From de7d43aac7849aeeb9171158b89c55d29c0c336b Mon Sep 17 00:00:00 2001 From: Yx Jiang <2237303+yxjiang@users.noreply.github.com> Date: Sat, 24 Feb 2024 10:27:07 -0800 Subject: [PATCH 1/2] Add all-joints move command --- mnlm/client/gpt_control/dummy_command.py | 26 +++++++++++++++ mnlm/client/gpt_control/output.mp3 | Bin 0 -> 110880 bytes mnlm/client/gpt_control/robot_arm.py | 6 +++- mnlm/client/knowledge/dummy_command.json | 20 +++++++++++ ...spatcher.py => command_dispatcher_node.py} | 21 +++++++++++- ...d_receiver.py => command_receiver_node.py} | 0 .../{joint_mover.py => joint_mover_node.py} | 31 ++++++++++-------- 7 files changed, 88 insertions(+), 16 deletions(-) create mode 100644 mnlm/client/gpt_control/dummy_command.py create mode 100644 mnlm/client/gpt_control/output.mp3 create mode 100644 mnlm/client/knowledge/dummy_command.json rename mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/{command_dispatcher.py => command_dispatcher_node.py} (79%) rename mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/{command_receiver.py => command_receiver_node.py} (100%) rename mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/{joint_mover.py => joint_mover_node.py} (85%) diff --git a/mnlm/client/gpt_control/dummy_command.py b/mnlm/client/gpt_control/dummy_command.py new file mode 100644 index 0000000..542593f --- /dev/null +++ b/mnlm/client/gpt_control/dummy_command.py @@ -0,0 +1,26 @@ +import json +import requests +import os + +def send_commands_to_service(json_file_path, service_url): + # Load the JSON commands from the specified file + with open(json_file_path, 'r') as file: + commands = json.load(file) + + # Send the JSON commands to the HTTP service + response = requests.post(service_url, json=commands) + + # Check the response status + if response.status_code == 200: + print("Commands sent successfully.") + print("Response:", response.json()) + else: + print("Failed to send commands.") + print("Status Code:", response.status_code) + print("Response:", response.text) + +if __name__ == "__main__": + json_file_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "knowledge/dummy_command.json") + service_url = "http://0.0.0.0:5678/robot_command" + + send_commands_to_service(json_file_path, service_url) diff --git a/mnlm/client/gpt_control/output.mp3 b/mnlm/client/gpt_control/output.mp3 new file mode 100644 index 0000000000000000000000000000000000000000..59a77223835d63858518a1e30c8b87051910e207 GIT binary patch literal 110880 zcma&tX;2gC+c5g>Y=jUX2?3I@m_WdQfSs@ih?<0e0Ro0q5SN5aKvY0fTqg-3?8r{Q zE$pibhzshB37a5M0a4M>5fo5y8C=HE8RtK*KIfe0JXP;`t4>#c=;{yMUG?khzV7Sl zyZ`+-HwcItJ=AYEsR0BUhu!^aZCPuIIFBqF<_F8sv1R7E>tD3}{!9A9n(;R^MtZp) z8XoS%1vhW0)~*my@%h99qYE!q)%r(&K5ZYb*PS(3!WR*EPI-v4Pke!GY5-t64P>5L zV4Y}8mv*DrruaZ}e*SW$L^9m2t6Lb~5PHD8?%#$~!qV038GiNz@lD{KX3y8B_L&zr z4U`fk6K^m^b^*JTJMjDLeWo8+RXCh6RDAs6|peMd%CB?Aq%HWoQ?p)U!>E=CeJAI>ge|LIHJ2NfR+)X}bFaN|C z_;Q~l%WB_SeEadGe}3Kk${|pYR91%sDIi4E!R@ 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zbNuRVEO?=@jUXtTqedojx=9ceX2$F?`4Y9xd&8lq*<6`a$s^!uxU+n&73wk~u3+L} zgWwas>;8mZM}YC1BOi~KWHlPU9)HMU?7q34D|>;a94Ej*q`T0-swQT-NQ+6nV?EOF zlCZsSC+P@(!LpjJt+<6XEf#8I)oKH|Mkl>1G$T)VUs$ZAIVK_b76e9PFmS`0x9K=D z2_Ec6s$hYh`qQn70msWltmYUc8RHAfG2?#Kaz=my)A#P5g&{6=Y5 z3Oze=1|+>r3ELO)gQ`ndwK`G$Tr^>~xoh!