2023-06-25 Baxter Robot Summer School

Baxter images examples

Next:

1. Setup ros_baxter_py2 and ros_baxter_py3 (source devel for control)

2. futurize or https://docs.python.org/3/library/2to3.html

3. Calibrate

4. Manually try to repeat lego experiment

5. Most likely wooden bricks

Simulation

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conda deactivate
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./baxter.sh sim
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roslaunch baxter_gazebo baxter_world.launch
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TEMP_DEB="$(mktemp)" && wget -O "$TEMP_DEB" 'http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-msgs/ros-kinetic-gazebo-msgs_2.5.21-1xenial-20210503-112644-0800_amd64.deb' && sudo dpkg -i "$TEMP_DEB" && rm -f "$TEMP_DEB"
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TEMP_DEB="$(mktemp)" && wget -O "$TEMP_DEB" 'http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-ros-pkgs/ros-kinetic-gazebo-ros-pkgs_2.5.21-1xenial-20210503-155039-0800_amd64.deb' && sudo dpkg -i "$TEMP_DEB" && rm -f "$TEMP_DEB"
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TEMP_DEB="$(mktemp)" && wget -O "$TEMP_DEB" 'http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-ros/ros-kinetic-gazebo-ros_2.5.21-1xenial-20210503-130736-0800_amd64.deb' && sudo dpkg -i "$TEMP_DEB" && rm -f "$TEMP_DEB"
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TEMP_DEB="$(mktemp)" && wget -O "$TEMP_DEB" 'http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-plugins/ros-kinetic-gazebo-plugins_2.5.21-1xenial-20210503-130101-0800_amd64.deb' && sudo dpkg -i "$TEMP_DEB" && rm -f "$TEMP_DEB"
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TEMP_DEB="$(mktemp)" && wget -O "$TEMP_DEB" 'http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-dev/ros-kinetic-gazebo-dev_2.5.21-1xenial-20210405-102417-0800_amd64.deb' && sudo dpkg -i "$TEMP_DEB" && rm -f "$TEMP_DEB"
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TEMP_DEB="$(mktemp)" && wget -O "$TEMP_DEB" 'http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-effort-controllers/ros-kinetic-effort-controllers_0.13.6-1xenial-20210503-115251-0800_amd64.deb' && sudo dpkg -i "$TEMP_DEB" && rm -f "$TEMP_DEB"
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04  Not Found [IP: 64.50.236.52 80]
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Err:2 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-effort-controllers amd64 0.13.4-0xenial-20180809-161302-0800
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  404  Not Found [IP: 64.50.236.52 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-forward-command-controller/ros-kinetic-forward-command-controller_0.13.4-0xenial-20180809-154640-0800_amd64.deb  404  Not Found [IP: 64.50.236.52 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-effort-controllers/ros-kinetic-effort-controllers_0.13.4-0xenial-20180809-161302-0800_amd64.deb  404  Not Found [IP: 64.50.236.52 80]
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E: Unable to fetch some archives, maybe run 
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-combined-robot-hw-tests/ros-kinetic-combined-robot-hw-tests_0.13.3-0xenial-20180809-161649-0800_amd64.deb  404  Not Found [IP: 64.50.236.52 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-ros-control/ros-kinetic-ros-control_0.13.3-0xenial-20180809-162855-0800_amd64.deb  404  Not Found [IP: 64.50.236.52 80]
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E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?
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-0-
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-dev
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-msgs
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-plugins
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-ros
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-ros-pkgs
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http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-realtime-tools/ros-kinetic-realtime-tools_1.11.0-0xenial-20180809-150023-0800_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-control-toolbox/ros-kinetic-control-toolbox_1.16.0-0xenial-20180809-160731-0800_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-hardware-interface/ros-kinetic-hardware-interface_0.13.3-0xenial-20180809-153122-0800_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-controller-interface/ros-kinetic-controller-interface_0.13.3-0xenial-20180809-153814-0800_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-controller-manager/ros-kinetic-controller-manager_0.13.3-0xenial-20180809-154656-0800_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-joint-limits-interface/ros-kinetic-joint-limits-interface_0.13.3-0xenial-20180809-154056-0800_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-transmission-interface/ros-kinetic-transmission-interface_0.13.3-0xenial-20180809-153821-0800_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
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E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-gazebo-ros-control/ros-kinetic-gazebo-ros-control_2.5.17-0xenial-20180809-193902-0800_amd64.deb  404  Not Found [IP: 64.50.233.100 80]
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DHCP reset / renew

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sudo dhclient

Python3 adaption

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try:
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    from builtins import object
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except ImportError:
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    from __builtin__ import object

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micromamba env create -v -y -f ./environment.yml

Python3 env

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sudo apt-get install python3-catkin-pkg-modules
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mkdir -p ~/catkin_ws_py3/src
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cd ~/catkin_ws_py3/src
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catkin_init_workspace

