def main(time_step=0.01): parser = create_parser() parser.add_argument('-teleport', action='store_true', help='Teleports between configurations') parser.add_argument('-viewer', action='store_true', help='enable the viewer while planning') # TODO: argument for selecting prior args = parser.parse_args() print('Arguments:', args) # TODO: nonuniform distribution to bias towards other actions # TODO: closed world and open world real_world = connect(use_gui=not args.viewer) add_data_path() task, state = get_problem1(localized='rooms', p_other=0.25) # surfaces | rooms for body in task.get_bodies(): add_body_name(body) robot = task.robot #dump_body(robot) assert (USE_DRAKE_PR2 == is_drake_pr2(robot)) attach_viewcone(robot) # Doesn't work for the normal pr2? draw_base_limits(get_base_limits(robot), color=(0, 1, 0)) #wait_for_user() # TODO: partially observable values # TODO: base movements preventing pick without look # TODO: do everything in local coordinate frame # TODO: automatically determine an action/command cannot be applied # TODO: convert numpy arrays into what they are close to # TODO: compute whether a plan will still achieve a goal and do that # TODO: update the initial state directly and then just redraw it to ensure uniqueness step = 0 while True: step += 1 print('\n' + 50 * '-') print(step, state) wait_for_user() #print({b: p.value for b, p in state.poses.items()}) with ClientSaver(): commands = plan_commands(state, args) print() if commands is None: print('Failure!') break if not commands: print('Success!') break apply_commands(state, commands, time_step=time_step) print(state) wait_for_user() disconnect()
def packed(arm='left', grasp_type='top', num=5): # TODO: packing problem where you have to place in one direction base_extent = 5.0 base_limits = (-base_extent / 2. * np.ones(2), base_extent / 2. * np.ones(2)) block_width = 0.07 block_height = 0.1 #block_height = 2*block_width block_area = block_width * block_width #plate_width = 2*math.sqrt(num*block_area) plate_width = 0.27 #plate_width = 0.28 #plate_width = 0.3 print('Width:', plate_width) plate_width = min(plate_width, 0.6) plate_height = 0.001 other_arm = get_other_arm(arm) initial_conf = get_carry_conf(arm, grasp_type) add_data_path() floor = load_pybullet("plane.urdf") pr2 = create_pr2() set_arm_conf(pr2, arm, initial_conf) open_arm(pr2, arm) set_arm_conf(pr2, other_arm, arm_conf(other_arm, REST_LEFT_ARM)) close_arm(pr2, other_arm) set_group_conf(pr2, 'base', [-1.0, 0, 0]) # Be careful to not set the pr2's pose table = create_table() plate = create_box(plate_width, plate_width, plate_height, color=GREEN) plate_z = stable_z(plate, table) set_point(plate, Point(z=plate_z)) surfaces = [table, plate] blocks = [ create_box(block_width, block_width, block_height, color=BLUE) for _ in range(num) ] initial_surfaces = {block: table for block in blocks} min_distances = {block: 0.05 for block in blocks} sample_placements(initial_surfaces, min_distances=min_distances) return Problem( robot=pr2, movable=blocks, arms=[arm], grasp_types=[grasp_type], surfaces=surfaces, #goal_holding=[(arm, block) for block in blocks]) goal_on=[(block, plate) for block in blocks], base_limits=base_limits)
