88 lines
2.4 KiB
Python
88 lines
2.4 KiB
Python
import time
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from typing import Dict
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import numpy as np
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from gello.robots.robot import Robot
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MAX_OPEN = 0.09
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class PandaRobot(Robot):
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"""A class representing a UR robot."""
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def __init__(self, robot_ip: str = "100.97.47.74"):
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from polymetis import GripperInterface, RobotInterface
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self.robot = RobotInterface(
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ip_address=robot_ip,
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)
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self.gripper = GripperInterface(
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ip_address="localhost",
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)
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self.robot.go_home()
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self.robot.start_joint_impedance()
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self.gripper.goto(width=MAX_OPEN, speed=255, force=255)
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time.sleep(1)
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def num_dofs(self) -> int:
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"""Get the number of joints of the robot.
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Returns:
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int: The number of joints of the robot.
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"""
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return 8
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def get_joint_state(self) -> np.ndarray:
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"""Get the current state of the leader robot.
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Returns:
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T: The current state of the leader robot.
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"""
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robot_joints = self.robot.get_joint_positions()
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gripper_pos = self.gripper.get_state()
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pos = np.append(robot_joints, gripper_pos.width / MAX_OPEN)
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return pos
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def command_joint_state(self, joint_state: np.ndarray) -> None:
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"""Command the leader robot to a given state.
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Args:
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joint_state (np.ndarray): The state to command the leader robot to.
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"""
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import torch
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self.robot.update_desired_joint_positions(torch.tensor(joint_state[:-1]))
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self.gripper.goto(width=(MAX_OPEN * (1 - joint_state[-1])), speed=1, force=1)
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def get_observations(self) -> Dict[str, np.ndarray]:
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joints = self.get_joint_state()
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pos_quat = np.zeros(7)
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gripper_pos = np.array([joints[-1]])
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return {
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"joint_positions": joints,
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"joint_velocities": joints,
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"ee_pos_quat": pos_quat,
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"gripper_position": gripper_pos,
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}
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def main():
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robot = PandaRobot()
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current_joints = robot.get_joint_state()
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# move a small delta 0.1 rad
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move_joints = current_joints + 0.05
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# make last joint (gripper) closed
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move_joints[-1] = 0.5
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time.sleep(1)
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m = 0.09
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robot.gripper.goto(1 * m, speed=255, force=255)
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time.sleep(1)
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robot.gripper.goto(1.05 * m, speed=255, force=255)
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time.sleep(1)
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robot.gripper.goto(1.1 * m, speed=255, force=255)
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time.sleep(1)
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if __name__ == "__main__":
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main()
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