| import numpy as np |
| import time |
| from constants import DT |
| from interbotix_xs_msgs.msg import JointSingleCommand |
|
|
| import IPython |
| e = IPython.embed |
|
|
| class ImageRecorder: |
| def __init__(self, init_node=True, is_debug=False): |
| from collections import deque |
| import rospy |
| from cv_bridge import CvBridge |
| from sensor_msgs.msg import Image |
| self.is_debug = is_debug |
| self.bridge = CvBridge() |
| self.camera_names = ['cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist'] |
| if init_node: |
| rospy.init_node('image_recorder', anonymous=True) |
| for cam_name in self.camera_names: |
| setattr(self, f'{cam_name}_image', None) |
| setattr(self, f'{cam_name}_secs', None) |
| setattr(self, f'{cam_name}_nsecs', None) |
| if cam_name == 'cam_high': |
| callback_func = self.image_cb_cam_high |
| elif cam_name == 'cam_low': |
| callback_func = self.image_cb_cam_low |
| elif cam_name == 'cam_left_wrist': |
| callback_func = self.image_cb_cam_left_wrist |
| elif cam_name == 'cam_right_wrist': |
| callback_func = self.image_cb_cam_right_wrist |
| else: |
| raise NotImplementedError |
| rospy.Subscriber(f"/usb_{cam_name}/image_raw", Image, callback_func) |
| if self.is_debug: |
| setattr(self, f'{cam_name}_timestamps', deque(maxlen=50)) |
| time.sleep(0.5) |
|
|
| def image_cb(self, cam_name, data): |
| setattr(self, f'{cam_name}_image', self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')) |
| setattr(self, f'{cam_name}_secs', data.header.stamp.secs) |
| setattr(self, f'{cam_name}_nsecs', data.header.stamp.nsecs) |
| |
| if self.is_debug: |
| getattr(self, f'{cam_name}_timestamps').append(data.header.stamp.secs + data.header.stamp.secs * 1e-9) |
|
|
| def image_cb_cam_high(self, data): |
| cam_name = 'cam_high' |
| return self.image_cb(cam_name, data) |
|
|
| def image_cb_cam_low(self, data): |
| cam_name = 'cam_low' |
| return self.image_cb(cam_name, data) |
|
|
| def image_cb_cam_left_wrist(self, data): |
| cam_name = 'cam_left_wrist' |
| return self.image_cb(cam_name, data) |
|
|
| def image_cb_cam_right_wrist(self, data): |
| cam_name = 'cam_right_wrist' |
| return self.image_cb(cam_name, data) |
|
|
| def get_images(self): |
| image_dict = dict() |
| for cam_name in self.camera_names: |
| image_dict[cam_name] = getattr(self, f'{cam_name}_image') |
| return image_dict |
|
|
| def print_diagnostics(self): |
| def dt_helper(l): |
| l = np.array(l) |
| diff = l[1:] - l[:-1] |
| return np.mean(diff) |
| for cam_name in self.camera_names: |
| image_freq = 1 / dt_helper(getattr(self, f'{cam_name}_timestamps')) |
| print(f'{cam_name} {image_freq=:.2f}') |
| print() |
|
|
| class Recorder: |
| def __init__(self, side, init_node=True, is_debug=False): |
| from collections import deque |
| import rospy |
| from sensor_msgs.msg import JointState |
| from interbotix_xs_msgs.msg import JointGroupCommand, JointSingleCommand |
|
|
| self.secs = None |
| self.nsecs = None |
| self.qpos = None |
| self.effort = None |
| self.arm_command = None |
| self.gripper_command = None |
| self.is_debug = is_debug |
|
|
| if init_node: |
| rospy.init_node('recorder', anonymous=True) |
| rospy.Subscriber(f"/puppet_{side}/joint_states", JointState, self.puppet_state_cb) |
| rospy.Subscriber(f"/puppet_{side}/commands/joint_group", JointGroupCommand, self.puppet_arm_commands_cb) |
| rospy.Subscriber(f"/puppet_{side}/commands/joint_single", JointSingleCommand, self.puppet_gripper_commands_cb) |
| if self.is_debug: |
