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)
#ycb_path = os.path.join(DRAKE_PATH, DRAKE_YCB)
#ycb_path = os.path.join(YCB_PATH, YCB_TEMPLATE.format('003_cracker_box'))
#print(ycb_path)
#load_pybullet(ycb_path)
with LockRenderer():
draw_pose(unit_pose(), length=1, width=1)
floor = create_floor()
set_point(floor, Point(z=-EPSILON))
table = create_table(width=TABLE_WIDTH, length=TABLE_WIDTH/2, height=TABLE_WIDTH/2, top_color=TAN, cylinder=False)
#set_euler(table, Euler(yaw=np.pi/2))
with HideOutput(False):
# 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_path = get_file_path(__file__, 'mit_arch_suction_gripper/mit_arch_suction_gripper.urdf')
robot = load_pybullet(robot_path, fixed_base=True)
#dump_body(robot)
#robot = create_cylinder(radius=0.5*BLOCK_SIDE, height=4*BLOCK_SIDE) # vacuum gripper
block1 = create_box(w=BLOCK_SIDE, l=BLOCK_SIDE, h=BLOCK_SIDE, color=RED)
block_z = stable_z(block1, table)
set_point(block1, Point(z=block_z))
block2 = create_box(w=BLOCK_SIDE, l=BLOCK_SIDE, h=BLOCK_SIDE, color=GREEN)
set_point(block2, Point(x=+0.25, z=block_z))
block3 = create_box(w=BLOCK_SIDE, l=BLOCK_SIDE, h=BLOCK_SIDE, color=BLUE)
set_point(block3, Point(x=-0.15, z=block_z))
blocks = [block1, block2, block3]
add_line(Point(x=-TABLE_WIDTH/2, z=block_z - BLOCK_SIDE/2 + EPSILON),
Point(x=+TABLE_WIDTH/2, z=block_z - BLOCK_SIDE/2 + EPSILON), color=RED)
set_camera_pose(camera_point=Point(y=-1, z=block_z+1), target_point=Point(z=block_z))
wait_for_user()
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)
y_grasp, x_grasp = get_top_grasps(block1, tool_pose=unit_pose(), grasp_length=0.03, under=False)
grasp = y_grasp # fingers won't collide
gripper_pose = multiply(block_pose, invert(grasp))
set_pose(robot, multiply(gripper_pose, invert(base_from_tool)))
wait_for_user('Finish?')
disconnect()
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 apply(self, state, **kwargs):
with LockRenderer():
self.cone = get_viewcone(color=(1, 0, 0, 0.5))
state.poses[self.cone] = None
cone_pose = Pose(self.cone, unit_pose())
attach = Attach(self.robot, self.group, cone_pose, self.cone)
attach.assign()
wait_for_duration(1e-2)
for _ in attach.apply(state, **kwargs):
yield
def apply(self, state, **kwargs):
self.cone = get_viewcone(color=(1, 0, 0, 0.5))
state.poses[self.cone] = None
attach = Attach(self.robot, self.group, Pose(self.cone, unit_pose()),
self.cone)
attach.apply(state, **kwargs)
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()