def parse_object(obj, mesh_directory):
name = obj.find('name').text
mesh_filename = obj.find('geom').text
geom = get_mesh_geometry(os.path.join(mesh_directory, mesh_filename))
pose = parse_pose(obj.find('pose'))
movable = parse_boolean(obj.find('moveable'))
color = (.75, .75, .75, 1)
if 'red' in name:
color = (1, 0, 0, 1)
elif 'green' in name:
color = (0, 1, 0, 1)
elif 'blue' in name:
color = (0, 0, 1, 1)
elif movable: # TODO: assign new color
#size = 2 * MAX_INT
#size = 255
#n = id(obj) % size
#n = hash(obj) % size
#h = float(n) / size
h = random.random()
r, g, b = colorsys.hsv_to_rgb(h, .75, .75)
color = (r, g, b, 1)
print(name, mesh_filename, movable, color)
collision_id, visual_id = create_shape(geom, color=color)
body_id = p.createMultiBody(baseMass=STATIC_MASS,
baseCollisionShapeIndex=collision_id,
baseVisualShapeIndex=visual_id,
physicsClientId=CLIENT)
set_pose(body_id, pose)
return body_id
def main(display='control'): # control | execute | step
connect(use_gui=True)
disable_real_time()
# KUKA_IIWA_URDF | DRAKE_IIWA_URDF
robot = load_model(DRAKE_IIWA_URDF, fixed_base=True)
# floor = load_model('models/short_floor.urdf')
floor = p.loadURDF("plane.urdf")
block = load_model(
"models/drake/objects/block_for_pick_and_place_heavy.urdf", fixed_base=False)
set_pose(block, Pose(Point(y=0.5, z=stable_z(block, floor))))
set_default_camera()
dump_world()
saved_world = WorldSaver()
command = plan(robot, block, fixed=[floor], teleport=False)
if (command is None) or (display is None):
print('Unable to find a plan!')
return
saved_world.restore()
update_state()
user_input('{}?'.format(display))
if display == 'control':
enable_gravity()
command.control(real_time=False, dt=0)
elif display == 'execute':
command.refine(num_steps=10).execute(time_step=0.005)
elif display == 'step':
command.step()
else:
raise ValueError(display)
print('Quit?')
wait_for_user()
disconnect()
def relative_detections(belief, detections):
world = belief.world
rel_detections = {}
world_aabb = world.get_world_aabb()
for name in detections:
if name == belief.holding:
continue
body = world.get_body(name)
for observed_pose in detections[name]:
world_z_axis = np.array([0, 0, 1])
local_z_axis = tform_point(observed_pose, world_z_axis)
if np.pi / 2 < angle_between(world_z_axis, local_z_axis):
observed_pose = multiply(observed_pose,
Pose(euler=Euler(roll=np.pi)))
if not aabb_contains_point(point_from_pose(observed_pose),
world_aabb):
continue
set_pose(body, observed_pose)
support = world.get_supporting(name)
#assert support is not None
# Could also fix as relative to the world
if support is None:
# TODO: prune if nowhere near a surface (e.g. on the robot)
relative_pose = create_world_pose(world, name, init=True)
else:
relative_pose = create_relative_pose(world,
name,
support,
init=True)
rel_detections.setdefault(name, []).append(relative_pose)
# relative_pose.assign()
return rel_detections
def main(display='execute'): # control | execute | step
connect(use_gui=True)
disable_real_time()
draw_global_system()
with HideOutput():
robot = load_model(DRAKE_IIWA_URDF) # KUKA_IIWA_URDF | DRAKE_IIWA_URDF
floor = load_model('models/short_floor.urdf')
block = load_model(BLOCK_URDF, fixed_base=False)
set_pose(block, Pose(Point(y=0.5, z=stable_z(block, floor))))
set_default_camera(distance=2)
dump_world()
saved_world = WorldSaver()
command = plan(robot, block, fixed=[floor], teleport=False)
if (command is None) or (display is None):
print('Unable to find a plan!')
