _return_to_origin(self):
self._start_robot_command('fwd_and_rotate',
RobotCommandBuilder.trajectory_command(
goal_x=0.0, goal_y=0.0, goal_heading=0.0,
frame_name=ODOM_FRAME_NAME, params=None, body_height=0.0,
locomotion_hint=spot_command_pb2.HINT_SPEED_SELECT_TROT),
end_time_secs=time.time() + 20)
def test_trajectory_command():
goal_x = 1.0
goal_y = 2.0
goal_heading = 3.0
frame = ODOM_FRAME_NAME
command = RobotCommandBuilder.trajectory_command(goal_x, goal_y, goal_heading, frame)
_test_has_mobility_deprecated(command)
assert command.mobility_command.HasField("se2_trajectory_request")
traj = command.mobility_command.se2_trajectory_request.trajectory
assert len(traj.points) == 1
assert traj.points[0].pose.position.x == goal_x
assert traj.points[0].pose.position.y == goal_y
assert traj.points[0].pose.angle == goal_heading
assert command.mobility_command.se2_trajectory_request.se2_frame_name == ODOM_FRAME_NAME
def test_trajectory_command():
goal_x = 1.0
goal_y = 2.0
goal_heading = 3.0
frame = geometry_pb2.Frame(base_frame=geometry_pb2.FRAME_KO)
command = RobotCommandBuilder.trajectory_command(goal_x, goal_y,
goal_heading, frame)
_test_has_mobility(command)
assert command.mobility_command.HasField("se2_trajectory_request")
traj = command.mobility_command.se2_trajectory_request.trajectory
assert len(traj.points) == 1
assert traj.points[0].pose.position.x == goal_x
assert traj.points[0].pose.position.y == goal_y
assert traj.points[0].pose.angle == goal_heading
assert traj.frame == frame
def main(argv):
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
parser.add_argument(
'-s',
'--ml-service',
help='Service name of external machine learning server.',
required=True)
parser.add_argument('-m',
'--model',
help='Model name running on the external server.',
required=True)
parser.add_argument(
'-p',
'--person-model',
help='Person detection model name running on the external server.')
parser.add_argument(
'-c',
'--confidence-dogtoy',
help=
'Minimum confidence to return an object for the dogoy (0.0 to 1.0)',
default=0.5,
type=float)
parser.add_argument(
'-e',
'--confidence-person',
help='Minimum confidence for person detection (0.0 to 1.0)',
default=0.6,
type=float)
options = parser.parse_args(argv)
cv2.namedWindow("Fetch")
cv2.waitKey(500)
sdk = bosdyn.client.create_standard_sdk('SpotFetchClient')
sdk.register_service_client(NetworkComputeBridgeClient)
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
# Time sync is necessary so that time-based filter requests can be converted
robot.time_sync.wait_for_sync()
network_compute_client = robot.ensure_client(
NetworkComputeBridgeClient.default_service_name)
robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
lease_client = robot.ensure_client(LeaseClient.default_service_name)
manipulation_api_client = robot.ensure_client(
ManipulationApiClient.default_service_name)
# This script assumes the robot is already standing via the tablet. We'll take over from the
# tablet.
lease = lease_client.take()
lk = bosdyn.client.lease.LeaseKeepAlive(lease_client)
# Store the position of the hand at the last toy drop point.
vision_tform_hand_at_drop = None
while True:
holding_toy = False
while not holding_toy:
# Capture an image and run ML on it.
dogtoy, image, vision_tform_dogtoy = get_obj_and_img(
network_compute_client, options.ml_service, options.model,
options.confidence_dogtoy, kImageSources, 'dogtoy')
if dogtoy is None:
# Didn't find anything, keep searching.
continue
# If we have already dropped the toy off, make sure it has moved a sufficient amount before
# picking it up again
if vision_tform_hand_at_drop is not None and pose_dist(
vision_tform_hand_at_drop, vision_tform_dogtoy) < 0.5:
print('Found dogtoy, but it hasn\'t moved. Waiting...')
time.sleep(1)
continue
print('Found dogtoy...')