=-No5+9bFk*iU}@qwAhBONFB7!w;t!q b#gs#?MLTg}ibUN1HJ|){Rpk8t^WXmf;^! str: {{ "operation": "move_single_servo", "parameters": {{"id": "servo1", "angle": 90, "time": 500}} + }}, + {{ + "operation": "move_all_servos", + "parameters": {{"angles": [0, 90, 90, 45, 32, 0], "time": 500}} }} ] }} @@ -111,7 +115,7 @@ def translate_prompt_to_sequence(self, prompt: str) -> str: if self.verbose: self.logger.info(f"Instruction: {instruction}") response = self.gpt_client.chat.completions.create( - model="gpt-3.5-turbo-1106", + model="gpt-3.5-turbo-0125", messages=[ { "role": "system", diff --git a/mnlm/client/knowledge/dummy_command.json b/mnlm/client/knowledge/dummy_command.json new file mode 100644 index 0000000..1e8652f --- /dev/null +++ b/mnlm/client/knowledge/dummy_command.json @@ -0,0 +1,20 @@ +{ + "operations": [ + { + "operation": "move_single_servo", + "parameters": {"id": "servo1", "angle": 30, "time": 500} + }, + { + "operation": "move_single_servo", + "parameters": {"id": "servo1", "angle": 120, "time": 500} + }, + { + "operation": "move_single_servo", + "parameters": {"id": "servo1", "angle": 30, "time": 500} + }, + { + "operation": "move_single_servo", + "parameters": {"id": "servo1", "angle": 120, "time": 500} + } + ] +} \ No newline at end of file diff --git a/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_dispatcher.py b/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_dispatcher_node.py similarity index 79% rename from mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_dispatcher.py rename to mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_dispatcher_node.py index ac42295..d965f98 100644 --- a/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_dispatcher.py +++ b/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_dispatcher_node.py @@ -1,7 +1,7 @@ import rclpy from rclpy.node import Node from std_msgs.msg import String, Float64 -from typing import Any, List +from typing import Any, List, Dict import json @@ -64,6 +64,13 @@ def _process_command(self, operations: List[Any]): self.get_logger().warn(f"Setting RGB light to {parameters}") else: self.get_logger().error(f"Unknown action: {operation}") + # Wait for 3 second to send the next operation + self.get_logger().info("Waiting for 3 seconds before sending the next operation.") + rclpy.sleep(3) # This waits for 3 seconds + + + + def _move_single_joint(self, servo_id: str, angle: float, time: int): # Joints can only be servo0-servo5 and left_gripper_joint, right_gripper_joint @@ -75,6 +82,18 @@ def _move_single_joint(self, servo_id: str, angle: float, time: int): self.get_logger().info(f"{msg.data} published to /joint_commands") else: self.get_logger().error(f"{self.node_name} Unknown joint: {servo_id}") + + def _move_all_joints(self, servo_degrees: List[float], time: int): + # Joints can only be servo0-servo5 and left_gripper_joint, right_gripper_joint + if len(servo_degrees) == 6: + command = json.dumps({"angles": servo_degrees, "time": time}) + msg = String() + msg.data = command + self.joint_command_pub.publish(msg) + self.get_logger().info(f"{msg.data} published to /joint_commands") + else: + self.get_logger().error( + f"{self.node_name} Incorrect number of servo degrees: {len(servo_degrees)}. Expected 6.") def main(args=None): diff --git a/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_receiver.py b/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_receiver_node.py similarity index 100% rename from mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_receiver.py rename to mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/command_receiver_node.py diff --git a/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/joint_mover.py b/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/joint_mover_node.py similarity