return
saved_world.restore()
update_state()
wait_if_gui('{}?'.format(display))
if display == 'control':
enable_gravity()
command.control(real_time=False, dt=0)
elif display == 'execute':
command.refine(num_steps=10).execute(time_step=0.005)
elif display == 'step':
command.step()
else:
raise ValueError(display)
print('Quit?')
wait_if_gui()
disconnect()
def lower_spoon(world, bowl_name, spoon_name, min_spoon_z, max_spoon_z):
assert min_spoon_z <= max_spoon_z
bowl_body = world.get_body(bowl_name)
bowl_urdf_from_center = get_urdf_from_base(
bowl_body) # get_urdf_from_center
spoon_body = world.get_body(spoon_name)
spoon_quat = lookup_orientation(spoon_name, STIR_QUATS)
spoon_urdf_from_center = get_urdf_from_base(
spoon_body, reference_quat=spoon_quat) # get_urdf_from_center
# Keeping the orientation consistent for generalization purposes
# TODO: what happens when the base isn't flat (e.g. bowl)
bowl_pose = get_pose(bowl_body)
stir_z = None
for z in np.arange(max_spoon_z, min_spoon_z, step=-0.005):
bowl_from_stirrer = multiply(bowl_urdf_from_center, Pose(Point(z=z)),
invert(spoon_urdf_from_center))
set_pose(spoon_body, multiply(bowl_pose, bowl_from_stirrer))
#wait_for_user()
if pairwise_collision(bowl_body, spoon_body):
# Want to be careful not to make contact with the base
break
stir_z = z
return stir_z
def create_inverse_reachability(robot, body, table, arm, grasp_type, max_attempts=500, num_samples=500):
tool_link = get_gripper_link(robot, arm)
robot_saver = BodySaver(robot)
gripper_from_base_list = []
grasps = GET_GRASPS[grasp_type](body)
start_time = time.time()
while len(gripper_from_base_list) < num_samples:
box_pose = sample_placement(body, table)
set_pose(body, box_pose)
grasp_pose = random.choice(grasps)
gripper_pose = multiply(box_pose, invert(grasp_pose))
for attempt in range(max_attempts):
robot_saver.restore()
base_conf = next(uniform_pose_generator(robot, gripper_pose)) #, reachable_range=(0., 1.)))
#set_base_values(robot, base_conf)
set_group_conf(robot, 'base', base_conf)
if pairwise_collision(robot, table):
continue
grasp_conf = pr2_inverse_kinematics(robot, arm, gripper_pose) #, nearby_conf=USE_CURRENT)
#conf = inverse_kinematics(robot, link, gripper_pose)
if (grasp_conf is None) or pairwise_collision(robot, table):
continue
gripper_from_base = multiply(invert(get_link_pose(robot, tool_link)), get_base_pose(robot))
#wait_if_gui()
gripper_from_base_list.append(gripper_from_base)
print('{} / {} | {} attempts | [{:.3f}]'.format(
len(gripper_from_base_list), num_samples, attempt, elapsed_time(start_time)))
wait_if_gui()
break
else:
print('Failed to find a kinematic solution after {} attempts'.format(max_attempts))
return save_inverse_reachability(robot, arm, grasp_type, tool_link, gripper_from_base_list)
def fix_pose(self, name, pose=None, fraction=0.5):
body = self.get_body(name)
if pose is None:
pose = get_pose(body)
else:
set_pose(body, pose)
# TODO: can also drop in simulation
x, y, z = point_from_pose(pose)
roll, pitch, yaw = euler_from_quat(quat_from_pose(pose))
quat = quat_from_euler(Euler(yaw=yaw))
