panda-py-remote

panda_py made remote!

Getting started

To get started, first run server.py on a computer connected to the robot:

# Run the server script with the specified network interface and robot IP
python scripts/server.py [network_interface] [robot_ip]

# Alternatively, if using pixi (https://pixi.sh)
# To install pixi: curl -fsSL https://pixi.sh/install.sh | bash
pixi run server eno1 172.16.0.2

Replace eno1 with the network interface you want to use. You can use ifconfig to find available network interfaces.

Next, from any computer that can reach the server, run the client. This library uses asynchronous calls to the robot with async and await. It leverages the trio event loop and tractor for streaming and RPC.

import numpy as np
import trio
from panda_py_remote import Panda

async def main():
    server_ip = "1.1.1.1" # your server's ip here
    panda_username = "username" # your robot's username
    panda_password = "password" # your robot's password
    
    async with Panda(server_ip) as panda:
        await panda.login(panda_username, panda_password)
        await panda.take_control(force=True)
        await panda.unlock()
        await panda.activate_fci()
        await panda.move_to_joint_position(
            [np.array([0.0, -np.pi/4, 0.0, -3*np.pi/4, 0.0, np.pi/2, 0.0])],
        )
        state = await panda.read_once()
        x0 = await panda.get_position()
        q0 = await panda.get_orientation()
        
        async with panda.start_cartesian_impedance_controller(control_freq=1000) as ctrl:
            while await ctrl.ok():
                x_d = x0.copy()
                x_d[1] += 0.1 * np.sin(ctrl.get_time())
                last_state = ctrl.get_state()
                await ctrl.set_control(x_d, q0)

        
if __name__ == "__main__":
    trio.run(main)