def main():
rospy.init_node('simple_test')
# Attempt to connect to simulator
sim_client = utils.connectToSimulation('127.0.0.1', 19997)
vrep.simxStopSimulation(sim_client, VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(sim_client, VREP_BLOCKING)
time.sleep(1)
rdd = RDD(sim_client)
ur5 = UR5(sim_client, rdd)
# Generate a cube
position = [-0.2, 0.9, 0.05]
orientation = [0, 0, 0]
# orientation = [0, 0, 0]
size = [0.1, 0.2, 0.05]
mass = 1
color = [255, 0, 0]
cube = utils.generateShape(sim_client, 'cube', 0, size, position,
orientation, mass, color)
time.sleep(1)
pose = ur5.getEndEffectorPose()
target_pose = pose.copy()
# rdd.openFinger(RDD.NARROW)
narrow_finger_joint = rdd.finger_joint_narrow.joint
def print_joint_pos(joint):
while True:
# print utils.getJointPosition(sim_client, joint)
res, cube_pose = utils.getObjectPosition(sim_client, cube)
while any(np.isnan(cube_pose)):
res, cube_pose = utils.getObjectPosition(sim_client, cube)
print cube_pose
thread.start_new_thread(print_joint_pos, (narrow_finger_joint, ))
target_pose[1, 3] += 0.3
rdd.openFinger(RDD.NARROW)
ur5.moveTo(target_pose)
ur5.moveTo(pose)
class ScoopEnv:
def __init__(self, port=19997):
self.sim_client = utils.connectToSimulation('127.0.0.1', port)
# Create UR5 and restart simulator
self.rdd = RDD(self.sim_client, open_force=10)
self.ur5 = UR5(self.sim_client, self.rdd)
self.nA = 2
self.cube = None
self.cube_start_position = [-0.2, 0.9, 0.05]
self.cube_size = [0.1, 0.2, 0.04]
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):
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