set_quat(body, quat)
surface_name = self.get_supporting(name)
if surface_name is None:
return None, None
if fraction == 0:
new_pose = (Point(x, y, z), quat)
return new_pose, surface_name
surface_aabb = compute_surface_aabb(self, surface_name)
new_z = (1 - fraction) * z + fraction * stable_z_on_aabb(
body, surface_aabb)
point = Point(x, y, new_z)
set_point(body, point)
print('{} error: roll={:.3f}, pitch={:.3f}, z-delta: {:.3f}'.format(
name, roll, pitch, new_z - z))
new_pose = (point, quat)
return new_pose, surface_name
def mirror_robot(robot1, node_points):
# TODO: place robots side by side or diagonal across
set_extrusion_camera(node_points, theta=-np.pi / 3)
#draw_pose(Pose())
centroid = np.average(node_points, axis=0)
centroid_pose = Pose(point=centroid)
#draw_pose(Pose(point=centroid))
# print(centroid)
scale = 0. # 0.15
vector = get_point(robot1) - centroid
set_pose(robot1, Pose(point=Point(*+scale * vector[:2])))
# Inner product of end-effector z with base->centroid or perpendicular to this line
# Partition by sides
robot2 = load_robot()
set_pose(
robot2,
Pose(point=Point(*-(2 + scale) * vector[:2]), euler=Euler(yaw=np.pi)))
# robots = [robot1]
robots = [robot1, robot2]
for robot in robots:
set_configuration(robot, DUAL_CONF)
# joint1 = get_movable_joints(robot)[0]
# set_joint_position(robot, joint1, np.pi / 8)
draw_pose(get_pose(robot), length=0.25)
return robots
def add_scales(task, ros_world):
scale_stackings = {}
holding = {grasp.obj_name for grasp in task.init_holding.values()}
with ClientSaver(ros_world.client):
perception = ros_world.perception
items = sorted(set(perception.get_items()) - holding,
key=lambda n: get_point(ros_world.get_body(n))[1],
reverse=False) # Right to left
for i, item in enumerate(items):
if not POUR and (get_type(item) != SCOOP_CUP):
continue
item_body = ros_world.get_body(item)
scale = create_name(SCALE_TYPE, i + 1)
with HideOutput():
scale_body = load_pybullet(get_body_urdf(get_type(scale)),
fixed_base=True)
ros_world.perception.sim_bodies[scale] = scale_body
ros_world.perception.sim_items[scale] = None
item_z = stable_z(item_body, scale_body)
scale_pose_item = Pose(
point=Point(z=-item_z)) # TODO: relies on origin in base
set_pose(scale_body, multiply(get_pose(item_body),
scale_pose_item))
roll, pitch, _ = get_euler(scale_body)
set_euler(scale_body, [roll, pitch, 0])
scale_stackings[scale] = item
#wait_for_user()
return scale_stackings
def cartesian_path_collision(body, path, obstacles, **kwargs):
for pose in path:
set_pose(body, pose)
if any(
body_pair_collision(body, obst, **kwargs)
for obst in obstacles):
return True
return False
def pose2d_on_surface(world, entity_name, surface_name, pose2d=UNIT_POSE2D):
x, y, yaw = pose2d
body = world.get_body(entity_name)
surface_aabb = compute_surface_aabb(world, surface_name)
z = stable_z_on_aabb(body, surface_aabb)
pose = Pose(Point(x, y, z), Euler(yaw=yaw))
set_pose(body, pose)
return pose
def main():
parser = argparse.ArgumentParser() # Automatically includes help
parser.add_argument('-viewer', action='store_true', help='enable viewer.')