index 85% rename from mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/joint_mover.py rename to mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/joint_mover_node.py index 00480da..d3af3bd 100644 --- a/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/joint_mover.py +++ b/mnlm/robot/robot_arm_ws/src/robot_arm/robot_arm/joint_mover_node.py @@ -66,31 +66,34 @@ def _get_current_joint_positions(self, joint_names: List[str]): def _joint_command_callback(self, msg: String): self.get_logger().error(f"Received joint command: {msg.data}") - command_data = json.loads(msg.data) - joint_id = command_data["id"] - angle_in_degrees = command_data["angle"] - time_in_seconds = command_data["time"] / 1000.0 # Convert milliseconds to seconds - # Read the current position from /joint_states topic positions = self._get_current_joint_positions(self.joint_names) self.get_logger().info(f"Current joint positions: {positions}") velocities = [0.0] * (self.num_joints + self.num_gripper_fingers) - # Update the angle for the specified joint, note the command is in degree and the position is in radians - if "servo" in joint_id: + # Parse the incoming command and take the appropriate action. + command_data = json.loads(msg.data) + if "id" in command_data: + joint_id = command_data["id"] + angle_in_degrees = command_data["angle"] + time_in_seconds = command_data["time"] / 1000.0 # Convert milliseconds to seconds + target_servo_index = int(joint_id[-1]) target_position = angle_in_degrees * (3.14159 / 180.0) # Convert degrees to radians positions[target_servo_index] = target_position - # Only set the velocity of the target joint as 0.5 velocities[target_servo_index] = 0.5 - # Send the command to the action server - response = self.send_goal_and_wait(positions=positions, velocities=velocities, time_from_start_sec=3) - if response: - self.get_logger().info(f"Successfully moved joint {joint_id} to {angle_in_degrees} degrees.") - else: - self.get_logger().error(f"Invalid joint ID: {joint_id}") + elif "angles" in command_data: + angles = command_data["angles"] + positions = [angle * (3.14159 / 180.0) for angle in angles] + # Set the velocity of all joints as 0.5 + velocities = [0.5] * (self.num_joints + self.num_gripper_fingers) + + # Send the command to the action server + response = self.send_goal_and_wait(positions=positions, velocities=velocities, time_from_start_sec=3) + if response: + self.get_logger().info(f"Successfully moved joint {joint_id} to {angle_in_degrees} degrees.") def send_goal_and_wait(self, positions: List[float], velocities: List[float], time_from_start_sec: int) -> bool: From e7b900a55a42d367a0ecef7bd5d8f702ecb79882 Mon Sep 17 00:00:00 2001 From: Yx Jiang <2237303+yxjiang@users.noreply.github.com> Date: Sat, 24 Feb 2024 11:31:50 -0800 Subject: [PATCH 2/2] update --- mnlm/client/gpt_control/dummy_command.py | 20 ++++++++--- mnlm/client/gpt_control/output.mp3 | Bin 110880 -> 0 bytes mnlm/client/knowledge/dummy_command.json | 12 +++---- .../robot_arm/command_dispatcher_node.py | 34 +++++++++++++----- .../robot_arm/robot_arm/joint_mover_node.py | 10 +++--- .../robot/robot_arm_ws/src/robot_arm/setup.py | 6 ++-- 6 files changed, 53 insertions(+), 29 deletions(-) delete mode 100644 mnlm/client/gpt_control/output.mp3 diff --git a/mnlm/client/gpt_control/dummy_command.py b/mnlm/client/gpt_control/dummy_command.py index 542593f..018510a 100644 --- a/mnlm/client/gpt_control/dummy_command.py +++ b/mnlm/client/gpt_control/dummy_command.py @@ -1,26 +1,36 @@ import json -import