def test_aabb(robot):
base_link = link_from_name(robot, BASE_LINK_NAME)
region_aabb = AABB(lower=-np.ones(3), upper=+np.ones(3))
draw_aabb(region_aabb)
# bodies = get_bodies_in_region(region_aabb)
# print(len(bodies), bodies)
# for body in get_bodies():
# set_pose(body, Pose())
#step_simulation() # Need to call before get_bodies_in_region
#update_scene()
for i in range(3):
with timer(message='{:f}'):
bodies = get_bodies_in_region(
region_aabb) # This does cache some info
print(i, len(bodies), bodies)
# https://github.com/bulletphysics/bullet3/search?q=broadphase
# https://github.com/bulletphysics/bullet3/search?p=1&q=getCachedOverlappingObjects&type=&utf8=%E2%9C%93
# https://andysomogyi.github.io/mechanica/bullet.html
# http://www.cs.kent.edu/~ruttan/GameEngines/lectures/Bullet_User_Manual
aabb = get_aabb(robot)
# aabb = get_subtree_aabb(robot, base_link)
print(aabb)
draw_aabb(aabb)
for link in [BASE_LINK, base_link]:
print(link, get_collision_data(robot, link),
pairwise_link_collision(robot, link, robot, link))
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 add_walls(ros_world):
thickness = 0.01 # 0.005 | 0.01 | 0.02
height = 0.11 # 0.11 | 0.12
[table_name] = ros_world.perception.get_surfaces()
#table_body = ros_world.get_body(table_name)
table_info = ros_world.perception.info_from_name[table_name]
#draw_pose(table_info.pose, length=1)
with ros_world:
#aabb = aabb_from_points(apply_affine(table_info.pose, table_info.type.vertices))
aabb = aabb_from_points(table_info.type.vertices)
draw_aabb(aabb)
# pose = get_pose(table_body)
# pose = ros_world.get_pose(table_name)
# aabb = approximate_as_prism(table_body, pose)
x, y, z = get_aabb_center(aabb)
l, w, h = get_aabb_extent(aabb)
#right_wall = create_box(l, thickness, height)
#set_pose(right_wall, multiply(table_info.pose, (Pose(point=[x, y - (w + thickness) / 2., z + (h + height) / 2.]))))
#bottom_wall = create_box(thickness, w / 2., height)
#set_point(bottom_wall, [x - (l + thickness) / 2., y - w / 4., z + (h + height) / 2.])
top_wall = create_box(thickness, w, height)
set_pose(
top_wall,
multiply(table_info.pose, (Pose(
point=[x + (l + thickness) / 2., y, z + (h + height) / 2.]))))
walls = [top_wall]
#walls = [right_wall, top_wall] # , bottom_wall]
for i, body in enumerate(walls):
name = create_name('wall', i + 1)
ros_world.perception.sim_bodies[name] = body
ros_world.perception.sim_items[name] = None
#wait_for_user()
return walls # Return names?
def main(floor_width=2.0):
# Creates a pybullet world and a visualizer for it
connect(use_gui=True)
identity_pose = (unit_point(), unit_quat())
origin_handles = draw_pose(
identity_pose, length=1.0
) # Draws the origin coordinate system (x:RED, y:GREEN, z:BLUE)
# Bodies are described by an integer index
floor = create_box(w=floor_width, l=floor_width, h=0.001,
color=TAN) # Creates a tan box object for the floor
set_point(floor,
[0, 0, -0.001 / 2.]) # Sets the [x,y,z] translation of the floor
obstacle = create_box(w=0.5, l=0.5, h=0.1,
color=RED) # Creates a red box obstacle
set_point(
obstacle,
[0.5, 0.5, 0.1 / 2.]) # Sets the [x,y,z] position of the obstacle
print('Position:', get_point(obstacle))
set_euler(obstacle,
[0, 0, np.pi / 4
]) # Sets the [roll,pitch,yaw] orientation of the obstacle
print('Orientation:', get_euler(obstacle))
with LockRenderer(
): # Temporarily prevents the renderer from updating for improved loading efficiency
with HideOutput(): # Temporarily suppresses pybullet output
robot = load_model(ROOMBA_URDF) # Loads a robot from a *.urdf file
robot_z = stable_z(
robot, floor
) # Returns the z offset required for robot to be placed on floor
set_point(robot,
[0, 0, robot_z]) # Sets the z position of the robot
dump_body(robot) # Prints joint and link information about robot
set_all_static()
# Joints are also described by an integer index
# The turtlebot has explicit joints representing x, y, theta
x_joint = joint_from_name(robot, 'x') # Looks up the robot joint named 'x'
y_joint = joint_from_name(robot, 'y') # Looks up the robot joint named 'y'
theta_joint = joint_from_name(
robot, 'theta') # Looks up the robot joint named 'theta'
joints = [x_joint, y_joint, theta_joint]
base_link = link_from_name(
robot, 'base_link') # Looks up the robot link named 'base_link'
world_from_obstacle = get_pose(
obstacle
) # Returns the pose of the origin of obstacle wrt the world frame
obstacle_aabb = get_subtree_aabb(obstacle)
draw_aabb(obstacle_aabb)
random.seed(0) # Sets the random number generator state
handles = []
for i in range(10):
for handle in handles:
remove_debug(handle)
print('\nIteration: {}'.format(i))
x = random.uniform(-floor_width / 2., floor_width / 2.)
set_joint_position(robot, x_joint,
x) # Sets the current value of the x joint
y = random.uniform(-floor_width / 2., floor_width / 2.)
