mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-10 12:21:16 +08:00
add spacemouse interface + example (+add haptic skeleton code)
This commit is contained in:
Brian Delhaisse
@@ -12,5 +12,6 @@ Here are few examples that depict the various interfaces available to the user:
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5. `asus_xtion.py`: use the Asus Xtion interface
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6. `openpose.py`: use the Openpose interface
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7. `speech.py`: use the speech (recognizer/translator) interface
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8. `spacemouse.py`: use the (3Dconnexion) SpaceMouse interface
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**Note**: some interfaces require to install different libraries, and possibly to configure them. Check the raised errors.
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@@ -0,0 +1,33 @@
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#!/usr/bin/env python
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"""Run the Space mouse interface.
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Make sure that the `spnav` library is installed, and the space mouse (by 3Dconnexion) is connected to the computer
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before running this code.
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"""
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import argparse
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import time
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from pyrobolearn.tools.interfaces.mouse_keyboard.spacemouse import SpaceMouseInterface
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# create parser
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parser = argparse.ArgumentParser()
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parser.add_argument('-t', '--use_thread', help='If we should run the webcam interface in a thread.', type=bool,
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default=True)
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args = parser.parse_args()
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# create webcam interface
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if args.use_thread:
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# create and run interface in a thread
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interface = SpaceMouseInterface(use_thread=True, sleep_dt=0.001, verbose=True)
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raw_input('Press key to stop the space mouse interface')
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else:
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# create interface
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interface = SpaceMouseInterface(use_thread=False, verbose=True)
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while True:
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# perform a `step` with the interface
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interface.step()
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time.sleep(0.001)
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@@ -1,3 +1,6 @@
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"""PyRoboLearn: a Python framework in Robot Learning for Education and Research.
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"""
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name = "pyrobolearn"
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import sys
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@@ -0,0 +1,88 @@
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#!/usr/bin/env python
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"""Define the haptic interface.
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Prerequisites:
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- follow instructions in [4] on how to install h3dapi.
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Dependencies:
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- `pyrobolearn.tools.interfaces`
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References:
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- [1] Haptic devices from Force Dimension: http://www.forcedimension.com/
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- [2] Haptic devices from 3D Systems: https://www.3dsystems.com/haptics-devices/openhaptics
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- [3] H3D API: https://h3dapi.org/
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- [4] H3D API - Documentation: https://www.h3dapi.org/modules/mediawiki/index.php/Main_Page
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- [6] H3D API - Github repo: https://github.com/SenseGraphics/h3dapi
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- [7] Haptic devices: https://www.h3dapi.org/modules/mediawiki/index.php/Haptics_devices
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"""
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# TODO
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# import H3DInterface as h3d
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from pyrobolearn.tools.interfaces import InputOutputInterface
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__author__ = "Brian Delhaisse"
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__copyright__ = "Copyright 2018, PyRoboLearn"
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__credits__ = ["Brian Delhaisse"]
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__license__ = "GNU GPLv3"
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__version__ = "1.0.0"
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__maintainer__ = "Brian Delhaisse"
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__email__ = "briandelhaisse@gmail.com"
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__status__ = "Development"
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class HapticInterface(InputOutputInterface):
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r"""Haptic Interface
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Provide the haptic interface which, for instance, allows the user to interact with the world and the robots.
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References:
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- [1] Haptic devices from Force Dimension: http://www.forcedimension.com/
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- [2] Haptic devices from 3D Systems: https://www.3dsystems.com/haptics-devices/openhaptics
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- [3] H3D API: https://h3dapi.org/
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- [4] H3D API - Documentation: https://www.h3dapi.org/modules/mediawiki/index.php/Main_Page
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- [6] H3D API - Github repo: https://github.com/SenseGraphics/h3dapi
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"""
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def __init__(self, use_thread=False, sleep_dt=0., verbose=False):
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"""
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Initialize the SpaceMouse interface.
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Args:
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use_thread (bool): If True, it will run the interface in a separate thread than the main one.
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The interface will update its data automatically.
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sleep_dt (float): If :attr:`use_thread` is True, it will sleep the specified amount before acquiring or
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setting the next sample.
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verbose (bool): If True, it will print information about the state of the interface. This is let to the
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programmer what he / she wishes to print.
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"""
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# From [7]
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# root, = references.getValue()
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#
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# di = getActiveDeviceInfo()
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# if di:
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# hd = di.device.getValue()[0]
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# available fields
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# hd.trackerPosition
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# hd.trackerOrientation
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# hd.mainButton
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# hd.secondaryButton
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super(HapticInterface, self).__init__(use_thread=use_thread, sleep_dt=sleep_dt, verbose=verbose)
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###########
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# Methods #
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###########
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def run(self):
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"""Run the interface."""
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pass
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# Test the interface
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if __name__ == '__main__':
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pass
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@@ -0,0 +1,187 @@
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#!/usr/bin/env python
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"""Define the space mouse (from 3D connexion) interface.
