Run Real Robots

Once the low-level robot SDK is launched as described in Launch the Controller, it’s finally time to run the robot using brs_ctrl.

brs_ctrl provides an easy-to-use Python interface. To use it, simply import R1Interface and instantiate it.

from brs_ctrl.robot_interface import R1Interface

# Initialize the robot interface
robot = R1Interface()

To initialize grippers, pass GalaxeaR1Gripper objects to the R1Interface constructor.

from brs_ctrl.robot_interface import R1Interface
from brs_ctrl.robot_interface.grippers import GalaxeaR1Gripper

# Initialize the robot interface with grippers
robot = R1Interface(
    left_gripper=GalaxeaR1Gripper(
        left_or_right="left",
        gripper_close_stroke=0.0,
        gripper_open_stroke=100.0,
    ),
    right_gripper=GalaxeaR1Gripper(
        left_or_right="right",
        gripper_close_stroke=0.0,
        gripper_open_stroke=100.0,
    ),
)

To control the robot, simply call the R1Interface.control() method.

# Control the robot
robot.control(
    arm_cmd={
        "left": left_arm_action,  # np (6,)
        "right": right_arm_action,  # np (6,)
    },
    gripper_cmd={
        "left": left_gripper_action,  # float between 0.0 and 1.0
        "right": right_gripper_action,  # float between 0.0 and 1.0
    },
    torso_cmd=torso_action,  # np (4,)
    base_cmd=mobile_base_action,  # np (3,)
)

To query the proprioceptive state of the robot:

robot.last_joint_position
>>> {
    "left_arm": np array, (6,),
    "right_arm": np array, (6,),
    "torso": np array, (4,),
}

robot.last_gripper_state
>>> {
    "left_gripper": {
        "gripper_position": float,
        "gripper_velocity": float,
        "gripper_effort": float,
    },
    "right_gripper": {
        "gripper_position": float,
        "gripper_velocity": float,
        "gripper_effort": float,
    },
}

robot.curr_base_velocity
>>> np array, (3,)

To query the point cloud observation, pass enable_pointcloud=True to the R1Interface constructor and call:

robot.last_pointcloud
>>> {
    "xyz": np array, (N, 3),
    "rgb": np array, (N, 3),
}

To query the RGBD camera observation, pass enable_rgbd=True to the R1Interface constructor and call:

robot.last_rgb
>>> {
    "head": np array, (H, W, 3),
    "left_wrist": np array, (H, W, 3),
    "right_wrist": np array, (H, W, 3),
}

robot.last_depth
>>> {
    "head": np array, (H, W),
    "left_wrist": np array, (H, W),
    "right_wrist": np array, (H, W),
}

Here is an example script to get robot state (set the proper ROS_IP and ROS_MASTER_URI if necessary):

export ROS_IP=10.0.0.10  # this makes sure ROS topics can be addressed properly
export ROS_MASTER_URI=http://10.0.0.10:11311
python3 scripts/examples/get_r1_state.py