args = parser.parse_args()
connect(use_gui=True)
with LockRenderer():
draw_pose(unit_pose(), length=1, width=1)
floor = create_floor()
set_point(floor, Point(z=-EPSILON))
table1 = create_table(width=TABLE_WIDTH, length=TABLE_WIDTH/2, height=TABLE_WIDTH/2,
top_color=TAN, cylinder=False)
set_point(table1, Point(y=+0.5))
table2 = create_table(width=TABLE_WIDTH, length=TABLE_WIDTH/2, height=TABLE_WIDTH/2,
top_color=TAN, cylinder=False)
set_point(table2, Point(y=-0.5))
tables = [table1, table2]
#set_euler(table1, Euler(yaw=np.pi/2))
with HideOutput():
# data_path = add_data_path()
# robot_path = os.path.join(data_path, WSG_GRIPPER)
robot_path = get_model_path(WSG_50_URDF) # WSG_50_URDF | PANDA_HAND_URDF
robot = load_pybullet(robot_path, fixed_base=True)
#dump_body(robot)
block1 = create_box(w=BLOCK_SIDE, l=BLOCK_SIDE, h=BLOCK_SIDE, color=RED)
block_z = stable_z(block1, table1)
set_point(block1, Point(y=-0.5, z=block_z))
block2 = create_box(w=BLOCK_SIDE, l=BLOCK_SIDE, h=BLOCK_SIDE, color=GREEN)
set_point(block2, Point(x=-0.25, y=-0.5, z=block_z))
block3 = create_box(w=BLOCK_SIDE, l=BLOCK_SIDE, h=BLOCK_SIDE, color=BLUE)
set_point(block3, Point(x=-0.15, y=+0.5, z=block_z))
blocks = [block1, block2, block3]
set_camera_pose(camera_point=Point(x=-1, z=block_z+1), target_point=Point(z=block_z))
block_pose = get_pose(block1)
open_gripper(robot)
tool_link = link_from_name(robot, 'tool_link')
base_from_tool = get_relative_pose(robot, tool_link)
#draw_pose(unit_pose(), parent=robot, parent_link=tool_link)
grasps = get_side_grasps(block1, tool_pose=Pose(euler=Euler(yaw=np.pi/2)),
top_offset=0.02, grasp_length=0.03, under=False)[1:2]
for grasp in grasps:
gripper_pose = multiply(block_pose, invert(grasp))
set_pose(robot, multiply(gripper_pose, invert(base_from_tool)))
wait_for_user()
wait_for_user('Finish?')
disconnect()
def bowl_path_collision(bowl_body, body, body_path_bowl):
bowl_pose = get_pose(bowl_body)
with BodySaver(body):
for cup_pose_bowl in body_path_bowl:
cup_pose_world = multiply(bowl_pose, cup_pose_bowl)
set_pose(body, cup_pose_world)
if body_pair_collision(bowl_body, body): #, collision_buffer=0.0):
return True
return False
def iterate_approach_path(world, pose, grasp, body=None):
world_from_body = pose.get_world_from_body()
grasp_pose = multiply(world_from_body, invert(grasp.grasp_pose))
approach_pose = multiply(world_from_body, invert(grasp.pregrasp_pose))
for tool_pose in interpolate_poses(grasp_pose, approach_pose):
set_tool_pose(world, tool_pose)
if body is not None:
set_pose(body, multiply(tool_pose, grasp.grasp_pose))
yield
def main():
connect(use_gui=True)
with HideOutput():
pr2 = load_model(
"models/drake/pr2_description/urdf/pr2_simplified.urdf")
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['left_arm']),
REST_LEFT_ARM)
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['right_arm']),
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['torso']),
[0.2])
dump_body(pr2)
block = load_model(BLOCK_URDF, fixed_base=False)
set_point(block, [2, 0.5, 1])
target_point = point_from_pose(get_pose(block))
# head_link = link_from_name(pr2, HEAD_LINK)
head_joints = joints_from_names(pr2, PR2_GROUPS['head'])
head_link = head_joints[-1]
#max_detect_distance = 2.5
max_register_distance = 1.0
distance_range = (max_register_distance / 2, max_register_distance)
base_generator = visible_base_generator(pr2, target_point, distance_range)
base_joints = joints_from_names(pr2, PR2_GROUPS['base'])
for i in range(5):
base_conf = next(base_generator)
set_joint_positions(pr2, base_joints, base_conf)
p.addUserDebugLine(point_from_pose(get_link_pose(pr2, head_link)),
target_point,
lineColorRGB=(1, 0, 0)) # addUserDebugText
p.addUserDebugLine(point_from_pose(
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME))),
target_point,
lineColorRGB=(0, 0, 1)) # addUserDebugText
# head_conf = sub_inverse_kinematics(pr2, head_joints[0], HEAD_LINK, )
head_conf = inverse_visibility(pr2, target_point)
set_joint_positions(pr2, head_joints, head_conf)
print(get_detections(pr2))
