def reset(self):
"""
reset the environment
:return: the observation, List[List[float], List[float]]
"""
vrep.simxStopSimulation(self.sim_client, utils.VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(self.sim_client, utils.VREP_BLOCKING)
time.sleep(1)
sim_ret, self.cube = utils.getObjectHandle(self.sim_client, 'cube')
self.rdd.setFingerPos(-0.1)
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target, [-0.2, 0.6, 0.08])
# utils.setObjectPosition(self.sim_client, self.ur5.UR5_target, [-0.2, 0.6, 0.15])
dy = 0.3 * np.random.random()
# dz = 0.1 * np.random.random() - 0.05
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
target_pose[1, 3] += dy
# target_pose[2, 3] += dz
self.sendClearSignal()
self.ur5.moveTo(target_pose)
self.rdd.setFingerPos()
return self.getObs()
def reset(self):
"""
reset the environment
:return: the observation, List[List[float], List[float]]
"""
vrep.simxStopSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
sim_ret, self.cube = utils.getObjectHandle(self.sim_client, 'cube')
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target, [-0.2, 0.6, 0.08])
dy = 0.3 * np.random.random()
# dy = 0
# dz = 0.1 * np.random.random() - 0.05
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
target_pose[1, 3] += dy
# target_pose[2, 3] += dz
self.rdd.setFingerPos(-0.1)
self.ur5.moveTo(target_pose)
self.narrow_p = []
self.target_position = None
while self.target_position is None:
time.sleep(0.1)
return [0. for _ in range(20)]
def reset(self):
vrep.simxStopSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
# Generate a cube
# position = self.cube_start_position
# orientation = [np.radians(90), 0, np.radians(90)]
# # orientation = [0, 0, 0]
# size = self.cube_size
# mass = 0.1
# color = [255, 0, 0]
# self.cube = utils.importShape(self.sim_client, 'cube', CUBE_MESH, position, orientation, color)
# self.cube = utils.generateShape(self.sim_client, 'cube', 0, size, position, orientation, mass, color)
# time.sleep(1)
sim_ret, self.cube = utils.getObjectHandle(self.sim_client, 'cube')
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
[-0.2, 0.6, 0.07])
dy = 0.3 * np.random.random()
# dy = 0.3
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
target_pose[1, 3] += dy
self.ur5.moveTo(target_pose)
# time.sleep(0.5)
self.rdd.openFinger(RDD.NARROW)
return self.rdd.getFingerPosition(RDD.NARROW)
def step(self, a):
if a in [self.N, self.S, self.W, self.E]:
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
if a == self.N:
target_pose[0, 3] += 0.01
elif a == self.S:
target_pose[0, 3] -= 0.01
elif a == self.W:
target_pose[1, 3] += 0.01
elif a == self.E:
target_pose[1, 3] -= 0.01
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
target_pose[:3, 3])
elif a is self.CLOSE:
closed = self.rdd.close()
if not closed:
sim_ret, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
sim_ret, tip_position = utils.getObjectPosition(
self.sim_client, self.ur5.gripper_tip)
if np.all(tip_position > (np.array(cube_position) - np.array(self.cube_size))) and \
np.all(tip_position < (np.array(cube_position) + np.array(self.cube_size))):
return None, 1, True, None
self.rdd.open(self.open_position)
return self.getState(), 0, False, None
def reset(self):
vrep.simxStopSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
sim_ret, self.cube = utils.getObjectHandle(self.sim_client, 'cube')
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
[-0.2, 0.6, 0.08])
dy = 0.3 * np.random.random()
# dy = 0
# dz = 0.1 * np.random.random() - 0.05
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
target_pose[1, 3] += dy
# target_pose[2, 3] += dz
self.ur5.moveTo(target_pose)
# self.rdd.open(self.open_position)
self.target_position = None
while self.target_position is None:
time.sleep(0.1)
return self.state
def step(self, a):
if a in [self.RIGHT, self.LEFT]:
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
if a == self.RIGHT:
target_pose[1, 3] -= 0.01
elif a == self.LEFT:
target_pose[1, 3] += 0.01
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
target_pose[:3, 3])
elif a == self.CLOSE:
self.rdd.close()
sim_ret, cube_orientation = utils.getObjectOrientation(
self.sim_client, self.cube)
sim_ret, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
sim_ret, tip_position = utils.getObjectPosition(
self.sim_client, self.ur5.gripper_tip)
if np.all(tip_position > (np.array(cube_position) - np.array(self.cube_size))) and \
np.all(tip_position < (np.array(cube_position) + np.array(self.cube_size))) and \
(cube_orientation[0] < -0.02 or cube_position[2] > self.cube_start_position[2] + 0.005):
return None, 1, True, None
self.rdd.open(self.open_position)
# arm is in wrong pose
sim_ret, target_position = utils.getObjectPosition(
self.sim_client, self.ur5.UR5_target)