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Prerequisites:
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1. install spacenavd (http://spacenav.sourceforge.net/): `sudo apt-get install spacenavd`
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2. install spnav (https://spnav.readthedocs.io/en/latest/): `pip install spnav`
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Troubleshooting:
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- if you get 'OSError: libspnav.so: cannot open shared object file: No such file or directory', you have to copy-paste
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the file '/usr/lib/libspnav.so.0' to '/usr/lib/libspnav.so'
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Dependencies:
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- `pyrobolearn.tools.interfaces`
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References:
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- [1] SpaceMouse from 3D connexion: https://www.3dconnexion.com/products/spacemouse.html
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- [2] SpaceNav: http://spacenav.sourceforge.net/
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- [3] spnav: Space Navigator support in Python:
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- documentation: https://spnav.readthedocs.io/en/latest/
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- repository: https://bitbucket.org/seibert/spnav/src/default/
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"""
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import numpy as np
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try:
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import spnav
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except ImportError as e:
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string = "\nHint: try to install `spnav` by typing: " \
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"\n`sudo apt-get install spacenavd`" \
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"\n`pip install spnav`"
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raise ImportError(e.__str__() + string)
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from pyrobolearn.tools.interfaces import InputInterface
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__author__ = "Brian Delhaisse"
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__copyright__ = "Copyright 2018, PyRoboLearn"
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__credits__ = ["Brian Delhaisse"]
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__license__ = "GNU GPLv3"
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__version__ = "1.0.0"
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__maintainer__ = "Brian Delhaisse"
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__email__ = "briandelhaisse@gmail.com"
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__status__ = "Development"
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class SpaceMouseInterface(InputInterface):
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r"""Space Mouse Interface
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Provide the space mouse interface which, for instance, allows the user to interact with the world and the robots
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using the space mouse (from 3D connexion).
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Space mouse:
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* 2 buttons
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* 3 degrees of translation and 3 degrees of rotation
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References:
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- [1] SpaceMouse from 3D connexion: https://www.3dconnexion.com/products/spacemouse.html
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- [2] SpaceNav: http://spacenav.sourceforge.net/
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- [3] spnav: Space Navigator support in Python:
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- documentation: https://spnav.readthedocs.io/en/latest/
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- repository: https://bitbucket.org/seibert/spnav/src/default/
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"""
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def __init__(self, use_thread=False, sleep_dt=0., verbose=False, translation_range=(-1, 1),
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rotation_range=(-1, 1)):
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"""
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Initialize the SpaceMouse interface.
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Args:
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use_thread (bool): If True, it will run the interface in a separate thread than the main one.
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The interface will update its data automatically.
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sleep_dt (float): If :attr:`use_thread` is True, it will sleep the specified amount before acquiring or
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setting the next sample.
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verbose (bool): If True, it will print information about the state of the interface. This is let to the
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programmer what he / she wishes to print.
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translation_range (np.array[2], np.array[2,3], tuple of 2 float, tuple of 2 np.array[3]): the lower and
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higher bounds for the (x, y, z). This is used to normalize the translation range to be between
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[-1, 1]. The frame (x,y,z) is defined with x pointing forward, y to the left, and z up.
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rotation_range (np.array[2], np.array[2,3], tuple of 2 float, tuple of 2 np.array[3]): the lower and higher
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bounds for the roll-pitch-yaw angles. This is used to normalize the rotation range to be between
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[-1, 1]. The frame (x,y,z) is defined with x pointing forward, y to the left, and z up.
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"""
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# Open connection to the daemon via AF_UNIX socket.
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spnav.spnav_open()
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# check the ranges and their shapes
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translation_range = np.abs(np.asarray(translation_range, dtype=np.float))
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rotation_range = np.abs(np.asarray(rotation_range, dtype=np.float))
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if translation_range.shape != (2,) and translation_range.shape != (2, 3):
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raise ValueError("Expecting the shape of 'translation_range' to be (2,) or (2,3), instead got: "
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"{}".format(translation_range.shape))
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if rotation_range.shape != (2,) and rotation_range.shape != (2, 3):
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raise ValueError("Expecting the shape of 'rotation_range' to be (2,) or (2,3), instead got: "
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"{}".format(rotation_range.shape))
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if translation_range.shape == (2,):
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translation_range = np.vstack([translation_range]*3).T
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if rotation_range.shape == (2,):
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rotation_range = np.vstack([rotation_range]*3).T
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self.translation_range = translation_range
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self.rotation_range = rotation_range
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# define space mouse events
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self.left_button_pressed = False
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self.right_button_pressed = False
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self.translation = np.zeros(3)
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self.rotation = np.zeros(3)
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self.updated = False
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super(SpaceMouseInterface, self).__init__(use_thread=use_thread, sleep_dt=sleep_dt, verbose=verbose)
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###########
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# Methods #
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###########
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def run(self):
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"""Run the interface."""