# TODO: does this detect the robot sometimes?
detect_mesh, z = get_detection_cone(pr2, block)
detect_cone = create_mesh(detect_mesh, color=(0, 1, 0, 0.5))
set_pose(detect_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
view_cone = get_viewcone(depth=2.5, color=(1, 0, 0, 0.25))
set_pose(view_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
wait_for_user()
remove_body(detect_cone)
remove_body(view_cone)
disconnect()
def gen_fn(arm, obj_name, pose):
open_width = get_max_limit(world.robot,
get_gripper_joints(world.robot, arm)[0])
obj_body = world.bodies[obj_name]
#grasps = cycle([(grasp,)])
grasps = cycle(grasp_gen_fn(obj_name))
for attempt in range(max_attempts):
try:
grasp, = next(grasps)
except StopIteration:
break
# TODO: if already successful for a grasp, continue
set_pose(obj_body, pose)
set_gripper_position(world.robot, arm, open_width)
robot_saver = BodySaver(
world.robot) # TODO: robot might be at the wrong conf
body_saver = BodySaver(obj_body)
pretool_pose = multiply(pose, invert(grasp.pregrasp_pose))
tool_pose = multiply(pose, invert(grasp.grasp_pose))
grip_conf = solve_inverse_kinematics(world.robot,
arm,
tool_pose,
obstacles=obstacles)
if grip_conf is None:
continue
#attachment = Attachment(world.robot, tool_link, get_grasp_pose(grasp), world.bodies[obj])
# Attachments cause table collisions
post_path = plan_waypoint_motion(
world.robot,
arm,
pretool_pose,
obstacles=obstacles,
attachments=[], #attachments=[attachment],
self_collisions=collisions,
disabled_collisions=disabled_collisions)
if post_path is None:
continue
pre_conf = Conf(post_path[-1])
pre_path = post_path[::-1]
post_conf = pre_conf
control = Control({
'action':
'pick',
'objects': [obj_name],
'context':
Context(savers=[robot_saver, body_saver], attachments={}),
'commands': [
ArmTrajectory(arm, pre_path, dialation=2.),
GripperCommand(arm, grasp.grasp_width,
effort=grasp.effort),
Attach(arm, obj_name, effort=grasp.effort),
ArmTrajectory(arm, post_path, dialation=2.),
],
})
yield (grasp, pre_conf, post_conf, control)
def test(obj1, pose1, obj2, pose2):
if not collisions or (obj1 == obj2):
return False
body1 = world.bodies[obj1]
set_pose(body1, pose1)
body2 = world.bodies[obj2]
set_pose(body2, pose2)
return body_pair_collision(body1,
body2,
collision_buffer=collision_buffer)
def gen_fn(arm, bowl_name, bowl_pose, stirrer_name, grasp):
if bowl_name == stirrer_name:
return
bowl_body = world.bodies[bowl_name]
attachment = get_grasp_attachment(world, arm, grasp)
feature = get_stir_feature(world, bowl_name, stirrer_name)
parameter_generator = parameter_fn(world, feature)
if revisit:
parameter_generator = cycle(parameter_generator)
for parameter in parameter_generator:
for _ in range(max_attempts):
set_gripper_position(world.robot, arm, grasp.grasp_width)
set_pose(bowl_body, bowl_pose)
stirrer_path_bowl = sample_stir_trajectory(
world, feature, parameter)
rotate_bowl = Pose(euler=Euler(
yaw=random.uniform(-np.pi, np.pi)))
stirrer_path = [
multiply(bowl_pose, invert(rotate_bowl), cup_pose_bowl)
for cup_pose_bowl in stirrer_path_bowl
]
#visualize_cartesian_path(world.get_body(stirrer_name), stirrer_path)
arm_path = plan_attachment_motion(