if target_position[1] < 0.42 or target_position[
1] > 0.95 or target_position[2] < 0 or target_position[2] > 0.2:
print 'Wrong arm position: ', target_position
return None, -1, True, None
else:
# cube in wrong position
sim_ret, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
while any(np.isnan(cube_position)):
res, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
if cube_position[0] < self.cube_start_position[0] - self.cube_size[0] or \
cube_position[0] > self.cube_start_position[0] + self.cube_size[0] or \
cube_position[1] < self.cube_start_position[1] - self.cube_size[1] or \
cube_position[1] > self.cube_start_position[1] + self.cube_size[1]:
print 'Wrong cube position: ', cube_position
return None, 0, True, None
# cube is not lifted
return self.state, 0, False, None
def step(self, a):
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
if a == 0:
target_pose[1, 3] -= 0.02
else:
target_pose[1, 3] += 0.02
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
target_pose[:3, 3])
# utils.setObjectOrientation(self.sim_client, self.ur5.UR5_target, target_pose.flatten()[:-4])
# self.ur5.moveTo(target_pose)
# time.sleep(0.5)
# arm is in wrong pose
sim_ret, tip_position = utils.getObjectPosition(
self.sim_client, self.ur5.gripper_tip)
# if np.linalg.norm(tip_position - target_pose[:3, -1]) > 0.05:
# print 'Wrong position, dist: ', np.linalg.norm(tip_position - target_pose[:3, -1])
# return None, -1, True, None
if tip_position[1] < 0.42 or tip_position[1] > 0.95:
print 'Wrong arm position: ', tip_position
return None, -1, True, None
else:
# cube is lifted
sim_ret, cube_orientation = utils.getObjectOrientation(
self.sim_client, self.cube)
if cube_orientation[0] < -0.02:
return None, 1, True, None
# cube in wrong position
sim_ret, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
while any(np.isnan(cube_position)):
res, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
# if np.any(np.array(cube_position) < np.array(self.cube_start_position) - 0.5 * np.array(self.cube_size))\
# or np.any(np.array(cube_position) > np.array(self.cube_start_position) + 0.5 * np.array(self.cube_size)):
if cube_position[0] < self.cube_start_position[0] - self.cube_size[0] or \
cube_position[0] > self.cube_start_position[0] + self.cube_size[0] or\
cube_position[1] < self.cube_start_position[1] - self.cube_size[1] or\
cube_position[1] > self.cube_start_position[1] + self.cube_size[1]:
print 'Wrong cube position: ', cube_position
return None, 0, True, None
# cube is not lifted
return self.rdd.getFingerPosition(RDD.NARROW), 0, False, None
def moveTo(self, pose, move_step_size=0.01, single_step=False):
'''
Moves the tip of the gripper to the target pose
Args:
- pose: 4D target pose
'''
# Get current position and orientation of UR5 target
sim_ret, UR5_target_position = utils.getObjectPosition(
self.sim_client, self.UR5_target)
sim_ret, UR5_target_orientation = utils.getObjectOrientation(
self.sim_client, self.UR5_target)
# Calculate the movement increments
move_direction = pose[:3, -1] - UR5_target_position
move_magnitude = np.linalg.norm(move_direction)
move_step = move_step_size * move_direction / move_magnitude
num_move_steps = int(np.ceil(move_magnitude / move_step_size))
# Calculate the rotation increments
rotation = np.asarray(transformations.euler_from_matrix(pose))
rotation_step = rotation - UR5_target_orientation
rotation_step[rotation >= 0] = 0.1
rotation_step[rotation < 0] = -0.1
num_rotation_steps = np.ceil(
(rotation - UR5_target_orientation) / rotation_step).astype(np.int)
# Move and rotate to the target pose
if not single_step:
for i in range(max(num_move_steps, np.max(num_rotation_steps))):
pos = UR5_target_position + move_step * min(i, num_move_steps)
rot = [
UR5_target_orientation[0] +
rotation_step[0] * min(i, num_rotation_steps[0]),
UR5_target_orientation[1] +
rotation_step[1] * min(i, num_rotation_steps[1]),
UR5_target_orientation[2] +
rotation_step[2] * min(i, num_rotation_steps[2])
]
utils.setObjectPosition(self.sim_client, self.UR5_target, pos)
utils.setObjectOrientation(self.sim_client, self.UR5_target,
rot)
utils.setObjectPosition(self.sim_client, self.UR5_target, pose[:3, -1])
utils.setObjectOrientation(self.sim_client, self.UR5_target, rotation)
def reset(self):
vrep.simxStopSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
# Generate a cube
position = self.cube_start_position
# orientation = [np.radians(90), 0, np.radians(90)]
orientation = [0, 0, 0]
size = self.cube_size
mass = 10
color = [255, 0, 0]
self.cube = utils.generateShape(self.sim_client, 'cube', 0, size,
position, orientation, mass, color)
self.rdd.open(self.open_position)
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
[-0.2, 0.5, 0.05])
# time.sleep(1)
return self.getState()