requests import os +import requests + + def send_commands_to_service(json_file_path, service_url): # Load the JSON commands from the specified file - with open(json_file_path, 'r') as file: + with open(json_file_path, "r") as file: commands = json.load(file) - + print(f"Commands: {commands}") + # commands = f""" + # {{ + # "operations": [] + # }} + # """ # Send the JSON commands to the HTTP service response = requests.post(service_url, json=commands) # Check the response status if response.status_code == 200: print("Commands sent successfully.") - print("Response:", response.json()) + print("Response:", response) else: print("Failed to send commands.") print("Status Code:", response.status_code) print("Response:", response.text) + if __name__ == "__main__": - json_file_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "knowledge/dummy_command.json") + json_file_path = os.path.join( + os.path.dirname(os.path.dirname(__file__)), "knowledge/dummy_command.json" + ) service_url = "http://0.0.0.0:5678/robot_command" send_commands_to_service(json_file_path, service_url) diff --git a/mnlm/client/gpt_control/output.mp3 b/mnlm/client/gpt_control/output.mp3 deleted file mode 100644 index 59a77223835d63858518a1e30c8b87051910e207..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 110880 zcma&tX;2gC+c5g>Y=jUX2?3I@m_WdQfSs@ih?<0e0Ro0q5SN5aKvY0fTqg-3?8r{Q zE$pibhzshB37a5M0a4M>5fo5y8C=HE8RtK*KIfe0JXP;`t4>#c=;{yMUG?khzV7Sl zyZ`+-HwcItJ=AYEsR0BUhu!^aZCPuIIFBqF<_F8sv1R7E>tD3}{!9A9n(;R^MtZp) z8XoS%1vhW0)~*my@%h99qYE!q)%r(&K5ZYb*PS(3!WR*EPI-v4Pke!GY5-t64P>5L zV4Y}8mv*DrruaZ}e*SW$L^9m2t6Lb~5PHD8?%#$~!qV038GiNz@lD{KX3y8B_L&zr z4U`fk6K^m^b^*JTJMjDLeWo8+RXCh6RDAs6|peMd%CB?Aq%HWoQ?p)U!>E=CeJAI>ge|LIHJ2NfR+)X}bFaN|C z_;Q~l%WB_SeEadGe}3Kk${|pYR91%sDIi4E!R@ z`;a4?Aw*;$=Sx{zO_E-s(ttj8@%I}Q>K+lTO3*vs;F;fJlkZT{}JrcgS;@_I#lv1e%Juk 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zbNuRVEO?=@jUXtTqedojx=9ceX2$F?`4Y9xd&8lq*<6`a$s^!uxU+n&73wk~u3+L} zgWwas>;8mZM}YC1BOi~KWHlPU9)HMU?7q34D|>;a94Ej*q`T0-swQT-NQ+6nV?EOF zlCZsSC+P@(!LpjJt+<6XEf#8I)oKH|Mkl>1G$T)VUs$ZAIVK_b76e9PFmS`0x9K=D z2_Ec6s$hYh`qQn70msWltmYUc8RHAfG2?#Kaz=my)A#P5g&{6=Y5 z3Oze=1|+>r3ELO)gQ`ndwK`G$Tr^>~xoh!=-No5+9bFk*iU}@qwAhBONFB7!w;t!q b#gs#?MLTg}ibUN1HJ|){Rpk8t^WXmf;^! bool: @@ -127,9 +127,9 @@ def send_goal_and_wait(self, positions: List[float], velocities: List[float], ti def _feedback_callback(self, feedback_msg): actual_positions = feedback_msg.feedback.actual.positions actual_velocities = feedback_msg.feedback.actual.velocities - self.get_logger().info( - f"Received feedback: positions: {actual_positions}, velocities: {actual_velocities}" - ) + # self.get_logger().info( + # f"Received feedback: positions: {actual_positions}, velocities: {actual_velocities}" + # ) def main(args=None): diff --git a/mnlm/robot/robot_arm_ws/src/robot_arm/setup.py b/mnlm/robot/robot_arm_ws/src/robot_arm/setup.py index 0063ada..1289864 100644 --- a/mnlm/robot/robot_arm_ws/src/robot_arm/setup.py +++ b/mnlm/robot/robot_arm_ws/src/robot_arm/setup.py @@ -39,9 +39,9 @@ tests_require=["pytest"], entry_points={ "console_scripts": [ - "command_receiver_node = robot_arm.command_receiver:main", - "command_dispatcher_node = robot_arm.command_dispatcher:main", - "joint_mover_node = robot_arm.joint_mover:main", + "command_receiver_node = robot_arm.command_receiver_node:main", + "command_dispatcher_node = robot_arm.command_dispatcher_node:main", + "joint_mover_node = robot_arm.joint_mover_node:main", "joint_move_script_node = robot_arm.joint_move_script:main", ], },