world.robot,
arm,
attachment,
stirrer_path,
obstacles=set(obstacles) - {bowl_body},
self_collisions=collisions,
disabled_collisions=disabled_collisions,
collision_buffer=collision_buffer,
attachment_collisions=False)
if arm_path is None:
continue
pre_conf = Conf(arm_path[0])
post_conf = Conf(arm_path[-1])
control = Control({
'action':
'stir',
'objects': [bowl_name, stirrer_name],
'feature':
feature,
'parameter':
parameter,
'context':
Context(
savers=[BodySaver(world.robot)
], # TODO: robot might be at the wrong conf
attachments={stirrer_name: attachment}),
'commands': [
ArmTrajectory(arm, arm_path),
],
})
yield (pre_conf, post_conf, control)
def compute_grasp_width(robot, arm, body, grasp_pose, **kwargs):
gripper_joints = get_gripper_joints(robot, arm)
tool_link = link_from_name(robot, TOOL_FRAMES[arm])
tool_pose = get_link_pose(robot, tool_link)
body_pose = multiply(tool_pose, grasp_pose)
set_pose(body, body_pose)
return close_until_collision(robot,
gripper_joints,
bodies=[body],
max_distance=0.0,
**kwargs)
def check_initial_collisions(world, obj_name, obst_names=[], **kwargs):
obj_body = world.bodies[obj_name]
for obst_name in obst_names:
if obj_name == obst_name:
continue
obst_body = world.bodies[obst_name]
set_pose(obst_body, world.initial_poses[obst_name])
if body_pair_collision(obj_body, obst_body, **kwargs):
#print(obj_name, obst_name)
return True
return False
def _create_robot(self):
with ClientSaver(self.client):
with HideOutput():
pr2_path = os.path.join(get_models_path(), PR2_URDF)
self.pr2 = load_pybullet(pr2_path, fixed_base=True)
# Base link is the origin
base_pose = get_link_pose(self.robot,
link_from_name(self.robot, BASE_FRAME))
set_pose(self.robot, invert(base_pose))
return self.pr2
def visualize_cartesian_path(body, pose_path):
for i, pose in enumerate(pose_path):
set_pose(body, pose)
print('{}/{}) continue?'.format(i, len(pose_path)))
wait_for_user()
handles = draw_pose(get_pose(body))
handles.extend(draw_aabb(get_aabb(body)))
print('Finish?')
wait_for_user()
for h in handles:
remove_debug(h)
def move_occluding(world):
# Prevent obstruction by other objects
# TODO: this is a bit of a hack due to pybullet
world.set_base_conf([-5.0, 0, 0])
for joint in world.kitchen_joints:
joint_name = get_joint_name(world.kitchen, joint)
if joint_name in DRAWERS:
world.open_door(joint)
else:
world.close_door(joint)
for name in world.movable:
set_pose(world.get_body(name), Pose(Point(z=-5.0)))
def main(display='execute'): # control | execute | step
# One of the arm's gantry carriage is fixed when the other is moving.
connect(use_gui=True)
set_camera(yaw=-90, pitch=-40, distance=10, target_position=(0, 7.5, 0))
draw_pose(unit_pose(), length=1.0)
disable_real_time()
with HideOutput():
root_directory = os.path.dirname(os.path.abspath(__file__))
robot = load_pybullet(os.path.join(root_directory, ETH_RFL_URDF), fixed_base=True)
# floor = load_model('models/short_floor.urdf')
block = load_model(BLOCK_URDF, fixed_base=False)
#link = link_from_name(robot, 'gantry_base_link')
#print(get_aabb(robot, link))
block_x = -0.2
#block_y = 1 if ARM == 'right' else 13.5
#block_x = 10
block_y = 5.