Run with keyboard

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rosrun baxter_examples joint_position_keyboard.py

Baxter simulator excercise

https://sceweb.sce.uhcl.edu/harman/A_CRS_ROS_SeminarDay3/UNIT3_5_BAXTER_SIM/3_5_2Baxter_Sim_Exercises_D158.pdf

Head wobble

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rosrun baxter_examples head_wobbler.py

Laba grāmata: https://sceweb.sce.uhcl.edu/harman/CENG5437_MobileRobots/Webitems2020/ROS_ROBOTICS_BY_EXAMPLE_SECOND_EDITION.pdf

Baxter default position

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rosrun baxter_tools tuck_arms.py -u
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rosrun baxter_tools tuck_arms.py -t # aiz muguras

Recording mode

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rosrun baxter_examples joint_recorder.py -f test.rec

Sensors

IR range sensors uz rokām

Head sonar https://web.archive.org/web/20180727200152/http://sdk.rethinkrobotics.com/wiki/API_Reference#IR_Range

Disable head sonar sensors (Sonar control - https://web.archive.org/web/20220930161154/https://sdk.rethinkrobotics.com/wiki/Sonar_Control)

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rostopic pub /robot/sonar/head_sonar/set_sonars_enabled std_msgs/UInt16 0

Main wiki: https://web.archive.org/web/20230610211612/https://sdk.rethinkrobotics.com/wiki/Home

Main API: https://web.archive.org/web/20180727200152/http://sdk.rethinkrobotics.com/wiki/API_Reference#head-joints

Baxter moveit

https://www.youtube.com/watch?v=qihq2jT-fAI

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rosrun baxter_interface joint_trajectory_action_server.py
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 roslaunch baxter_t_config demo_baxter.launch
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sudo apt install ros-kinetic-moveit

Record and replay

https://www.youtube.com/watch?v=Y3uAe0fKEVM

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rosrun baxter_examples joint_recorder.py -h
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rosrun baxter_examples joint_recorder.py -f j.rec -r 10
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# record rate
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rosrun baxter_interface joint_trajectory_action_server.py
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rosrun baxter_examples joint_trajectory_file_playback.py -f j.rec -l 2

Sensor readings

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#!/usr/bin/env python
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import rospy
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from sensor_msgs.msg import JointState
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def joint_state_callback(msg):
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    print("Joint States: ")
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    for i, name in enumerate(msg.name):
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        print(f"  {name}: {msg.position[i]}")
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rospy.init_node('joint_state_printer') 
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rospy.Subscriber('/robot/joint_states', JointState, joint_state_callback)
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rospy.spin()
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# rosrun baxter_tools calibrate_arm.py -l left
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# rosrun baxter_tools calibrate_arm.py -l right
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Baxter calibration

https://www.youtube.com/watch?v=k-Llz3zZ2hg

https://www.youtube.com/watch?v=Dynv9LEddA4

Jānoskrūvē gripperi, lai viņš sevi nesalauž

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rosrun baxter_tools calibrate_arm.py -l left
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rosrun baxter_tools calibrate_arm.py -l right
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rosrun baxter_tools tare.py -l left
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rosrun baxter_tools tare.py -l right
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TODO:

1. Izmērīt kompresora cauruli gan spraužamo, gan skrūvējamo

Wayback machine documentation: https://web.archive.org/web/20180708151310/http://sdk.rethinkrobotics.com/wiki/Main_Page

Baxter starup video

https://www.youtube.com/watch?v=DFXY5pyMhbA

Stop Button disengaged

Baxter SDK installation https://www.youtube.com/watch?v=J47SKs0QRyU&t=40s

SDK Demos

ZeroG: https://www.youtube.com/watch?v=KIe_MEuCxTo

Puppeteer: https://www.youtube.com/watch?v=lvLkFXuVLMU

Pre-configured VMs

https://industrial-training-master.readthedocs.io/en/kinetic/_source/setup/PC-Setup---ROS-Kinetic.html

Baxter demos:

1. Record and playback https://www.youtube.com/watch?v=Y3uAe0fKEVM

2. MoveIT + Rviz control https://www.youtube.com/watch?v=qihq2jT-fAI

Baxter facial animations

1. https://github.com/cwru-robotics/baxter_facial_animation/tree/master

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export PATH=$PATH:$(find /home/workstation/baxter_py2/src/baxter_facial_animation -type d | tr '\n' ':' | sed 's/:$//')
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rosrun merry_faces approval.py
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1. https://github.com/runbren/baxter-eyes/tree/master

Teorētiski viņu var updeitot update_robot.py

Ready made ROS

u: ros-industrial p: rosindustrial

Setting up workstation

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sudo apt-get update --allow-unauthenticated --allow-downgrades
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sudo apt-get install python-wstool python-rosdep

Creating new workspace

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mkdir -p ~/ros_ws/src
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cd ~/ros_ws/src
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wstool init .

