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soumithsoumith
committedApr 21, 2022
[droidlet-hello], short incomplete getting started guide
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‎examples_and_tutorials/notebooks/hello-robot-droidlet-intro.ipynb

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{
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"cells": [
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{
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"cell_type": "markdown",
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"id": "a756d64a",
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"metadata": {},
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"source": [
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"## Start the 3D Visualizer and the droidlet dashboard"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "1825de31",
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"metadata": {},
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"outputs": [],
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"source": [
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"from droidlet.dashboard.o3dviz import O3DViz\n",
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"# if False, opens a native window for the 3D visualization. \n",
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"# If True, opens a web-based viewer for the 3D stuff that is available at port http://localhost:8889\n",
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"web_streaming = False \n",
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"o3dviz = O3DViz(web_streaming)\n",
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"o3dviz.start()\n",
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"\n",
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"from droidlet import dashboard\n",
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"dashboard.start()\n",
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"# this has to come after the `dashboard.start` function above\n",
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"from droidlet.event import sio"
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]
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},
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{
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"cell_type": "markdown",
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"id": "f909e7f9",
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"metadata": {},
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"source": [
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"## Some useful imports"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "b669bc9d",
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"metadata": {},
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"outputs": [],
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"source": [
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"import math\n",
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"import time\n",
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"import cv2\n",
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"from matplotlib import pyplot as plt\n",
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"import open3d as o3d\n",
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"import numpy as np"
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]
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},
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{
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"cell_type": "markdown",
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"id": "d9dd7932",
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"metadata": {},
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"source": [
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"## Import and connect to the HelloRobotMover"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "3f0b7370",
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"metadata": {},
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"outputs": [],
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"source": [
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"from droidlet.lowlevel.hello_robot.hello_robot_mover import HelloRobotMover"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "57fa9097",
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"metadata": {},
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"outputs": [],
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"source": [
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"mover = HelloRobotMover(ip=\"100.95.90.42\") # ip of the robot\n"
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]
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},
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{
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"cell_type": "markdown",
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"id": "959815db",
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"metadata": {},
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"source": [
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"## Get the rgb, depth and globally-registered point-clouds"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "c1b3091f",
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"metadata": {},
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"outputs": [],
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"source": [
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"rgb_depth = mover.get_rgb_depth()\n",
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"img = rgb_depth.rgb\n",
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"plt.imshow(img)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "e2728c31",
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"metadata": {},
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"outputs": [],
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"source": [
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"plt.imshow(rgb_depth.depth)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "bef955db",
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"metadata": {},
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"outputs": [],
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"source": [
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"def get_open3d_pcd(rgb_depth):\n",
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" points, colors = rgb_depth.ptcloud.reshape(-1, 3), rgb_depth.rgb.reshape(-1, 3)\n",
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" colors = colors / 255.\n",
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" pcd = o3d.geometry.PointCloud()\n",
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" pcd.points = o3d.utility.Vector3dVector(points)\n",
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" pcd.colors = o3d.utility.Vector3dVector(colors)\n",
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" return pcd\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "909ba15d",
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"metadata": {},
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"outputs": [],
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"source": [
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"point_cloud = get_open3d_pcd(rgb_depth)\n",
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"\n",
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"o3dviz.put('pointcloud', point_cloud)"
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]
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},
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{
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"cell_type": "markdown",
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"id": "19d76a11",
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"metadata": {},
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"source": [
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"## Get the SLAM obstacle map and base state in droidlet canonical co-ordinates"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "5f05a6d2",
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"metadata": {},
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"outputs": [],
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"source": [
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"obstacle_map = mover.get_obstacles_in_canonical_coords()\n",
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"base_state = mover.get_base_pos_in_canonical_coords()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "de608551",
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"metadata": {
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"scrolled": true
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},
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"outputs": [],
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"source": [
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"# Plot them\n",
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"x, y = [m[0] for m in obstacle_map], [m[1] for m in obstacle_map]\n",
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"\n",
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"\n",
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"plt.plot(y, x, 'o', markersize=1)\n",
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"plt.plot(base_state[0], base_state[1], 'ro', markersize=12)\n",
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"\n",
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"xorigin, yorigin = 0., 0.\n",
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"newx = (base_state[0] - xorigin) * math.cos(base_state[2] * math.pi / 180)\n",
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"newy = (base_state[1] - yorigin) * math.sin(base_state[2] * math.pi / 180)\n",
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"plt.plot([base_state[0], newx], [base_state[1], newy], 'b')"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "ce461514",
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"metadata": {},
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"outputs": [],
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"source": [
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"# you can also plot it into the dashboard\n",
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"x, y, yaw = base_state\n",
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"sio.emit(\"map\",\n",
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" {\"x\": x, \"y\": y, \"yaw\": yaw, \"map\": obstacle_map},\n",
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")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "16aea403",
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"metadata": {},
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"outputs": [],
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"source": []
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},
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{
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"cell_type": "markdown",
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"id": "7178391b",
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"metadata": {},
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"source": [
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"## Move the robot using it's navigation system"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "b195a213",
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"metadata": {},
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"outputs": [],
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"source": [
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"# Move forward by 1 metre (x, y, yaw)\n",
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"mover.move_relative([1.0, 0.0, 0.0], blocking=False)\n",
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"\n",
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"# turn the robot\n",
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"mover.turn(-math.radians(20))"
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]
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},
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{
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"cell_type": "markdown",
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"id": "f35ac20b",
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"metadata": {},
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"source": [
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"## Move the robot directly using it's base API"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "a8f40f74",
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"metadata": {},
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"outputs": [],
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"source": [
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"mover.bot.go_to_relative([1.0, 0.0, 0.0])"
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]
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},
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{
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"cell_type": "markdown",
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"id": "473ed00f",
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"metadata": {},
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"source": [
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"## Move it's camera"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "8968ab9c",
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"metadata": {},
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"outputs": [],
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"source": [
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"# Set the camera's tilt and pan\n",
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"mover.bot.set_tilt(math.radians(-60) )\n",
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"mover.bot.set_pan(math.radians(-30) )"
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]
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},
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{
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"cell_type": "markdown",
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"id": "0564b106",
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"metadata": {},
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"source": [
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"## Stop the robot's actions immediately"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "fab0cf71",
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"metadata": {},
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"outputs": [],
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"source": [
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"mover.stop()"
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]
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},
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{
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"cell_type": "markdown",
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"id": "99cfcd34",
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"metadata": {},
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"source": [
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"## Access mover's backend services directly via the RPC classes"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "9144f17e",
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"metadata": {},
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"outputs": [],
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"source": [
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"# mover.bot\n",
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"# mover.slam\n",
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"# mover.nav\n",
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"# mover.cam"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "a019eda9",
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3 (ipykernel)",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.8.13"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}

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