# set_pose(floor, Pose(Point(x=floor_x, y=1, z=1.3)))
# set_pose(block, Pose(Point(x=floor_x, y=0.6, z=stable_z(block, floor))))
set_pose(block, Pose(Point(x=block_x, y=block_y, z=3.5)))
# set_default_camera()
dump_world()
#print(get_camera())
saved_world = WorldSaver()
with LockRenderer():
command = plan(robot, block, fixed=[], teleport=False) # fixed=[floor],
if (command is None) or (display is None):
print('Unable to find a plan! Quit?')
wait_for_interrupt()
disconnect()
return
saved_world.restore()
update_state()
print('{}?'.format(display))
wait_for_interrupt()
if display == 'control':
enable_gravity()
command.control(real_time=False, dt=0)
elif display == 'execute':
command.refine(num_steps=10).execute(time_step=0.002)
elif display == 'step':
command.step()
else:
raise ValueError(display)
print('Quit?')
wait_for_interrupt()
disconnect()
def load_body(self, name, pose=None, fixed_base=False):
assert name not in self.sim_bodies
ty = get_type(name)
with ClientSaver(self.client):
with HideOutput():
body = load_cup_bowl(ty)
if body is None:
body = load_pybullet(get_body_urdf(name),
fixed_base=fixed_base)
if pose is not None:
set_pose(body, pose)
self.sim_bodies[name] = body
return body
def parse_region(region):
lower = np.min(region['hull'], axis=0)
upper = np.max(region['hull'], axis=0)
x, y = (lower + upper) / 2.
w, h = (upper - lower) # / 2.
geom = get_box_geometry(w, h, 1e-3)
collision_id, visual_id = create_shape(geom,
pose=Pose(Point(x, y)),
color=parse_color(region['color']))
#region_id = create_body(NULL_ID, visual_id)
region_id = create_body(collision_id, visual_id)
set_pose(region_id, parse_pose(region))
return region_id
def add_table(world, use_surface=False):
# Use the table in simulation to ensure no penetration
if use_surface:
# TODO: note whether the convex hull image was clipped (only partial)
table_mesh = rectangular_mesh(width=0.6, length=1.2)
color = apply_alpha(COLORS['tan'])
table_body = create_mesh(table_mesh, under=True, color=color)
set_pose(table_body, TABLE_POSE)
world.perception.sim_bodies[TABLE_NAME] = table_body
world.perception.sim_surfaces[TABLE_NAME] = None
else:
table_body = world.perception.add_surface(TABLE_NAME, TABLE_POSE)
return table_body
def gen_fn(index, pose, grasp):
body = brick_from_index[index].body
set_pose(body, pose.value)
obstacles = list(obstacle_from_name.values()) # + [body]
collision_fn = get_collision_fn(
robot,
movable_joints,
obstacles=obstacles,
attachments=[],
self_collisions=SELF_COLLISIONS,
disabled_collisions=disabled_collisions,
custom_limits=get_custom_limits(robot))
attach_pose = multiply(pose.value, invert(grasp.attach))
approach_pose = multiply(attach_pose, (approach_vector, unit_quat()))
# approach_pose = multiply(pose.value, invert(grasp.approach))
for _ in range(max_attempts):
if USE_IKFAST:
attach_conf = sample_tool_ik(robot, attach_pose)
else:
set_joint_positions(robot, movable_joints,
sample_fn()) # Random seed
attach_conf = inverse_kinematics(robot, tool_link, attach_pose)
if (attach_conf is None) or collision_fn(attach_conf):
continue
set_joint_positions(robot, movable_joints, attach_conf)
#if USE_IKFAST:
# approach_conf = sample_tool_ik(robot, approach_pose, nearby_conf=attach_conf)
#else:
approach_conf = inverse_kinematics(robot, tool_link, approach_pose)
