Data collection

RoBits support kinesthetic teaching, teleoperation as well as scripted demonstrations. The easiest way is to start the robot app and toggle the “Kinesthetic Teaching” mode. Now you can move the robot arm to the desired position. Close the gripper using the “Gripper” toggle button. Press the “Add Waypoint” button to save the current pose of the robot as waypoints. Once you are done, press the “Save” button to serialize all current waypoints. You can restore the state with “Load” button. Press “Replay” button to execute the currently loaded waypoints. Make sure to complete the System and Robot setup and the Configuration instructions.

Note

More available soon

Collecting data is quite simple and can be done by using a with statement. Given a robot instance and a output_path you can create a dataset with:

from robits.dataset.io.recorder import DatasetRecorder
from robits.dataset.io.writer import DatasetWriter

 with DatasetWriter(output_path, DatasetRecorder(robot)):

     print("Move robot")

See the robits.dataset.io.writer.DatasetWriter class for more details.

Scripted data collection

Here is an example on how collect proprioception data.

#!/usr/bin/env python3

import numpy as np

import rich_click as click
from click_prompt import filepath_option

from robits.core.abc.control import control_types

from robits.dataset.io.recorder import DatasetRecorder
from robits.dataset.io.writer import DatasetWriter

from robits.cli import cli_utils
from robits.cli import cli_options


@click.command
@filepath_option(
    "--output-path", default="/tmp/data/stack_blocks", help="Where to save the dataset."
)
@cli_options.robot()
def cli(output_path, robot):

    console = cli_utils.console
    writer = DatasetWriter(output_path, DatasetRecorder(robot))

    orientation_delta = np.array([0, -1, 0, 0])
    position_delta = np.array([0, 0, 0.05])

    console.rule("Moving robot to default pose")
    robot.control.move_home()

    console.rule("Starting data collection.")

    with writer:

        with robot.control(control_types.cartesian) as ctrl:

            console.print("moving up.")
            ctrl.update((position_delta, orientation_delta), relative=True)
            console.print("moving down.")
            ctrl.update((-position_delta, orientation_delta), relative=True)
            console.print("closing gripper.")
            robot.gripper.close()
            console.print("moving up again.")
            ctrl.update((position_delta, orientation_delta), relative=True)

    console.rule("Done collecting data.")


if __name__ == "__main__":
    cli_utils.setup_cli()
    cli()

Stack blocks

When interacting with the environment it is necessary to get a grasp pose. Specifying grasp points with an interactive gui is quite fast.

#!/usr/bin/env python3

import time
import logging


import open3d as o3d

import rich_click as click
from click_prompt import filepath_option

from robits.core.abc.control import control_types

from robits.utils import vision_utils
from robits.dataset.io.recorder import DatasetRecorder
from robits.dataset.io.writer import DatasetWriter

from robits.sim.env_design import env_designer

from robits.cli import cli_utils
from robits.cli import cli_options

logger = logging.getLogger(__name__)


@click.command
@filepath_option(
    "--output-path", default="/tmp/data/stack_blocks", help="Where to save the ."
)
@cli_options.robot()
def cli(output_path, robot):

    env_designer.add_blocks()

    console = cli_utils.console

    console.rule("Starting")
    console.print(
        "Select two blocks with shift + left click. Use shift + right click to undo."
    )

    default_robot_orientation = [0, -1, 0, 0]

    camera = robot.cameras[0]
    recorder = DatasetRecorder(robot)
    writer = DatasetWriter(output_path, recorder)

    logger.info("Moving home.")
    robot.control.move_home()
    robot.gripper.open()

    camera_data, _info = camera.get_camera_data()

    pcd = vision_utils.depth_to_pcd(camera_data, camera, apply_extrinsics=True)

    vis = o3d.visualization.VisualizerWithEditing()
    vis.create_window(window_name="Select two blocks")
    vis.add_geometry(pcd)
    vis.run()
    vis.destroy_window()

    points = vis.get_picked_points()

    if len(points) != 2:
        console.print("Insufficient points selected")
        return

    with writer:

        time.sleep(0.1)

        with robot.control(control_types.cartesian) as ctrl:

            target_point = pcd.points[points[0]].copy()
            target_point[2] += 0.05
            ctrl.update((target_point, default_robot_orientation))

            target_point = pcd.points[points[0]].copy()
            target_point[2] -= 0.01
            ctrl.update((target_point, default_robot_orientation))
            robot.gripper.close()

            target_point = pcd.points[points[1]].copy()
            target_point[2] += 0.15
            ctrl.update((target_point, default_robot_orientation))

            target_point = pcd.points[points[1]].copy()
            target_point[2] += 0.05
            ctrl.update((target_point, default_robot_orientation))
            robot.gripper.open()

        robot.control.move_home()

        time.sleep(1)

    console.rule("Done")


if __name__ == "__main__":
    cli_utils.setup_cli()
    cli()