set_joint_position(robot, y_joint,
y) # Sets the current value of the y joint
yaw = random.uniform(-np.pi, np.pi)
set_joint_position(robot, theta_joint,
yaw) # Sets the current value of the theta joint
values = get_joint_positions(
robot,
joints) # Obtains the current values for the specified joints
print('Joint values: [x={:.3f}, y={:.3f}, yaw={:.3f}]'.format(*values))
world_from_robot = get_link_pose(
robot,
base_link) # Returns the pose of base_link wrt the world frame
position, quaternion = world_from_robot # Decomposing pose into position and orientation (quaternion)
x, y, z = position # Decomposing position into x, y, z
print('Base link position: [x={:.3f}, y={:.3f}, z={:.3f}]'.format(
x, y, z))
euler = euler_from_quat(
quaternion) # Converting from quaternion to euler angles
roll, pitch, yaw = euler # Decomposing orientation into roll, pitch, yaw
print('Base link orientation: [roll={:.3f}, pitch={:.3f}, yaw={:.3f}]'.
format(roll, pitch, yaw))
handles.extend(
draw_pose(world_from_robot, length=0.5)
) # # Draws the base coordinate system (x:RED, y:GREEN, z:BLUE)
obstacle_from_robot = multiply(
invert(world_from_obstacle),
world_from_robot) # Relative transformation from robot to obstacle
robot_aabb = get_subtree_aabb(
robot,
base_link) # Computes the robot's axis-aligned bounding box (AABB)
lower, upper = robot_aabb # Decomposing the AABB into the lower and upper extrema
center = (lower + upper) / 2. # Computing the center of the AABB
extent = upper - lower # Computing the dimensions of the AABB
handles.extend(draw_aabb(robot_aabb))
collision = pairwise_collision(
robot, obstacle
) # Checks whether robot is currently colliding with obstacle
print('Collision: {}'.format(collision))
wait_for_duration(1.0) # Like sleep() but also updates the viewer
wait_for_user() # Like raw_input() but also updates the viewer
# Destroys the pybullet world
disconnect()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('-c', '--cfree', action='store_true',
help='When enabled, disables collision checking.')
# parser.add_argument('-p', '--problem', default='test_pour', choices=sorted(problem_fn_from_name),
# help='The name of the problem to solve.')
parser.add_argument('--holonomic', action='store_true', # '-h',
help='')
parser.add_argument('-l', '--lock', action='store_false',
help='')
parser.add_argument('-s', '--seed', default=None, type=int,
help='The random seed to use.')
parser.add_argument('-v', '--viewer', action='store_false',
help='')
args = parser.parse_args()
connect(use_gui=args.viewer)
seed = args.seed
#seed = 0
#seed = time.time()
set_random_seed(seed=seed) # None: 2147483648 = 2**31
set_numpy_seed(seed=seed)
print('Random seed:', get_random_seed(), random.random())
print('Numpy seed:', get_numpy_seed(), np.random.random())
#########################
robot, base_limits, goal_conf, obstacles = problem1()
draw_base_limits(base_limits)
custom_limits = create_custom_base_limits(robot, base_limits)
base_joints = joints_from_names(robot, BASE_JOINTS)
base_link = link_from_name(robot, BASE_LINK_NAME)
if args.cfree:
obstacles = []
# for obstacle in obstacles:
# draw_aabb(get_aabb(obstacle)) # Updates automatically
resolutions = None
#resolutions = np.array([0.05, 0.05, math.radians(10)])
set_all_static() # Doesn't seem to affect
region_aabb = AABB(lower=-np.ones(3), upper=+np.ones(3))
draw_aabb(region_aabb)
step_simulation() # Need to call before get_bodies_in_region
#update_scene() # TODO: https://github.com/bulletphysics/bullet3/pull/3331
bodies = get_bodies_in_region(region_aabb)
print(len(bodies), bodies)
# https://github.com/bulletphysics/bullet3/search?q=broadphase
# https://github.com/bulletphysics/bullet3/search?p=1&q=getCachedOverlappingObjects&type=&utf8=%E2%9C%93
# https://andysomogyi.github.io/mechanica/bullet.html
# http://www.cs.kent.edu/~ruttan/GameEngines/lectures/Bullet_User_Manual
#draw_pose(get_link_pose(robot, base_link), length=0.5)
for conf in [get_joint_positions(robot, base_joints), goal_conf]:
draw_pose(pose_from_pose2d(conf, z=DRAW_Z), length=DRAW_LENGTH)
aabb = get_aabb(robot)
#aabb = get_subtree_aabb(robot, base_link)
draw_aabb(aabb)
for link in [BASE_LINK, base_link]:
print(link, get_collision_data(robot, link), pairwise_link_collision(robot, link, robot, link))
#########################
saver = WorldSaver()
start_time = time.time()
profiler = Profiler(field='tottime', num=50) # tottime | cumtime | None
profiler.save()
with LockRenderer(lock=args.lock):
path = plan_motion(robot, base_joints, goal_conf, holonomic=args.holonomic, obstacles=obstacles,
custom_limits=custom_limits, resolutions=resolutions,
use_aabb=True, cache=True, max_distance=0.,
restarts=2, iterations=20, smooth=20) # 20 | None
saver.restore()
#wait_for_duration(duration=1e-3)
profiler.restore()
#########################
solved = path is not None
length = INF if path is None else len(path)
cost = sum(get_distance_fn(robot, base_joints, weights=resolutions)(*pair) for pair in get_pairs(path))
print('Solved: {} | Length: {} | Cost: {:.3f} | Runtime: {:.3f} sec'.format(
solved, length, cost, elapsed_time(start_time)))
if path is None:
disconnect()
return
iterate_path(robot, base_joints, path)
disconnect()