if (approach_conf is None) or collision_fn(approach_conf):
continue
set_joint_positions(robot, movable_joints, approach_conf)
path = plan_direct_joint_motion(
robot,
movable_joints,
attach_conf,
obstacles=obstacles,
self_collisions=SELF_COLLISIONS,
disabled_collisions=disabled_collisions)
if path is None: # TODO: retreat
continue
#path = [approach_conf, attach_conf]
attachment = Attachment(robot, tool_link, grasp.attach, body)
traj = MotionTrajectory(robot,
movable_joints,
path,
attachments=[attachment])
yield approach_conf, traj
break
def visualize_learned_pours(learner, bowl_type='blue_bowl', cup_type='red_cup', num_steps=None):
learner.query_type = REJECTION # BEST | REJECTION | STRADDLE
learner.validity_learner = None
world = create_world()
#add_obstacles()
#environment = get_bodies()
world.bodies[bowl_type] = load_cup_bowl(bowl_type)
world.bodies[cup_type] = load_cup_bowl(cup_type)
feature = get_pour_feature(world, bowl_type, cup_type)
draw_pose(get_pose(world.get_body(bowl_type)), length=0.2)
# TODO: sample different sizes
print('Feature:', feature)
for parameter in learner.parameter_generator(world, feature, valid=False):
handles = []
print('Parameter:', parameter)
valid = is_valid_pour(world, feature, parameter)
score = learner.score(feature, parameter)
x = learner.func.x_from_feature_parameter(feature, parameter)
[prediction] = learner.predict_x(np.array([x]), noise=True)
print('Valid: {} | Mean: {:.3f} | Var: {:.3f} | Score: {:.3f}'.format(
valid, prediction['mean'], prediction['variance'], score))
#fraction = rescale(clip(prediction['mean'], *DEFAULT_INTERVAL), DEFAULT_INTERVAL, new_interval=(0, 1))
#color = (1 - fraction) * np.array(RED) + fraction * np.array(GREEN)
#set_color(world.get_body(cup_type), apply_alpha(color, alpha=0.25))
# TODO: overlay many cups at different poses
bowl_from_pivot = get_bowl_from_pivot(world, feature, parameter)
#handles.extend(draw_pose(bowl_from_pivot))
handles.extend(draw_point(point_from_pose(bowl_from_pivot), color=BLACK))
# TODO: could label bowl, cup dimensions
path, _ = pour_path_from_parameter(world, feature, parameter, cup_yaw=0)
for p1, p2 in safe_zip(path[:-1], path[1:]):
handles.append(add_line(point_from_pose(p1), point_from_pose(p2), color=RED))
if num_steps is not None:
path = path[:num_steps]
for i, pose in enumerate(path[::-1]):
#step_handles = draw_pose(pose, length=0.1)
#step_handles = draw_point(point_from_pose(pose), color=BLACK)
set_pose(world.get_body(cup_type), pose)
print('Step {}/{}'.format(i+1, len(path)))
wait_for_user()
#remove_handles(step_handles)
remove_handles(handles)
def test_grasps(robot, block):
for arm in ARMS:
gripper_joints = get_gripper_joints(robot, arm)
tool_link = link_from_name(robot, TOOL_LINK.format(arm))
tool_pose = get_link_pose(robot, tool_link)
#handles = draw_pose(tool_pose)
#grasps = get_top_grasps(block, under=True, tool_pose=unit_pose())
grasps = get_side_grasps(block, under=True, tool_pose=unit_pose())
for i, grasp_pose in enumerate(grasps):
block_pose = multiply(tool_pose, grasp_pose)
set_pose(block, block_pose)
close_until_collision(robot, gripper_joints, bodies=[block], open_conf=get_open_positions(robot, arm),
closed_conf=get_closed_positions(robot, arm))
handles = draw_pose(block_pose)
wait_if_gui('Grasp {}'.format(i))
remove_handles(handles)