# Got a dogtoy. Request pick up.
# Stow the arm in case it is deployed
stow_cmd = RobotCommandBuilder.arm_stow_command()
command_client.robot_command(stow_cmd)
# Walk to the object.
walk_rt_vision, heading_rt_vision = compute_stand_location_and_yaw(
vision_tform_dogtoy, robot_state_client, distance_margin=1.0)
move_cmd = RobotCommandBuilder.trajectory_command(
goal_x=walk_rt_vision[0],
goal_y=walk_rt_vision[1],
goal_heading=heading_rt_vision,
frame_name=frame_helpers.VISION_FRAME_NAME,
params=get_walking_params(0.5, 0.5))
end_time = 5.0
cmd_id = command_client.robot_command(command=move_cmd,
end_time_secs=time.time() +
end_time)
# Wait until the robot reports that it is at the goal.
block_for_trajectory_cmd(command_client,
cmd_id,
timeout_sec=5,
verbose=True)
# The ML result is a bounding box. Find the center.
(center_px_x,
center_px_y) = find_center_px(dogtoy.image_properties.coordinates)
# Request Pick Up on that pixel.
pick_vec = geometry_pb2.Vec2(x=center_px_x, y=center_px_y)
grasp = manipulation_api_pb2.PickObjectInImage(
pixel_xy=pick_vec,
transforms_snapshot_for_camera=image.shot.transforms_snapshot,
frame_name_image_sensor=image.shot.frame_name_image_sensor,
camera_model=image.source.pinhole)
# We can specify where in the gripper we want to grasp. About halfway is generally good for
# small objects like this. For a bigger object like a shoe, 0 is better (use the entire
# gripper)
grasp.grasp_params.grasp_palm_to_fingertip = 0.6
# Tell the grasping system that we want a top-down grasp.
# Add a constraint that requests that the x-axis of the gripper is pointing in the
# negative-z direction in the vision frame.
# The axis on the gripper is the x-axis.
axis_on_gripper_ewrt_gripper = geometry_pb2.Vec3(x=1, y=0, z=0)
# The axis in the vision frame is the negative z-axis
axis_to_align_with_ewrt_vision = geometry_pb2.Vec3(x=0, y=0, z=-1)
# Add the vector constraint to our proto.
constraint = grasp.grasp_params.allowable_orientation.add()
constraint.vector_alignment_with_tolerance.axis_on_gripper_ewrt_gripper.CopyFrom(
axis_on_gripper_ewrt_gripper)
constraint.vector_alignment_with_tolerance.axis_to_align_with_ewrt_frame.CopyFrom(
axis_to_align_with_ewrt_vision)
# We'll take anything within about 15 degrees for top-down or horizontal grasps.
constraint.vector_alignment_with_tolerance.threshold_radians = 0.25
# Specify the frame we're using.
grasp.grasp_params.grasp_params_frame_name = frame_helpers.VISION_FRAME_NAME
# Build the proto
grasp_request = manipulation_api_pb2.ManipulationApiRequest(
pick_object_in_image=grasp)
# Send the request
print('Sending grasp request...')
cmd_response = manipulation_api_client.manipulation_api_command(
manipulation_api_request=grasp_request)
# Wait for the grasp to finish
grasp_done = False
failed = False
time_start = time.time()
while not grasp_done:
feedback_request = manipulation_api_pb2.ManipulationApiFeedbackRequest(
manipulation_cmd_id=cmd_response.manipulation_cmd_id)
# Send a request for feedback
response = manipulation_api_client.manipulation_api_feedback_command(
manipulation_api_feedback_request=feedback_request)
current_state = response.current_state
current_time = time.time() - time_start
print('Current state ({time:.1f} sec): {state}'.format(
time=current_time,
state=manipulation_api_pb2.ManipulationFeedbackState.Name(
current_state)),
end=' \r')
sys.stdout.flush()
failed_states = [
manipulation_api_pb2.MANIP_STATE_GRASP_FAILED,
manipulation_api_pb2.
MANIP_STATE_GRASP_PLANNING_NO_SOLUTION,
manipulation_api_pb2.
MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP,
manipulation_api_pb2.
MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE
]
failed = current_state in failed_states
grasp_done = current_state == manipulation_api_pb2.MANIP_STATE_GRASP_SUCCEEDED or failed
time.sleep(0.1)
holding_toy = not failed
# Move the arm to a carry position.
print('')
print('Grasp finished, search for a person...')
carry_cmd = RobotCommandBuilder.arm_carry_command()
command_client.robot_command(carry_cmd)
# Wait for the carry command to finish
time.sleep(0.75)
person = None
while person is None:
# Find a person to deliver the toy to
person, image, vision_tform_person = get_obj_and_img(
network_compute_client, options.ml_service,
options.person_model, options.confidence_person, kImageSources,
'person')
# We now have found a person to drop the toy off near.
drop_position_rt_vision, heading_rt_vision = compute_stand_location_and_yaw(
vision_tform_person, robot_state_client, distance_margin=2.0)
wait_position_rt_vision, wait_heading_rt_vision = compute_stand_location_and_yaw(
vision_tform_person, robot_state_client, distance_margin=3.0)
# Tell the robot to go there
# Limit the speed so we don't charge at the person.
move_cmd = RobotCommandBuilder.trajectory_command(
goal_x=drop_position_rt_vision[0],
goal_y=drop_position_rt_vision[1],
goal_heading=heading_rt_vision,
frame_name=frame_helpers.VISION_FRAME_NAME,
params=get_walking_params(0.5, 0.5))
end_time = 5.0
cmd_id = command_client.robot_command(command=move_cmd,
end_time_secs=time.time() +
end_time)
# Wait until the robot reports that it is at the goal.
block_for_trajectory_cmd(command_client,
cmd_id,
timeout_sec=5,
verbose=True)
print('Arrived at goal, dropping object...')