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# # Remove pending space navigator events from the queue
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# spnav.spnav_remove_events(spnav.SPNAV_EVENT_ANY)
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# get space mouse event (without waiting)
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# event = spnav_wait_event() # blocking wait for the next event
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# try:
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event = spnav.spnav_poll_event()
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# except KeyboardInterrupt:
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# print '\nQuitting...'
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# finally:
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# self.close()
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# check the event
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self.updated = True
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if isinstance(event, spnav.SpnavButtonEvent): # button event
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if event.bnum == 0: # left
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self.left_button_pressed = event.press
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elif event.bnum == 1: # right
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self.right_button_pressed = event.press
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elif isinstance(event, spnav.SpnavMotionEvent): # mouse motion event
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# translation
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x, y, z = event.translation # x, y, z in spnav
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self.translation = np.array([z, -x, y], dtype=np.float) # x (front), y (left), z (up)
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condition = self.translation < 0
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self.translation[condition] /= self.translation_range[0][condition]
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self.translation[~condition] /= self.translation_range[1][~condition]
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# rotation
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r, p, y = event.rotation # r, p, y in spnav
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self.rotation = np.array([y, -r, p], dtype=np.float) # x (front), y (left), z (up)
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condition = self.rotation < 0
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self.rotation[condition] /= self.rotation_range[0][condition]
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self.rotation[~condition] /= self.rotation_range[1][~condition]
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else:
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self.updated = False
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# if we should print the events
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if self.verbose and self.updated:
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print("Left and Right buttons: {} and {}".format(self.left_button_pressed, self.right_button_pressed))
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print("Space mouse translation and orientation: {} and {}".format(self.translation, self.rotation))
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def close(self):
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"""Close the interface."""
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# spnav.spnav_close()
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if self.use_thread:
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self.stop_thread = True
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# Test the interface
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if __name__ == '__main__':
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import time
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from itertools import count
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# create interface
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# interface = SpaceMouseInterface(verbose=True)
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interface = SpaceMouseInterface(verbose=True, translation_range=[[-410, -410, -430], [460, 400, 420]],
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rotation_range=[[-410., -420, -360], [410, 400, 410]])
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for i in count():
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interface.step()
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# if i > 1e6:
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# print('closing the program')
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# interface.close()
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# break
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time.sleep(0.001)
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@@ -25,7 +25,7 @@ from pyrobolearn.tools.interfaces.vr import VRInterface
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__author__ = "Brian Delhaisse"
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__copyright__ = "Copyright 2018, PyRoboLearn"
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__credits__ = ["Brian Delhaisse"]
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__license__ = "MIT"
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__license__ = "GNU GPLv3"
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__version__ = "1.0.0"
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__maintainer__ = "Brian Delhaisse"
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__email__ = "briandelhaisse@gmail.com"
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@@ -1,10 +1,53 @@
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#!/usr/bin/env python
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"""Define the main Virtual Reality (VR) interface class.
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References:
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- steamvr: https://www.steamvr.com/en/
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- SteamVR on Linux:
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- https://github.com/ValveSoftware/SteamVR-for-Linux
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- https://www.cgl.ucsf.edu/chimera/data/linux-vr-oct2018/ubuntuvr.html
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- OpenVR (not open source):
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- Github repository: https://github.com/ValveSoftware/openvr
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- Documentation: https://github.com/ValveSoftware/openvr/wiki/API-Documentation
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- PyOpenVR:
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- Github repository: https://github.com/cmbruns/pyopenvr
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- OSVR
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- http://www.osvr.org/
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- https://osvr.github.io/doc/installing/linux/
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- Misc:
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- How to use the HTC Vive Trackers in Ubuntu using Python 3.6: https://gist.github.com/DanielArnett/c9a56c9c7cc0def20648480bca1f6772
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- https://github.com/osudrl/CassieVrControls/wiki/Tracking:-OpenVR-SDK
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Log:
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$ sudo add-apt-repository multiverse
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$ sudo apt install steam
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$ sudo apt install steam-devices
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* installing OSVR
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"""
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# TODO
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# import openvr
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from pyrobolearn.tools.interfaces.interface import InputOutputInterface
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__author__ = "Brian Delhaisse"
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__copyright__ = "Copyright 2018, PyRoboLearn"
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__credits__ = ["Brian Delhaisse"]
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__license__ = "GNU GPLv3"
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__version__ = "1.0.0"
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__maintainer__ = "Brian Delhaisse"
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__email__ = "briandelhaisse@gmail.com"
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__status__ = "Development"
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class VRInterface(InputOutputInterface):
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r"""Virtual Reality Interface
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Virtual reality interface from which other VR interfaces (such as HTC, Oculus) inherit from.
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"""
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pass
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def __init__(self, use_thread=False, sleep_dt=0., verbose=False):
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super(VRInterface, self).__init__(use_thread=use_thread, sleep_dt=sleep_dt, verbose=verbose)
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Reference in New Issue
Block a user