| |
| |
| from collections import deque |
| import datetime |
| import json |
| import time |
|
|
| from aloha.msg import RGBGrayscaleImage |
| from cv_bridge import CvBridge |
| from interbotix_xs_msgs.msg import JointGroupCommand |
| from interbotix_xs_msgs.msg import JointSingleCommand |
| import numpy as np |
| import rospy |
| from sensor_msgs.msg import JointState |
|
|
| from examples.aloha_real import constants |
|
|
|
|
| class ImageRecorder: |
| def __init__(self, init_node=True, is_debug=False): |
| 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}_rgb_image", None) |
| setattr(self, f"{cam_name}_depth_image", None) |
| setattr(self, f"{cam_name}_timestamp", 0.0) |
| 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"/{cam_name}", RGBGrayscaleImage, callback_func) |
| if self.is_debug: |
| setattr(self, f"{cam_name}_timestamps", deque(maxlen=50)) |
|
|
| self.cam_last_timestamps = {cam_name: 0.0 for cam_name in self.camera_names} |
| time.sleep(0.5) |
|
|
| def image_cb(self, cam_name, data): |
| setattr( |
| self, |
| f"{cam_name}_rgb_image", |
| self.bridge.imgmsg_to_cv2(data.images[0], desired_encoding="bgr8"), |
| ) |
| |
| |
| |
| |
| |
| setattr( |
| self, |
| f"{cam_name}_timestamp", |
| data.header.stamp.secs + data.header.stamp.nsecs * 1e-9, |
| ) |
| |
| |
| |
| if self.is_debug: |
| getattr(self, f"{cam_name}_timestamps").append( |
| data.images[0].header.stamp.secs + data.images[0].header.stamp.nsecs * 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 = {} |
| for cam_name in self.camera_names: |
| while getattr(self, f"{cam_name}_timestamp") <= self.cam_last_timestamps[cam_name]: |
| time.sleep(0.00001) |
| rgb_image = getattr(self, f"{cam_name}_rgb_image") |
| depth_image = getattr(self, f"{cam_name}_depth_image") |
| self.cam_last_timestamps[cam_name] = getattr(self, f"{cam_name}_timestamp") |
| image_dict[cam_name] = rgb_image |
| image_dict[f"{cam_name}_depth"] = depth_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): |
| 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): |
| return bot.gripper.core.joint_states.position[6] |
|
|
|
|
| def move_arms(bot_list, target_pose_list, move_time=1): |
| num_steps = int(move_time / constants.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(constants.DT) |
|
|
|
|
| def move_grippers(bot_list, target_pose_list, move_time): |
| print(f"Moving grippers to {target_pose_list=}") |
| gripper_command = JointSingleCommand(name="gripper") |
| num_steps = int(move_time / constants.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) |
| ] |
|
|
| with open(f"/data/gripper_traj_{datetime.datetime.now().strftime('%Y%m%d_%H%M%S')}.jsonl", "a") as f: |
| for t in range(num_steps): |
| d = {} |
| for bot_id, bot in enumerate(bot_list): |
| gripper_command.cmd = traj_list[bot_id][t] |
| bot.gripper.core.pub_single.publish(gripper_command) |
| d[bot_id] = {"obs": get_arm_gripper_positions(bot), "act": traj_list[bot_id][t]} |
| f.write(json.dumps(d) + "\n") |
| time.sleep(constants.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) |
|
|
|
|
| |
| def sync_puppet_to_master(master_bot_left, master_bot_right, puppet_bot_left, puppet_bot_right): |
| print("\nSyncing!") |
|
|
| |
| torque_on(master_bot_left) |
| torque_on(master_bot_right) |
|
|
| |
| puppet_left_qpos = get_arm_joint_positions(puppet_bot_left) |
| puppet_right_qpos = get_arm_joint_positions(puppet_bot_right) |
|
|
| |
| puppet_left_gripper = get_arm_gripper_positions(puppet_bot_left) |
| puppet_right_gripper = get_arm_gripper_positions(puppet_bot_right) |
|
|
| |
| move_arms( |
| [master_bot_left, master_bot_right], |
| [puppet_left_qpos, puppet_right_qpos], |
| move_time=1, |
| ) |
|
|
| |
| move_grippers( |
| [master_bot_left, master_bot_right], |
| [puppet_left_gripper, puppet_right_gripper], |
| move_time=1, |
| ) |
|
|