# Do an arm-move to gently put the object down.
# Build a position to move the arm to (in meters, relative to and expressed in the gravity aligned body frame).
x = 0.75
y = 0
z = -0.25
hand_ewrt_flat_body = geometry_pb2.Vec3(x=x, y=y, z=z)
# Point the hand straight down with a quaternion.
qw = 0.707
qx = 0
qy = 0.707
qz = 0
flat_body_Q_hand = geometry_pb2.Quaternion(w=qw, x=qx, y=qy, z=qz)
flat_body_tform_hand = geometry_pb2.SE3Pose(
position=hand_ewrt_flat_body, rotation=flat_body_Q_hand)
robot_state = robot_state_client.get_robot_state()
vision_tform_flat_body = frame_helpers.get_a_tform_b(
robot_state.kinematic_state.transforms_snapshot,
frame_helpers.VISION_FRAME_NAME,
frame_helpers.GRAV_ALIGNED_BODY_FRAME_NAME)
vision_tform_hand_at_drop = vision_tform_flat_body * math_helpers.SE3Pose.from_obj(
flat_body_tform_hand)
# duration in seconds
seconds = 1
arm_command = RobotCommandBuilder.arm_pose_command(
vision_tform_hand_at_drop.x, vision_tform_hand_at_drop.y,
vision_tform_hand_at_drop.z, vision_tform_hand_at_drop.rot.w,
vision_tform_hand_at_drop.rot.x, vision_tform_hand_at_drop.rot.y,
vision_tform_hand_at_drop.rot.z, frame_helpers.VISION_FRAME_NAME,
seconds)
# Keep the gripper closed.
gripper_command = RobotCommandBuilder.claw_gripper_open_fraction_command(
0.0)
# Combine the arm and gripper commands into one RobotCommand
command = RobotCommandBuilder.build_synchro_command(
gripper_command, arm_command)
# Send the request
cmd_id = command_client.robot_command(command)
# Wait until the arm arrives at the goal.
block_until_arm_arrives(command_client, cmd_id)
# Open the gripper
gripper_command = RobotCommandBuilder.claw_gripper_open_fraction_command(
1.0)
command = RobotCommandBuilder.build_synchro_command(gripper_command)
cmd_id = command_client.robot_command(command)
# Wait for the dogtoy to fall out
time.sleep(1.5)
# Stow the arm.
stow_cmd = RobotCommandBuilder.arm_stow_command()
command_client.robot_command(stow_cmd)
time.sleep(1)
print('Backing up and waiting...')
# Back up one meter and wait for the person to throw the object again.
move_cmd = RobotCommandBuilder.trajectory_command(
goal_x=wait_position_rt_vision[0],
goal_y=wait_position_rt_vision[1],
goal_heading=wait_heading_rt_vision,
frame_name=frame_helpers.VISION_FRAME_NAME,
params=get_walking_params(0.5, 0.5))
end_time = 5.0
cmd_id = command_client.robot_command(command=move_cmd,
end_time_secs=time.time() +
end_time)
# Wait until the robot reports that it is at the goal.
block_for_trajectory_cmd(command_client,
cmd_id,
timeout_sec=5,
verbose=True)
lease_client.return_lease(lease)
def main():
import argparse
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
options = parser.parse_args()
# Create robot object.
sdk = bosdyn.client.create_standard_sdk('RobotCommandMaster')
sdk.load_app_token(options.app_token)
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
# Check that an estop is connected with the robot so that the robot commands can be executed.
verify_estop(robot)
# Create the lease client.
lease_client = robot.ensure_client(LeaseClient.default_service_name)
lease = lease_client.acquire()
robot.time_sync.wait_for_sync()
lk = bosdyn.client.lease.LeaseKeepAlive(lease_client)
# Setup clients for the robot state and robot command services.
robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
# Power on the robot and stand it up.
robot.power_on()
blocking_stand(robot_command_client)
# Get robot state information. Specifically, we are getting the vision_tform_body transform to understand
# the robot's current position in the vision frame.
vision_tform_body = get_vision_tform_body(
robot_state_client.get_robot_state(
).kinematic_state.transforms_snapshot)