Adding necessary packages

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wstool merge https://raw.github.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
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wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall
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wstool update

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source /opt/ros/kinetic/setup.bash
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cd ~/ros_ws
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catkin_make
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catkin_make install

check env variables

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env | grep ROS

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cp ~/ros_ws/src/baxter/baxter.sh ~/ros_ws

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gedit ~/ros_ws/baxter.sh

RUN

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 ~/ros_ws/src/baxter/baxter.sh

left_s0 -> -1.19 .. 1.7 left_s1 -> -1.5 … 0.8

right_s0 -> -1.7 .. 1.7

right_s0 -> -1.2….1.0

Andris.Viduzs@rtu.lv

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rosrun baxter_tools enable_robot.py -e
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rosrun baxter_tools enable_robot.py -d
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rosrun baxter_tools enable_robot.py -h

Enable baxter will put it in ZeroG mode

Trying collide arms - avoidance

SDK samples

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cd ./sdk-samples
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./init.sh ROBOT_ID.local

Puppet example mirror

Viena roka kustās līdi otrai

Kustina left, bet replicējas uz right

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rosrun baxter_examples joint_velocity_puppet.py -l right
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-a amplification

ROS commands

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rostopic list

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rosnode list

Enable robot

pirmā rinda uzstāda variables otrā palaiž

http://wiki.ros.org/mallasrikanth/baxter

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./baxter.sh
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rosrun baxter_tools enable_robot.py -e

Current state

./baxter.sh

http://share.yellowrobot.xyz/quick/2023-7-10-B9FAD050-B6EF-4B8D-8E1D-B322FF204BFA.zip

✅ SSH connection (caur router)

192.168.1.73

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ping 011603P0010.local

u: ruser

p: rethink

Baxter IP

Caur router

Man iedotā adrese - izskatās, ka tā nav pareiza

https://www.reddit.com/r/robotics/comments/aa9c3z/anyone_who_worked_with_baxter_robot_is_it/

Daudz labāka instrukcvija

https://sceweb.sce.uhcl.edu/harman/CENG5931Baxter2015/Guides/BAXTER_Introduction_2_08_2016.pdf

Compatibility:

1. ROS Kinetic is compatible with Ubuntu Wily (15.10) and Ubuntu Xenial (16.04 LTS)

2. https://wiki.ros.org/kinetic/Installation/Ubuntu

3. https://sdk.rethinkrobotics.com/wiki/Simulator_Installation

Official repo:

1. https://github.com/RethinkRobotics/baxter

Guides:

1. https://pages.github.berkeley.edu/EECS-106/sp22-site/assets/lab/106B_Robot_Usage_Guide.pdf

2. https://sceweb.sce.uhcl.edu/harman/CENG5931Baxter2015/Guides/BAXTER_Introduction_2_08_2016.pdf

3. Simulation guide: https://wiki.ros.org/mallasrikanth/baxter

Kameru utt specifikācija:

1. https://sceweb.sce.uhcl.edu/harman/CENG5931Baxter2015/Guides/BAXTER_Introduction_2_08_2016.pdf

Simulators:

1. Official Gazebo - https://sdk.rethinkrobotics.com/wiki/Baxter_Simulator

2. Official Movit + RViz - https://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial

Gazebo or RViz.

MoveIt V-REP (Virtual Robot Experimentation Platform)

Demo app:

1. https://github.com/ravijo/baxter_moveit_tutorial/tree/master

Vasaras skolas projekta mērķis: Apgūt visu nepieciešamo un panākt, ka Baxter robots spēj salikt no Lego Duplo mājiņu.

17 jul Pirmdiena - Python basics and data processing (OOP, Numpy, Pandas, Matplotlib) - Evalds intro + Baxter demo, Pauls Purviņš tutor 18 jul Otrdiena - Deep machine learning basics (Backpropogation, Regression, Classification, PyTorch) - Māris Ancāns 19 jul Trešdiena - Image classifiers and segmentation (ConvNet, UNet, YOLO) - Betija Rudzite 20 jul Ceturdiena - Transformers and language models (GPT, LLMs) - Marcis Upenieks 21 jul Piektdiena - Prompt engineering, LLM based planning (OpenAI API) - Māris Ancāns 24 jul Pirmdiena - Robot operating System (Tools, actions, topics) - Evalds Urtans 25 jul Otrdiena - Baxter control in simulation environment- Pauls Purviņš 26 jul Trešdiena - Baxter control in real environment - Evalds Urtans 27 jul Ceturdiena - Baxter use-case for Lego building - Evalds Urtans 28 jul Piektdiena - Experimentation and final demo - Evalds Urtans

Vai jūs lūdzu varētu no RTU pievienot bankas karti un atsūtīt account pieeju http://platform.openai.com, lai vasaras skolas vajadzībām izmantotu vai arī kaut kādu rēkinu uz SIA ASYA, lai mēs varam to nosegt ?