def main(): parser = argparse.ArgumentParser() parser.add_argument('-viewer', action='store_true', help='enable the viewer while planning') args = parser.parse_args() print(args) connect(use_gui=True) with LockRenderer(): draw_pose(unit_pose(), length=1) floor = create_floor() with HideOutput(): robot = load_pybullet(get_model_path(ROOMBA_URDF), fixed_base=True, scale=2.0) for link in get_all_links(robot): set_color(robot, link=link, color=ORANGE) robot_z = stable_z(robot, floor) set_point(robot, Point(z=robot_z)) #set_base_conf(robot, rover_confs[i]) data_path = add_data_path() shelf, = load_model(os.path.join(data_path, KIVA_SHELF_SDF), fixed_base=True) # TODO: returns a tuple dump_body(shelf) #draw_aabb(get_aabb(shelf)) wait_for_user() disconnect()
def main(time_step=0.01): # TODO: closed world and open world real_world = connect(use_gui=True) add_data_path() task, state = get_problem1(localized='rooms', p_other=0.5) # surfaces | rooms for body in task.get_bodies(): add_body_name(body) robot = task.robot #dump_body(robot) assert (USE_DRAKE_PR2 == is_drake_pr2(robot)) attach_viewcone(robot) # Doesn't work for the normal pr2? draw_base_limits(get_base_limits(robot), color=(0, 1, 0)) #wait_for_interrupt() # TODO: partially observable values # TODO: base movements preventing pick without look # TODO: do everything in local coordinate frame # TODO: automatically determine an action/command cannot be applied # TODO: convert numpy arrays into what they are close to # TODO: compute whether a plan will still achieve a goal and do that # TODO: update the initial state directly and then just redraw it to ensure uniqueness step = 0 while True: step += 1 print('\n' + 50 * '-') print(step, state) #print({b: p.value for b, p in state.poses.items()}) with ClientSaver(): commands = plan_commands(state) print() if commands is None: print('Failure!') break if not commands: print('Success!') break apply_commands(state, commands, time_step=time_step) print(state) wait_for_interrupt() disconnect()
def problem1(n_rovers=1, n_objectives=1, n_rocks=2, n_soil=2, n_stores=1): base_extent = 5.0 base_limits = (-base_extent / 2. * np.ones(2), base_extent / 2. * np.ones(2)) floor = create_box(base_extent, base_extent, 0.001, color=TAN) # TODO: two rooms set_point(floor, Point(z=-0.001 / 2.)) add_data_path() lander = load_pybullet(HUSKY_URDF, scale=1) lander_z = stable_z(lander, floor) set_point(lander, Point(-2, -2, lander_z)) #wait_for_user() mount_width = 0.5 mound_height = mount_width mound1 = create_box(mount_width, mount_width, mound_height, color=GREY) set_point(mound1, [+2, 1.5, mound_height / 2.]) mound2 = create_box(mount_width, mount_width, mound_height, color=GREY) set_point(mound2, [-2, 1.5, mound_height / 2.]) initial_surfaces = {} rover_confs = [(+1, -1.75, np.pi), (-1, -1.75, 0)] assert n_rovers <= len(rover_confs) #body_names = map(get_name, env.GetBodies()) landers = [lander] stores = ['store{}'.format(i) for i in range(n_stores)] #affine_limits = aabb_extrema(aabb_union([aabb_from_body(body) for body in env.GetBodies()])).T rovers = [] for i in range(n_rovers): robot = create_pr2() dump_body(robot) # camera_rgb_optical_frame rovers.append(robot) set_group_conf(robot, 'base', rover_confs[i]) for arm in ARM_NAMES: set_arm_conf(robot, arm, arm_conf(arm, REST_LEFT_ARM)) close_arm(robot, arm) obj_width = 0.07 obj_height = 0.2 objectives = [] for _ in range(n_objectives): body = create_box(obj_width, obj_width, obj_height, color=BLUE) objectives.append(body) initial_surfaces[body] = mound1 for _ in range(n_objectives): body = create_box(obj_width, obj_width, obj_height, color=RED) initial_surfaces[body] = mound2 # TODO: it is moving to intermediate locations attempting to reach the rocks rocks = [] for _ in range(n_rocks): body = create_box(0.075, 0.075, 0.05, color=BLACK) rocks.append(body) initial_surfaces[body] = floor soils = [] for _ in range(n_soil): body = create_box(0.1, 0.1, 0.025, color=BROWN) soils.append(body) initial_surfaces[body] = floor sample_placements(initial_surfaces) #for name in rocks + soils: # env.GetKinBody(name).Enable(False) return RoversProblem(rovers, landers, objectives, rocks, soils, stores, base_limits)
def rovers1(n_rovers=2, n_objectives=4, n_rocks=3, n_soil=3, n_stores=1, n_obstacles=8): base_extent = 5.0 base_limits = (-base_extent / 2. * np.ones(2), base_extent / 2. * np.ones(2)) mount_width = 0.5 mound_height = 0.1 floor = create_box(base_extent, base_extent, 0.001, color=TAN) # TODO: two rooms set_point(floor, Point(z=-0.001 / 2.)) wall1 = create_box(base_extent + mound_height, mound_height, mound_height, color=GREY) set_point(wall1, Point(y=base_extent / 2., z=mound_height / 2.)) wall2 = create_box(base_extent + mound_height, mound_height, mound_height, color=GREY) set_point(wall2, Point(y=-base_extent / 2., z=mound_height / 2.)) wall3 = create_box(mound_height, base_extent + mound_height, mound_height, color=GREY) set_point(wall3, Point(x=base_extent / 2., z=mound_height / 2.)) wall4 = create_box(mound_height, base_extent + mound_height, mound_height, color=GREY) set_point(wall4, Point(x=-base_extent / 2., z=mound_height / 2.)) # TODO: can add obstacles along the wall wall = create_box(mound_height, base_extent, mound_height, color=GREY) # TODO: two rooms set_point(wall, Point(z=mound_height / 2.)) add_data_path() with HideOutput(): lander = load_pybullet(HUSKY_URDF, scale=1) lander_z = stable_z(lander, floor) set_point(lander, Point(-1.9, -2, lander_z)) mound1 = create_box(mount_width, mount_width, mound_height, color=GREY) set_point(mound1, [+2, 2, mound_height / 2.]) mound2 = create_box(mount_width, mount_width, mound_height, color=GREY) set_point(mound2, [-2, 2, mound_height / 2.]) mound3 = create_box(mount_width, mount_width, mound_height, color=GREY) set_point(mound3, [+0.5, 2, mound_height / 2.]) mound4 = create_box(mount_width, mount_width, mound_height, color=GREY) set_point(mound4, [-0.5, 2, mound_height / 2.]) mounds = [mound1, mound2, mound3, mound4] random.shuffle(mounds) body_types = [] initial_surfaces = OrderedDict() min_distances = {} for _ in range(n_obstacles): body = create_box(mound_height, mound_height, 4 * mound_height, color=GREY) initial_surfaces[body] = floor rover_confs = [(+1, -1.75, np.pi), (-1, -1.75, 0)] assert n_rovers <= len(rover_confs) landers = [lander] stores = ['store{}'.format(i) for i in range(n_stores)] rovers = [] for i in range(n_rovers): # camera_rgb_optical_frame with HideOutput(): rover = load_model(TURTLEBOT_URDF) robot_z = stable_z(rover, floor) set_point(rover, Point(z=robot_z)) #handles = draw_aabb(get_aabb(rover)) # Includes the origin #print(get_center_extent(rover)) #wait_for_user() set_base_conf(rover, rover_confs[i]) rovers.append(rover) #dump_body(rover) #draw_pose(get_link_pose(rover, link_from_name(rover, KINECT_FRAME))) obj_width = 0.07 obj_height = 0.2 objectives = [] for i in range(n_objectives): body = create_box(obj_width, obj_width, obj_height, color=BLUE) objectives.append(body) #initial_surfaces[body] = random.choice(mounds) initial_surfaces[body] = mounds[i] min_distances.update({r: 