joint_angle_list = [] #Initialize the list to hold our joint positions
pose_list = []
gripper_list = []
input(
"Press enter to start recording. To finish recording press <ctrl+c>.")
try:
last_time = 0.0
while True:
position = blue.get_joint_positions(
) #record the pose, this function returns a dictionary object
joint_angle_list.append(position)
pose = blue.get_cartesian_pose()
pose_list.append(pose)
gripper_pos = blue.get_gripper_position()
gripper_list.append(gripper_pos)
print("Position recorded!")
#while time.time() - last_time < 1.0/frequency:
# pass
sleep_time = 1.0 / frequency - (time.time() - last_time)
if sleep_time > 0:
time.sleep(sleep_time)
last_time = time.time()
except:
print(joint_angle_list)
if len(joint_angle_list) == 0:
print('You did not save any positions')
else:
pickle.dump(
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,
])
#!/usr/bin/env python3
# A basic example of reading information about Blue's current state.
import time
import numpy as np
from blue_interface import BlueInterface
side = "right"
ip = "127.0.0.1"
blue = BlueInterface(side, ip)
def print_aligned(left, right):
print("{:30} {}".format(left, np.round(right, 4)))
while True:
print_aligned("End Effector Position:", blue.get_cartesian_pose()["position"])
print_aligned("End Effector Orientation:", blue.get_cartesian_pose()["orientation"])
print_aligned("Joint Positions:", blue.get_joint_positions())
print_aligned("Joint Velocities:", blue.get_joint_velocities())
print_aligned("Joint Torques:", blue.get_joint_torques())
print_aligned("Gripper Position:", blue.get_gripper_position())
print_aligned("Gripper Effort:", blue.get_gripper_effort())
print("=" * 30)
time.sleep(0.5)
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)
port = args.port
num_positions = args.num_positions
filename = args.tape_file
blue = BlueInterface(arm, address, port) #creates object of class KokoInterface at the IP in quotes with the name 'blue'
recorded_positions = []
error = 0.1
blue.disable_control()
blue.disable_gripper()
#TODO: make number of positions a command line arg
for i in range(num_positions):
input("Press enter to record current joint position " + str(i) + ".")
recorded_positions.append((blue.get_gripper_position(), blue.get_joint_positions()))
with open(filename, 'wb') as handle:
pickle.dump(recorded_positions, handle, protocol=pickle.HIGHEST_PROTOCOL)
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], 10.0, 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)