# We want to command a trajectory to go forward one meter in the x-direction of the body.
# It is simple to define this trajectory relative to the body frame, since we know that will be
# just 1 meter forward in the x-axis of the body.
# Note that the rotation is just math_helpers.Quat(), which is the identity quaternion. We want the
# rotation of the body at the goal to match the rotation of the body currently, so we do not need
# to transform the rotation.
body_tform_goal = math_helpers.SE3Pose(x=1,
y=0,
z=0,
rot=math_helpers.Quat())
# We can then transform this transform to get the goal position relative to the vision frame.
vision_tform_goal = vision_tform_body * body_tform_goal
# Command the robot to go to the goal point in the vision frame. The command will stop at the new
# position in the vision frame.
robot_cmd = RobotCommandBuilder.trajectory_command(
goal_x=vision_tform_goal.x,
goal_y=vision_tform_goal.y,
goal_heading=vision_tform_goal.rot.to_yaw(),
frame_name=VISION_FRAME_NAME)
end_time = 2.0
robot_command_client.robot_command(lease=None,
command=robot_cmd,
end_time_secs=time.time() + end_time)
time.sleep(end_time)
# Get new robot state information after moving the robot. Here we are getting the transform odom_tform_body,
# which describes the robot body's position in the odom frame.
odom_tform_body = get_odom_tform_body(robot_state_client.get_robot_state().
kinematic_state.transforms_snapshot)
# We want to command a trajectory to go backwards one meter and to the left one meter.
# It is simple to define this trajectory relative to the body frame, since we know that will be
# just 1 meter backwards (negative-value) in the x-axis of the body and one meter left (positive-value)
# in the y-axis of the body.
body_tform_goal = math_helpers.SE3Pose(x=-1,
y=1,
z=0,
rot=math_helpers.Quat())
# We can then transform this transform to get the goal position relative to the odom frame.
odom_tform_goal = odom_tform_body * body_tform_goal
# Command the robot to go to the goal point in the odom frame. The command will stop at the new
# position in the odom frame.
robot_cmd = RobotCommandBuilder.trajectory_command(
goal_x=odom_tform_goal.x,
goal_y=odom_tform_goal.y,
goal_heading=odom_tform_goal.rot.to_yaw(),
frame_name=ODOM_FRAME_NAME)
end_time = 5.0
robot_command_client.robot_command(lease=None,
command=robot_cmd,
end_time_secs=time.time() + end_time)
time.sleep(end_time)
return True
def run_gcode_program(config):
"""A simple example of using the Boston Dynamics API to command a Spot robot."""
config_parser = configparser.ConfigParser()
config_parser.read_file(open('gcode.cfg'))
gcode_file = config_parser.get("General", "gcode_file")
scale = config_parser.getfloat("General", "scale")
min_dist_to_goal = config_parser.getfloat("General", "min_dist_to_goal")
allow_walking = config_parser.getboolean("General", "allow_walking")
velocity = config_parser.getfloat("General", "velocity")
press_force_percent = config_parser.getfloat("General", "press_force_percent")
below_z_is_admittance = config_parser.getfloat("General", "below_z_is_admittance")
travel_z = config_parser.getfloat("General", "travel_z")
gcode_start_x = config_parser.getfloat("General", "gcode_start_x")
gcode_start_y = config_parser.getfloat("General", "gcode_start_y")
draw_on_wall = config_parser.getboolean("General", "draw_on_wall")
use_vision_frame = config_parser.getboolean("General", "use_vision_frame")
use_xy_to_z_cross_term = config_parser.getboolean("General", "use_xy_to_z_cross_term")
bias_force_x = config_parser.getfloat("General", "bias_force_x")
if config_parser.has_option("General",
"walk_to_at_end_rt_gcode_origin_x") and config_parser.has_option(
"General", "walk_to_at_end_rt_gcode_origin_y"):
walk_to_at_end_rt_gcode_origin_x = config_parser.getfloat(
"General", "walk_to_at_end_rt_gcode_origin_x")
walk_to_at_end_rt_gcode_origin_y = config_parser.getfloat(
"General", "walk_to_at_end_rt_gcode_origin_y")
else:
walk_to_at_end_rt_gcode_origin_x = None
walk_to_at_end_rt_gcode_origin_y = None
if velocity <= 0:
print('Velocity must be greater than 0. Currently is: ', velocity)
return
if use_vision_frame:
api_send_frame = VISION_FRAME_NAME
else:
api_send_frame = ODOM_FRAME_NAME
# The Boston Dynamics Python library uses Python's logging module to
# generate output. Applications using the library can specify how
# the logging information should be output.
bosdyn.client.util.setup_logging(config.verbose)
# The SDK object is the primary entry point to the Boston Dynamics API.
# create_standard_sdk will initialize an SDK object with typical default
# parameters. The argument passed in is a string identifying the client.
sdk = bosdyn.client.create_standard_sdk('GcodeClient')
# A Robot object represents a single robot. Clients using the Boston
# Dynamics API can manage multiple robots, but this tutorial limits
# access to just one. The network address of the robot needs to be
# specified to reach it. This can be done with a DNS name
# (e.g. spot.intranet.example.com) or an IP literal (e.g. 10.0.63.1)
robot = sdk.create_robot(config.hostname)
# Clients need to authenticate to a robot before being able to use it.
robot.authenticate(config.username, config.password)
# Establish time sync with the robot. This kicks off a background thread to establish time sync.
# Time sync is required to issue commands to the robot. After starting time sync thread, block
# until sync is established.
robot.time_sync.wait_for_sync()
# Verify the robot has an arm.
assert robot.has_arm(), "Robot requires an arm to run the gcode example."
