def test_clutter_clearing_setup(self):
station = ManipulationStation(time_step=0.001)
station.SetupClutterClearingStation()
num_station_bodies = (
station.get_multibody_plant().num_model_instances())
ycb_objects = CreateDefaultYcbObjectList()
for model_file, X_WObject in ycb_objects:
station.AddManipulandFromFile(model_file, X_WObject)
station.Finalize()
context = station.CreateDefaultContext()
q = np.linspace(0.04, 0.6, num=7)
v = np.linspace(-2.3, 0.5, num=7)
station.SetIiwaPosition(context, q)
np.testing.assert_array_equal(q, station.GetIiwaPosition(context))
station.SetIiwaVelocity(context, v)
np.testing.assert_array_equal(v, station.GetIiwaVelocity(context))
q = 0.0423
v = 0.0851
station.SetWsgPosition(context, q)
self.assertEqual(q, station.GetWsgPosition(context))
station.SetWsgVelocity(context, v)
self.assertEqual(v, station.GetWsgVelocity(context))
self.assertEqual(len(station.get_camera_names()), 1)
self.assertEqual(station.get_multibody_plant().num_model_instances(),
num_station_bodies + len(ycb_objects))
args = parser.parse_args()
builder = DiagramBuilder()
if args.hardware:
station = builder.AddSystem(ManipulationStationHardwareInterface())
station.Connect(wait_for_cameras=False)
else:
station = builder.AddSystem(ManipulationStation())
# Initializes the chosen station type.
if args.setup == 'default':
station.SetupDefaultStation()
elif args.setup == 'clutter_clearing':
station.SetupClutterClearingStation()
ycb_objects = CreateDefaultYcbObjectList()
for model_file, X_WObject in ycb_objects:
station.AddManipulandFromFile(model_file, X_WObject)
station.Finalize()
ConnectDrakeVisualizer(builder, station.get_scene_graph(),
station.GetOutputPort("pose_bundle"))
if args.meshcat:
meshcat = builder.AddSystem(
MeshcatVisualizer(station.get_scene_graph(), zmq_url=args.meshcat))
builder.Connect(station.GetOutputPort("pose_bundle"),
meshcat.get_input_port(0))
robot = station.get_controller_plant()
params = DifferentialInverseKinematicsParameters(robot.num_positions(),
robot.num_velocities())
def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"--target_realtime_rate",
type=float,
default=1.0,
help="Desired rate relative to real time. See documentation for "
"Simulator::set_target_realtime_rate() for details.")
parser.add_argument("--duration",
type=float,
default=np.inf,
help="Desired duration of the simulation in seconds.")
parser.add_argument(
"--hardware",
action='store_true',
help="Use the ManipulationStationHardwareInterface instead of an "
"in-process simulation.")
parser.add_argument("--test",
action='store_true',
help="Disable opening the gui window for testing.")
parser.add_argument(
"--filter_time_const",
type=float,
default=0.005,
help="Time constant for the first order low pass filter applied to"
"the teleop commands")
parser.add_argument(
"--velocity_limit_factor",
type=float,
default=1.0,
help="This value, typically between 0 and 1, further limits the "
"iiwa14 joint velocities. It multiplies each of the seven "
"pre-defined joint velocity limits. "
"Note: The pre-defined velocity limits are specified by "
"iiwa14_velocity_limits, found in this python file.")
parser.add_argument('--setup',
type=str,
default='default',
help="The manipulation station setup to simulate. ",
choices=['default', 'clutter_clearing'])
MeshcatVisualizer.add_argparse_argument(parser)
args = parser.parse_args()
if args.test:
# Don't grab mouse focus during testing.
grab_focus = False
# See: https://stackoverflow.com/a/52528832/7829525
os.environ["SDL_VIDEODRIVER"] = "dummy"
else:
grab_focus = True
builder = DiagramBuilder()
if args.hardware:
station = builder.AddSystem(ManipulationStationHardwareInterface())
station.Connect(wait_for_cameras=False)
else:
station = builder.AddSystem(ManipulationStation())
# Initializes the chosen station type.
if args.setup == 'default':
station.SetupDefaultStation()
elif args.setup == 'clutter_clearing':
station.SetupClutterClearingStation()
ycb_objects = CreateDefaultYcbObjectList()
for model_file, X_WObject in ycb_objects:
station.AddManipulandFromFile(model_file, X_WObject)
station.Finalize()
ConnectDrakeVisualizer(builder, station.get_scene_graph(),
station.GetOutputPort("pose_bundle"))
if args.meshcat:
meshcat = builder.AddSystem(
MeshcatVisualizer(station.get_scene_graph(),
zmq_url=args.meshcat))
builder.Connect(station.GetOutputPort("pose_bundle"),
meshcat.get_input_port(0))
robot = station.get_controller_plant()
params = DifferentialInverseKinematicsParameters(robot.num_positions(),
robot.num_velocities())
time_step = 0.005
params.set_timestep(time_step)
# True velocity limits for the IIWA14 (in rad, rounded down to the first
# decimal)
iiwa14_velocity_limits = np.array([1.4, 1.4, 1.7, 1.3, 2.2, 2.3, 2.3])
# Stay within a small fraction of those limits for this teleop demo.
factor = args.velocity_limit_factor
params.set_joint_velocity_limits(
(-factor * iiwa14_velocity_limits, factor * iiwa14_velocity_limits))
differential_ik = builder.AddSystem(
DifferentialIK(robot, robot.GetFrameByName("iiwa_link_7"), params,
time_step))
builder.Connect(differential_ik.GetOutputPort("joint_position_desired"),
station.GetInputPort("iiwa_position"))
teleop = builder.AddSystem(MouseKeyboardTeleop(grab_focus=grab_focus))
filter_ = builder.AddSystem(
FirstOrderLowPassFilter(time_constant=args.filter_time_const, size=6))
builder.Connect(teleop.get_output_port(0), filter_.get_input_port(0))
builder.Connect(filter_.get_output_port(0),
differential_ik.GetInputPort("rpy_xyz_desired"))
builder.Connect(teleop.GetOutputPort("position"),
station.GetInputPort("wsg_position"))
builder.Connect(teleop.GetOutputPort("force_limit"),
station.GetInputPort("wsg_force_limit"))
diagram = builder.Build()
simulator = Simulator(diagram)
# This is important to avoid duplicate publishes to the hardware interface:
simulator.set_publish_every_time_step(False)
station_context = diagram.GetMutableSubsystemContext(
station, simulator.get_mutable_context())
station.GetInputPort("iiwa_feedforward_torque").FixValue(
station_context, np.zeros(7))
simulator.AdvanceTo(1e-6)
q0 = station.GetOutputPort("iiwa_position_measured").Eval(station_context)
differential_ik.parameters.set_nominal_joint_position(q0)
teleop.SetPose(differential_ik.ForwardKinematics(q0))
filter_.set_initial_output_value(
diagram.GetMutableSubsystemContext(filter_,
simulator.get_mutable_context()),
teleop.get_output_port(0).Eval(
diagram.GetMutableSubsystemContext(
teleop, simulator.get_mutable_context())))
differential_ik.SetPositions(
diagram.GetMutableSubsystemContext(differential_ik,
simulator.get_mutable_context()),
q0)
simulator.set_target_realtime_rate(args.target_realtime_rate)
print_instructions()
simulator.AdvanceTo(args.duration)
def test_ycb_object_creation(self):
ycb_objects = CreateDefaultYcbObjectList()
self.assertEqual(len(ycb_objects), 6)