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two-arm-actions.py
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import asyncio
import contextvars
import functools
import json
import agility
import agility.messages as msgs
async def to_thread(func, /, *args, **kwargs):
loop = asyncio.get_running_loop()
ctx = contextvars.copy_context()
func_call = functools.partial(ctx.run, func, *args, **kwargs)
return await loop.run_in_executor(None, func_call)
async def main(address: str = '10.10.1.1', port: int = 8080, connect_timeout: float = 9999999.0):
async with agility.JsonApi(address = '10.10.1.1') as api:
info = await api.query(msgs.GetRobotInfo())
print(f"Robot name: {info.robot_name}")
await api.request_privilege("change-action-command")
reach_action = json.loads('''[
"action-concurrent",
{
"actions": [[
"action-end-effector-move",
{
"end-effector": "left-hand",
"waypoints": [
{
"xyz": [
0.4,
0.015,
0.1
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.8,
"duration": 3,
"transition-duration": null
}
], [
"action-end-effector-move",
{
"end-effector": "right-hand",
"waypoints": [
{
"xyz": [
0.4,
-0.15,
0.1
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.8,
"duration": 3,
"transition-duration": null
}
] ]
}
]''')
squeeze_action = json.loads('''[
"action-concurrent",
{
"actions": [[
"action-end-effector-move",
{
"end-effector": "left-hand",
"waypoints": [
{
"xyz": [
0.3,
0.15,
0.2
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
], [
"action-end-effector-move",
{
"end-effector": "right-hand",
"waypoints": [
{
"xyz": [
0.3,
-0.15,
0.2
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
] ]
}
]''')
retract_action = json.loads('''[
"action-concurrent",
{
"actions": [[
"action-end-effector-move",
{
"end-effector": "left-hand",
"waypoints": [
{
"xyz": [
0.2,
0.15,
0.2
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
], [
"action-end-effector-move",
{
"end-effector": "right-hand",
"waypoints": [
{
"xyz": [
0.2,
-0.15,
0.2
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
] ]
}
]''')
award_action = json.loads('''[
"action-concurrent",
{
"actions": [[
"action-end-effector-move",
{
"end-effector": "left-hand",
"waypoints": [
{
"xyz": [
0.2,
0.15,
0.2
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
], [
"action-end-effector-move",
{
"end-effector": "right-hand",
"waypoints": [
{
"xyz": [
0.2,
-0.15,
0.2
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
] ]
}
]''')
unsqueeze_action = json.loads('''[
"action-concurrent",
{
"actions": [[
"action-end-effector-move",
{
"end-effector": "left-hand",
"waypoints": [
{
"xyz": [
0.2,
0.3,
0.2
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
], [
"action-end-effector-move",
{
"end-effector": "right-hand",
"waypoints": [
{
"xyz": [
0.2,
-0.3,
0.2
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
] ]
}
]''')
default_position = json.loads('''[
"action-concurrent",
{
"actions": [[
"action-end-effector-move",
{
"end-effector": "left-hand",
"waypoints": [
{
"xyz": [
0.3,
0.3,
0.1
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
], [
"action-end-effector-move",
{
"end-effector": "right-hand",
"waypoints": [
{
"xyz": [
0.3,
-0.3,
-0.1
]
}
],
"reference-frame": {
"command-frame": "base"
},
"stall-threshold": null,
"cyclic": false,
"max-speed": 0.3,
"duration": 3,
"transition-duration": null
}
] ]
}
]''')
rotate_90 = json.loads('''[
"action-goto",
{
"target": {"rpyxy": [0, 0, 1.570796, 0, 0]},
"heading-constraint": null,
"reference-frame": {
"special-frame": "world"
},
"position-tolerance": 0.2,
"orientation-tolerance": 0.2,
"mobility-parameters": {}
}
]''')
action = ""
while action != "quit":
action = await to_thread(input, "Enter an action (reach_comm, squeeze, retract_comm, award, unsqueeze, rotate_90) or type 'quit': ")
if action == "quit":
break
elif action == "reach_comm":
await api.wait_action(reach_action, remove_after=False)
elif action == "squeeze":
await api.wait_action(squeeze_action, remove_after=False)
elif action == "retract_comm":
await api.wait_action(retract_action, remove_after=False)
elif action == "award":
await api.wait_action(award_action, remove_after=False)
elif action == "unsqueeze":
await api.wait_action(unsqueeze_action, remove_after=False)
elif action == "rotate_90":
await api.wait_action(rotate_90, remove_after=False)
else:
await api.wait_action(default_position, remove_after=False)
asyncio.run(main())