Joint Control Tool (mc_example.py)¶

mc_example.py is an interactive joint position control tool that lets you control the robot's joint positions in real time via the keyboard, and supports playing back pre-recorded motion sequences.

Features¶

Interactive keyboard control of joint positions
Supports control of all 22 joints
Playback of pre-recorded motion sequences
Real-time viewing of joint status
Supports switching between multiple motion files

Installation Requirements¶

Before using this tool, please ensure:

The GDK Python package is installed
The robot connection is configured (hybrid deployment or on-device deployment)
The motion sequence file (JSON format) is prepared

Usage¶

1. Prepare the Motion Sequence File¶

The tool reads motion sequence files in JSON format from the saved_commands/ directory. Make sure this directory exists and contains motion files:

cd ~/.cache/agibot/app/gdk/examples/python
mkdir -p saved_commands

Example motion sequence file format:

{
  "recorded_commands": [
    {
      "joint_names": ["idx21_arm_l_joint1", "idx22_arm_l_joint2"],
      "joint_positions": [0.5, -0.3]
    },
    {
      "joint_names": ["idx21_arm_l_joint1", "idx22_arm_l_joint2"],
      "joint_positions": [0.8, -0.5]
    }
  ]
}

2. Run the Tool¶

cd ~/.cache/agibot/app/gdk/examples/python
source ~/.cache/agibot/app/env.sh
python3 mc_example.py

3. Keyboard Control¶

After the tool starts, use the following keys to control it:

Key	Function
`w` / `W`	Move current joint in the positive direction (+0.1 rad)
`s` / `S`	Move current joint in the negative direction (-0.1 rad)
`a` / `A`	Switch to the previous joint
`d` / `D`	Switch to the next joint
`p` / `P`	Play the next frame of the current motion sequence
`m` / `M`	Switch to the next motion file
`q` / `Q`	Quit the program

4. Supported Joint List¶

The tool supports control of the following 22 joints:

Waist joints (5): - idx01_body_joint1 - Waist joint 1 - idx02_body_joint2 - Waist joint 2 - idx03_body_joint3 - Waist joint 3 - idx04_body_joint4 - Waist joint 4 - idx05_body_joint5 - Waist joint 5

Head joints (3): - idx11_head_joint1 - Head joint 1 - idx12_head_joint2 - Head joint 2 - idx13_head_joint3 - Head joint 3

Left arm joints (7): - idx21_arm_l_joint1 - Left arm joint 1 - idx22_arm_l_joint2 - Left arm joint 2 - idx23_arm_l_joint3 - Left arm joint 3 - idx24_arm_l_joint4 - Left arm joint 4 - idx25_arm_l_joint5 - Left arm joint 5 - idx26_arm_l_joint6 - Left arm joint 6 - idx27_arm_l_joint7 - Left arm joint 7

Right arm joints (7): - idx61_arm_r_joint1 - Right arm joint 1 - idx62_arm_r_joint2 - Right arm joint 2 - idx63_arm_r_joint3 - Right arm joint 3 - idx64_arm_r_joint4 - Right arm joint 4 - idx65_arm_r_joint5 - Right arm joint 5 - idx66_arm_r_joint6 - Right arm joint 6 - idx67_arm_r_joint7 - Right arm joint 7

Configuration Parameters¶

The following parameters can be modified in the code:

_step: The step size moved per key press (default: 0.1 rad)
_speed: Joint movement speed (default: 0.3)

Usage Examples¶

Example 1: Controlling a Single Joint¶

Run the program
Use the a/d keys to select the joint to control (e.g.: idx21_arm_l_joint1)
Use the w/s keys to adjust the joint position
Observe the robot's joint movement

Example 2: Playing a Motion Sequence¶

Prepare the motion sequence file and place it in the saved_commands/ directory
Run the program
Use the m key to switch to the motion file you want to play
Press the p key to play the motion sequence frame by frame
Press the p key repeatedly to play the full motion

Notes¶

Safety Tips:

Ensure there is sufficient space around the robot before use
Pay attention to the joint's range of motion to avoid exceeding the limits
It is recommended to test with small movements first
In an emergency, press the q key to quit the program

Usage Restrictions:

The tool needs to read JSON files from the saved_commands/ directory; if the directory is empty or the file format is incorrect, the program will report an error
The motion sequence file must be valid JSON
Ensure the robot is properly connected and initialized