# Verify the robot is not estopped and that an external application has registered and holds
# an estop endpoint.
assert not robot.is_estopped(), "Robot is estopped. Please use an external E-Stop client, " \
"such as the estop SDK example, to configure E-Stop."
arm_surface_contact_client = robot.ensure_client(ArmSurfaceContactClient.default_service_name)
# Only one client at a time can operate a robot. Clients acquire a lease to
# indicate that they want to control a robot. Acquiring may fail if another
# client is currently controlling the robot. When the client is done
# controlling the robot, it should return the lease so other clients can
# control it. Note that the lease is returned as the "finally" condition in this
# try-catch-finally block.
lease_client = robot.ensure_client(bosdyn.client.lease.LeaseClient.default_service_name)
lease = lease_client.acquire()
try:
with bosdyn.client.lease.LeaseKeepAlive(lease_client):
# Now, we are ready to power on the robot. This call will block until the power
# is on. Commands would fail if this did not happen. We can also check that the robot is
# powered at any point.
robot.logger.info("Powering on robot... This may take a several seconds.")
robot.power_on(timeout_sec=20)
assert robot.is_powered_on(), "Robot power on failed."
robot.logger.info("Robot powered on.")
# Tell the robot to stand up. The command service is used to issue commands to a robot.
# The set of valid commands for a robot depends on hardware configuration. See
# SpotCommandHelper for more detailed examples on command building. The robot
# command service requires timesync between the robot and the client.
robot.logger.info("Commanding robot to stand...")
command_client = robot.ensure_client(RobotCommandClient.default_service_name)
blocking_stand(command_client, timeout_sec=10)
robot.logger.info("Robot standing.")
robot_state_client = robot.ensure_client(RobotStateClient.default_service_name)
# Update state
robot_state = robot_state_client.get_robot_state()
gcode = GcodeReader(gcode_file, scale, robot.logger, below_z_is_admittance, travel_z,
draw_on_wall, gcode_start_x, gcode_start_y)
# Prep arm
# Build a position to move the arm to (in meters, relative to the body frame's origin)
x = 0.75
y = 0
if not draw_on_wall:
z = -0.35
qw = .707
qx = 0
qy = .707
qz = 0
else:
z = -0.25
qw = 1
qx = 0
qy = 0
qz = 0
flat_body_T_hand = math_helpers.SE3Pose(x, y, z,
math_helpers.Quat(w=qw, x=qx, y=qy, z=qz))
odom_T_flat_body = get_a_tform_b(robot_state.kinematic_state.transforms_snapshot,
ODOM_FRAME_NAME, GRAV_ALIGNED_BODY_FRAME_NAME)
odom_T_hand = odom_T_flat_body * flat_body_T_hand
robot.logger.info('Moving arm to starting position.')
# Send the request
odom_T_hand_obj = odom_T_hand.to_proto()
move_time = 0.000001 # move as fast as possible because we will use (default) velocity/accel limiting.