| self.joint_timestamps = deque(maxlen=50) |
| self.arm_command_timestamps = deque(maxlen=50) |
| self.gripper_command_timestamps = deque(maxlen=50) |
| time.sleep(0.1) |
|
|
| def puppet_state_cb(self, data): |
| self.qpos = data.position |
| self.qvel = data.velocity |
| self.effort = data.effort |
| self.data = data |
| if self.is_debug: |
| self.joint_timestamps.append(time.time()) |
|
|
| def puppet_arm_commands_cb(self, data): |
| self.arm_command = data.cmd |
| if self.is_debug: |
| self.arm_command_timestamps.append(time.time()) |
|
|
| def puppet_gripper_commands_cb(self, data): |
| self.gripper_command = data.cmd |
| if self.is_debug: |
| self.gripper_command_timestamps.append(time.time()) |
|
|
| def print_diagnostics(self): |
| def dt_helper(l): |
| l = np.array(l) |
| diff = l[1:] - l[:-1] |
| return np.mean(diff) |
|
|
| joint_freq = 1 / dt_helper(self.joint_timestamps) |
| arm_command_freq = 1 / dt_helper(self.arm_command_timestamps) |
| gripper_command_freq = 1 / dt_helper(self.gripper_command_timestamps) |
|
|
| print(f'{joint_freq=:.2f}\n{arm_command_freq=:.2f}\n{gripper_command_freq=:.2f}\n') |
|
|
| def get_arm_joint_positions(bot): |
| return bot.arm.core.joint_states.position[:6] |
|
|
| def get_arm_gripper_positions(bot): |
| joint_position = bot.gripper.core.joint_states.position[6] |
| return joint_position |
|
|
| def move_arms(bot_list, target_pose_list, move_time=1): |
| num_steps = int(move_time / DT) |
| curr_pose_list = [get_arm_joint_positions(bot) for bot in bot_list] |
| traj_list = [np.linspace(curr_pose, target_pose, num_steps) for curr_pose, target_pose in zip(curr_pose_list, target_pose_list)] |
| for t in range(num_steps): |
| for bot_id, bot in enumerate(bot_list): |
| bot.arm.set_joint_positions(traj_list[bot_id][t], blocking=False) |
| time.sleep(DT) |
|
|
| def move_grippers(bot_list, target_pose_list, move_time): |
| gripper_command = JointSingleCommand(name="gripper") |
| num_steps = int(move_time / DT) |
| curr_pose_list = [get_arm_gripper_positions(bot) for bot in bot_list] |
| traj_list = [np.linspace(curr_pose, target_pose, num_steps) for curr_pose, target_pose in zip(curr_pose_list, target_pose_list)] |
| for t in range(num_steps): |
| for bot_id, bot in enumerate(bot_list): |
| gripper_command.cmd = traj_list[bot_id][t] |
| bot.gripper.core.pub_single.publish(gripper_command) |
| time.sleep(DT) |
|
|
| def setup_puppet_bot(bot): |
| bot.dxl.robot_reboot_motors("single", "gripper", True) |
| bot.dxl.robot_set_operating_modes("group", "arm", "position") |
| bot.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") |
| torque_on(bot) |
|
|
| def setup_master_bot(bot): |
| bot.dxl.robot_set_operating_modes("group", "arm", "pwm") |
| bot.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") |
| torque_off(bot) |
|
|
| def set_standard_pid_gains(bot): |
| bot.dxl.robot_set_motor_registers("group", "arm", 'Position_P_Gain', 800) |
| bot.dxl.robot_set_motor_registers("group", "arm", 'Position_I_Gain', 0) |
|
|
| def set_low_pid_gains(bot): |
| bot.dxl.robot_set_motor_registers("group", "arm", 'Position_P_Gain', 100) |
| bot.dxl.robot_set_motor_registers("group", "arm", 'Position_I_Gain', 0) |
|
|
| def torque_off(bot): |
| bot.dxl.robot_torque_enable("group", "arm", False) |
| bot.dxl.robot_torque_enable("single", "gripper", False) |
|
|
| def torque_on(bot): |
| bot.dxl.robot_torque_enable("group", "arm", True) |
| bot.dxl.robot_torque_enable("single", "gripper", True) |
|
|