0.05 for r in objectives}) # TODO: it is moving to intermediate locations attempting to reach the rocks rocks = [] for _ in range(n_rocks): body = create_box(0.075, 0.075, 0.01, color=BLACK) rocks.append(body) body_types.append((body, 'stone')) for _ in range(n_soil): body = create_box(0.1, 0.1, 0.005, color=BROWN) rocks.append(body) body_types.append((body, 'soil')) soils = [] # Treating soil as rocks for simplicity initial_surfaces.update({r: floor for r in rocks}) min_distances.update({r: 0.2 for r in rocks}) sample_placements(initial_surfaces, min_distances=min_distances) return RoversProblem(rovers, landers, objectives, rocks, soils, stores, base_limits, body_types)
def blocked(arm='left', grasp_type='side', num=1): x_extent = 10.0 base_limits = (-x_extent / 2. * np.ones(2), x_extent / 2. * np.ones(2)) block_width = 0.07 #block_height = 0.1 block_height = 2 * block_width #block_height = 0.2 plate_height = 0.001 table_x = (x_extent - 1) / 2. other_arm = get_other_arm(arm) initial_conf = get_carry_conf(arm, grasp_type) add_data_path() floor = load_pybullet("plane.urdf") pr2 = create_pr2() set_arm_conf(pr2, arm, initial_conf) open_arm(pr2, arm) set_arm_conf(pr2, other_arm, arm_conf(other_arm, REST_LEFT_ARM)) close_arm(pr2, other_arm) set_group_conf( pr2, 'base', [x_extent / 4, 0, 0]) # Be careful to not set the pr2's pose table1 = create_table() set_point(table1, Point(x=+table_x, y=0)) table2 = create_table() set_point(table2, Point(x=-table_x, y=0)) #table3 = create_table() #set_point(table3, Point(x=0, y=0)) plate = create_box(0.6, 0.6, plate_height, color=GREEN) x, y, _ = get_point(table1) plate_z = stable_z(plate, table1) set_point(plate, Point(x=x, y=y - 0.3, z=plate_z)) #surfaces = [table1, table2, table3, plate] surfaces = [table1, table2, plate] green1 = create_box(block_width, block_width, block_height, color=BLUE) green1_z = stable_z(green1, table1) set_point(green1, Point(x=x, y=y + 0.3, z=green1_z)) # TODO: can consider a fixed wall here instead spacing = 0.15 #red_directions = [(-1, 0), (+1, 0), (0, -1), (0, +1)] red_directions = [(-1, 0)] #red_directions = [] red_bodies = [] for red_direction in red_directions: red = create_box(block_width, block_width, block_height, color=RED) red_bodies.append(red) x, y = get_point(green1)[:2] + spacing * np.array(red_direction) z = stable_z(red, table1) set_point(red, Point(x=x, y=y, z=z)) wall1 = create_box(0.01, 2 * spacing, block_height, color=GREY) wall2 = create_box(spacing, 0.01, block_height, color=GREY) wall3 = create_box(spacing, 0.01, block_height, color=GREY) z = stable_z(wall1, table1) x, y = get_point(green1)[:2] set_point(wall1, Point(x=x + spacing, y=y, z=z)) set_point(wall2, Point(x=x + spacing / 2, y=y + spacing, z=z)) set_point(wall3, Point(x=x + spacing / 2, y=y - spacing, z=z)) green_bodies = [ create_box(block_width, block_width, block_height, color=BLUE) for _ in range(num) ] body_types = [(b, 'green') for b in [green1] + green_bodies] # + [(table1, 'sink')] movable = [green1] + green_bodies + red_bodies initial_surfaces = {block: table2 for block in green_bodies} sample_placements(initial_surfaces) return Problem( robot=pr2, movable=movable, arms=[arm], grasp_types=[grasp_type], surfaces=surfaces, #sinks=[table1], #goal_holding=[(arm, '?green')], #goal_cleaned=['?green'], goal_on=[('?green', plate)], body_types=body_types, base_limits=base_limits, costs=True)