arm_command = RobotCommandBuilder.arm_pose_command(
odom_T_hand_obj.position.x, odom_T_hand_obj.position.y, odom_T_hand_obj.position.z,
odom_T_hand_obj.rotation.w, odom_T_hand_obj.rotation.x, odom_T_hand_obj.rotation.y,
odom_T_hand_obj.rotation.z, ODOM_FRAME_NAME, move_time)
command = RobotCommandBuilder.build_synchro_command(arm_command)
cmd_id = command_client.robot_command(command)
# Wait for the move to complete
block_until_arm_arrives(command_client, cmd_id)
# Update state and Get the hand position
robot_state = robot_state_client.get_robot_state()
(world_T_body, body_T_hand, world_T_hand, odom_T_body) = get_transforms(
use_vision_frame, robot_state)
world_T_admittance_frame = geometry_pb2.SE3Pose(
position=geometry_pb2.Vec3(x=0, y=0, z=0),
rotation=geometry_pb2.Quaternion(w=1, x=0, y=0, z=0))
if draw_on_wall:
# Create an admittance frame that has Z- along the robot's X axis
xhat_ewrt_robot = [0, 0, 1]
xhat_ewrt_vo = [0, 0, 0]
(xhat_ewrt_vo[0],
xhat_ewrt_vo[1], xhat_ewrt_vo[2]) = world_T_body.rot.transform_point(
xhat_ewrt_robot[0], xhat_ewrt_robot[1], xhat_ewrt_robot[2])
(z1, z2, z3) = world_T_body.rot.transform_point(-1, 0, 0)
zhat_temp = [z1, z2, z3]
zhat = make_orthogonal(xhat_ewrt_vo, zhat_temp)
yhat = np.cross(zhat, xhat_ewrt_vo)
mat = np.array([xhat_ewrt_vo, yhat, zhat]).transpose()
q_wall = Quat.from_matrix(mat)
zero_vec3 = geometry_pb2.Vec3(x=0, y=0, z=0)
q_wall_proto = geometry_pb2.Quaternion(w=q_wall.w, x=q_wall.x, y=q_wall.y,
z=q_wall.z)
world_T_admittance_frame = geometry_pb2.SE3Pose(position=zero_vec3,
rotation=q_wall_proto)
# Touch the ground/wall
move_arm(robot_state, True, [world_T_hand], arm_surface_contact_client, velocity,
allow_walking, world_T_admittance_frame, press_force_percent, api_send_frame,
use_xy_to_z_cross_term, bias_force_x)
time.sleep(4.0)
last_admittance = True
# Update state
robot_state = robot_state_client.get_robot_state()
# Get the hand position
(world_T_body, body_T_hand, world_T_hand, odom_T_body) = get_transforms(
use_vision_frame, robot_state)
odom_T_ground_plane = get_a_tform_b(robot_state.kinematic_state.transforms_snapshot,
"odom", "gpe")
world_T_odom = world_T_body * odom_T_body.inverse()
(gx, gy, gz) = world_T_odom.transform_point(odom_T_ground_plane.x,
odom_T_ground_plane.y,
odom_T_ground_plane.z)
ground_plane_rt_vo = [gx, gy, gz]
# Compute the robot's position on the ground plane.
#ground_plane_T_robot = odom_T_ground_plane.inverse() *
# Compute an origin.
if not draw_on_wall:
# For on the ground:
# xhat = body x
# zhat = (0,0,1)
# Ensure the origin is gravity aligned, otherwise we get some height drift.
zhat = [0.0, 0.0, 1.0]
(x1, x2, x3) = world_T_body.rot.transform_point(1.0, 0.0, 0.0)
xhat_temp = [x1, x2, x3]
xhat = make_orthogonal(zhat, xhat_temp)
yhat = np.cross(zhat, xhat)
mat = np.array([xhat, yhat, zhat]).transpose()
vo_Q_origin = Quat.from_matrix(mat)
world_T_origin = SE3Pose(world_T_hand.x, world_T_hand.y, world_T_hand.z,
vo_Q_origin)
else:
# todo should I use the same one?
world_T_origin = world_T_hand
gcode.set_origin(world_T_origin, world_T_admittance_frame)
robot.logger.info('Origin set')
(is_admittance, world_T_goals,
is_pause) = gcode.get_next_world_T_goals(ground_plane_rt_vo)
while is_pause:
do_pause()
(is_admittance, world_T_goals,
is_pause) = gcode.get_next_world_T_goals(ground_plane_rt_vo)
if world_T_goals is None:
# we're done!
done = True
move_arm(robot_state, is_admittance, world_T_goals, arm_surface_contact_client,
velocity, allow_walking, world_T_admittance_frame, press_force_percent,
api_send_frame, use_xy_to_z_cross_term, bias_force_x)
odom_T_hand_goal = world_T_odom.inverse() * world_T_goals[-1]
last_admittance = is_admittance
done = False
while not done:
# Update state
robot_state = robot_state_client.get_robot_state()
# Determine if we are at the goal point
(world_T_body, body_T_hand, world_T_hand, odom_T_body) = get_transforms(
use_vision_frame, robot_state)
(gx, gy, gz) = world_T_odom.transform_point(odom_T_ground_plane.x,
odom_T_ground_plane.y,
odom_T_ground_plane.z)
ground_plane_rt_vo = [gx, gy, gz]
world_T_odom = world_T_body * odom_T_body.inverse()
odom_T_hand = odom_T_body * body_T_hand
admittance_frame_T_world = math_helpers.SE3Pose.from_obj(
world_T_admittance_frame).inverse()
admit_frame_T_hand = admittance_frame_T_world * world_T_odom * odom_T_body * body_T_hand
admit_frame_T_hand_goal = admittance_frame_T_world * world_T_odom * odom_T_hand_goal
if is_admittance:
dist = math.sqrt((admit_frame_T_hand.x - admit_frame_T_hand_goal.x)**2 +
(admit_frame_T_hand.y - admit_frame_T_hand_goal.y)**2)
#+ (admit_frame_T_hand.z - admit_frame_T_hand_goal.z)**2 )
else:
dist = math.sqrt((admit_frame_T_hand.x - admit_frame_T_hand_goal.x)**2 +
(admit_frame_T_hand.y - admit_frame_T_hand_goal.y)**2 +
(admit_frame_T_hand.z - admit_frame_T_hand_goal.z)**2)
arm_near_goal = dist < min_dist_to_goal
if arm_near_goal:
# Compute where to go.
(is_admittance, world_T_goals,
is_pause) = gcode.get_next_world_T_goals(ground_plane_rt_vo)
while is_pause:
do_pause()
(is_admittance, world_T_goals,
is_pause) = gcode.get_next_world_T_goals(ground_plane_rt_vo)
if world_T_goals is None:
# we're done!
done = True
robot.logger.info("Gcode program finished.")
break
move_arm(robot_state, is_admittance, world_T_goals, arm_surface_contact_client,
velocity, allow_walking, world_T_admittance_frame, press_force_percent,
api_send_frame, use_xy_to_z_cross_term, bias_force_x)
odom_T_hand_goal = world_T_odom.inverse() * world_T_goals[-1]
if is_admittance != last_admittance:
if is_admittance:
print('Waiting for touchdown...')
time.sleep(3.0) # pause to wait for touchdown
else:
time.sleep(1.0)
last_admittance = is_admittance
elif not is_admittance:
# We are in a travel move, so we'll keep updating to account for a changing
# ground plane.
(is_admittance, world_T_goals, is_pause) = gcode.get_next_world_T_goals(
ground_plane_rt_vo, read_new_line=False)
# At the end, walk back to the start.
robot.logger.info('Done with gcode, going to stand...')
blocking_stand(command_client, timeout_sec=10)
robot.logger.info("Robot standing")
# Compute walking location
if walk_to_at_end_rt_gcode_origin_x is not None and walk_to_at_end_rt_gcode_origin_y is not None:
robot.logger.info("Walking to end position...")
gcode_origin_T_walk = SE3Pose(walk_to_at_end_rt_gcode_origin_x * scale,
walk_to_at_end_rt_gcode_origin_y * scale, 0,
Quat(1, 0, 0, 0))
odom_T_walk = world_T_odom.inverse() * gcode.world_T_origin * gcode_origin_T_walk
odom_T_walk_se2 = SE2Pose.flatten(odom_T_walk)
# Command the robot to go to the end point.
walk_cmd = RobotCommandBuilder.trajectory_command(
goal_x=odom_T_walk_se2.x, goal_y=odom_T_walk_se2.y,
goal_heading=odom_T_walk_se2.angle, frame_name="odom")
end_time = 15.0
#Issue the command to the robot
command_client.robot_command(command=walk_cmd, end_time_secs=time.time() + end_time)
time.sleep(end_time)
robot.logger.info('Done.')
# Power the robot off. By specifying "cut_immediately=False", a safe power off command
# is issued to the robot. This will attempt to sit the robot before powering off.
robot.power_off(cut_immediately=False, timeout_sec=20)
assert not robot.is_powered_on(), "Robot power off failed."
robot.logger.info("Robot safely powered off.")
finally:
# If we successfully acquired a lease, return it.
lease_client.return_lease(lease)
def move_relative(robot_command_client,
robot_state_client,
x,
y,
yaw,
start_frame=None,
timeout=10.0,
block=False,
verbose=False):
if start_frame is not None:
vision_tform_body = start_frame
else:
# Get robot state information. Specifically, we are getting the vision_tform_body transform to understand
# the robot's current position in the vision frame.
vision_tform_body = get_vision_tform_body(
robot_state_client.get_robot_state(
).kinematic_state.transforms_snapshot)
