Python-based control library for Blossom or Dynamixel-controlled robots. Written for computer-tethering and streamlining the pipeline from software tasks to robot control.
In a terminal, clone this repo
git clone https://github.com/hrc2/blossom-public/
Download through a package will be added in the future.
Make sure you're using Python 2.7.
Also ensure that pip is installed.
Make a venv (virtual environment) in the top blossom directory:
virtualenv venv
source venv/bin/activate
To be able to run the web UI or start the mobile app, install yarn.
Then cd into the blossom_web directory and run yarn install.
To install dependencies, run
pip install -r requirements.txt
Mac OSX: You may need to append --user to the pip command to circumvent installation issues:
pip install -r requirements.txt --user
If this still doesn't work, you may have to append sudo before pip:
sudo pip install -r requirements.txt --user
This may require you to run in sudo for subsequent steps.
It may take a while to install the dependencies; you may want to run pip verbose to make sure that it's still downloading: pip install -rv requirements.txt
If you run into an error opening a port, try changing Blossom's permissions: sudo chmod 777 /dev/ttyACM0. Alternatively, rerun everything with admin privileges.
If you're using OSX and getting strange errors, try:
sudo chown -R $USER /Library/Python/2.7
Installation will take longer on a Raspberry Pi, and you may need additional dependencies:
sudo apt-get install xvfb
To start the CLI, plug Blossom in and run
python start.py -n [robot_name]
For example, to start Woody:
python start.py -n woody
Additional flags:
-b do not start up web ui
-p denote the port
-i specify an IP address (won't work with localhost)
Linux may default to a loopback IP (127.0.1.1); in this case you must specify the IP address using -i.
Available commands:
l: list available sequencess: perform a sequence, followed by sequence name- e.g.
s-> Enter ->yes - To perform an idler (looped gesture), enter two sequence names separated by
=, e.g.s-> Enter ->yes=no(playyesthen loopnoindefinitely until another sequence is played).
- e.g.
q: quit
The GUI should be accessible via localhost:8000 after starting up the CLI if -b was not specified. Otherwise, the CLI should print a message stating the server url.
The app can be installed on iOS or Android via the Expo Client app (available in the respective app stores). From within the app, search for https://exp.host/@michaelhu/blossom-app.
Android: if Blossom is not controllable at first, unfocus and refocus the app.
iOS: Expo now no longer supports QR scanning or URL entry, so you must have an Expo account to publish and "test" the app; instructions are in BlossomApp.