# We want to command a trajectory to go forward one meter in the x-direction of the body.
# It is simple to define this trajectory relative to the body frame, since we know that will be
# just 1 meter forward in the x-axis of the body.
# Note that the rotation is just math_helpers.Quat(), which is the identity quaternion. We want the
# rotation of the body at the goal to match the rotation of the body currently, so we do not need
# to transform the rotation.
rot_quat = math_helpers.Quat().from_yaw(yaw)
body_tform_goal = math_helpers.SE3Pose(x=x, y=y, z=0, rot=rot_quat)
# We can then transform this transform to get the goal position relative to the vision frame.
vision_tform_goal = vision_tform_body * body_tform_goal
# print ((vision_tform_body.x, vision_tform_body.y), (vision_tform_goal.x, vision_tform_goal.y), )
# print (np.rad2deg(vision_tform_body.rotation.to_yaw()), np.rad2deg(vision_tform_goal.rotation.to_yaw()))
# Command the robot to go to the goal point in the vision frame. The command will stop at the new
# position in the vision frame.
robot_cmd = RobotCommandBuilder.trajectory_command( # synchro_se2_trajectory_command( #
goal_x=vision_tform_goal.x,
goal_y=vision_tform_goal.y,
goal_heading=vision_tform_goal.rot.to_yaw(),
frame_name=VISION_FRAME_NAME)
# robot_command_client.robot_command(lease=None, command=robot_cmd, end_time_secs=time.time() + timeout)
command_id = robot_command_client.robot_command(
lease=None, command=robot_cmd, end_time_secs=time.time() + timeout)
# This will only issue the command, but it is not blocking. So we wait and check status manually
now = time.time()
start_time = time.time()
end_time = time.time() + timeout
while now < end_time:
time_until_timeout = end_time - now
rpc_timeout = max(time_until_timeout, 1)
start_call_time = time.time()
try:
response = robot_command_client.robot_command_feedback(
command_id, timeout=rpc_timeout)
except TimedOutError:
# Excuse the TimedOutError and let the while check bail us out if we're out of time.
print("Response timeout error")
pass
else:
# print (response.status, robot_command_pb2.RobotCommandFeedbackResponse.STATUS_PROCESSING)
# pdb.set_trace()
if response.status != robot_command_pb2.RobotCommandFeedbackResponse.STATUS_PROCESSING:
raise ValueError(
'Stand (ID {}) no longer processing (now {})'.format(
command_id, response.Status.Name(response.status)))
if verbose:
print(
response.feedback.mobility_feedback.
se2_trajectory_feedback.status, basic_command_pb2.
SE2TrajectoryCommand.Feedback.STATUS_AT_GOAL)
if (response.feedback.mobility_feedback.
se2_trajectory_feedback.status == basic_command_pb2.
SE2TrajectoryCommand.Feedback.STATUS_AT_GOAL):
# basic_command_pb2.StandCommand.Feedback.STATUS_IS_STANDING):
if verbose: print(response)
break
# delta_t = time.time() - start_call_time
# time.sleep(max(min(delta_t, update_time), 0.0))
time.sleep(0.1)
now = time.time()
if verbose: print("Took %f sec" % (time.time() - start_time))
def go_to_tag(self, tvec, source_name):
"""Transform the fiducial position to the world frame (kinematic odometry frame)
Command the robot to move to this position."""
#Transform the tag position from camera coordinates to world coordinates
tag_pose_in_camera = np.array([
float(tvec[0][0]) / 1000.0,
float(tvec[1][0]) / 1000.0,
float(tvec[2][0]) / 1000.0
])
tag_pose_in_body = self.transform_to_frame(self._camera_T_body,
tag_pose_in_camera)
tag_pose_body_offset = self.offset_tag_pose(tag_pose_in_body)
self._current_tag_world_pose = self.transform_to_frame(
self._body_T_world, tag_pose_body_offset)
#Get the robot's current position in the world
robot_state = self.robot_state.kinematic_state.ko_tform_body
robot_angle = self.quat_to_euler(
(robot_state.rotation.x, robot_state.rotation.y,
robot_state.rotation.z, robot_state.rotation.w))[2]
#Compute the heading angle to turn the robot to face the tag
self._angle_desired = self.get_desired_angle(robot_angle,
robot_state.position)
if self._debug:
print("Camera: " + str(source_name))
print("Tag pose in camera", tag_pose_in_camera)
print("Tag pose in body", tag_pose_in_body)
print("Tag pose in body offsetted", tag_pose_body_offset)
print("Tag pose in ko", self._current_tag_world_pose)
print("Robot Pose in ko", robot_state.position)
print("Robot heading Angle", robot_angle)
print("Desired heading angle", self._angle_desired)
#Command the robot to go to the tag in kinematic odometry frame
frame_name = geometry_pb2.Frame(base_frame=geometry_pb2.FRAME_KO)
mobility_params = self.set_mobility_params()
tag_cmd = RobotCommandBuilder.trajectory_command(
goal_x=self._current_tag_world_pose[0],
goal_y=self._current_tag_world_pose[1],
goal_heading=self._angle_desired,
frame=frame_name,
params=mobility_params,
body_height=0.0,
locomotion_hint=spot_command_pb2.HINT_AUTO)
end_time = 5.0
if self._movement_on:
#Issue the command to the robot
self._robot_command_client.robot_command(
lease=None,
command=tag_cmd,
end_time_secs=time.time() + end_time)
# #Feedback to check and wait until the robot is in the desired position or timeout
start_time = time.time()
current_time = time.time()
while (not self.final_state()
and current_time - start_time < end_time):
time.sleep(.25)
current_time = time.time()
return
