def main():
connect(use_gui=True)
add_data_path()
plane = p.loadURDF("plane.urdf")
with HideOutput():
with LockRenderer():
robot = load_model(FRANKA_URDF, fixed_base=True)
dump_body(robot)
print('Start?')
wait_for_user()
tool_link = link_from_name(robot, 'panda_hand')
joints = get_movable_joints(robot)
print('Joints', [get_joint_name(robot, joint) for joint in joints])
sample_fn = get_sample_fn(robot, joints)
for i in range(10):
print('Iteration:', i)
conf = sample_fn()
set_joint_positions(robot, joints, conf)
wait_for_user()
test_retraction(robot,
PANDA_INFO,
tool_link,
max_distance=0.01,
max_time=0.05)
disconnect()
def main():
# TODO: move to pybullet-planning for now
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 main():
# The URDF loader seems robust to package:// and slightly wrong relative paths?
connect(use_gui=True)
add_data_path()
plane = p.loadURDF("plane.urdf")
#with HideOutput():
with LockRenderer():
robot = load_model(MOVO_URDF, fixed_base=True)
dump_body(robot)
print('Start?')
wait_for_user()
#joint_names = HEAD_JOINTS
#joints = joints_from_names(robot, joint_names)
joints = get_movable_joints(robot)
print('Joints', [get_joint_name(robot, joint) for joint in joints])
sample_fn = get_sample_fn(robot, joints)
for i in range(10):
print('Iteration:', i)
conf = sample_fn()
set_joint_positions(robot, joints, conf)
wait_for_user()
disconnect()
def main():
# The URDF loader seems robust to package:// and slightly wrong relative paths?
connect(use_gui=True)
add_data_path()
plane = p.loadURDF("plane.urdf")
with LockRenderer():
with HideOutput():
robot = load_model(MOVO_URDF, fixed_base=True)
for link in get_links(robot):
set_color(robot,
color=apply_alpha(0.25 * np.ones(3), 1),
link=link)
base_joints = joints_from_names(robot, BASE_JOINTS)
draw_base_limits((get_min_limits(
robot, base_joints), get_max_limits(robot, base_joints)),
z=1e-2)
dump_body(robot)
wait_for_user('Start?')
#for arm in ARMS:
# test_close_gripper(robot, arm)
arm = 'right'
tool_link = link_from_name(robot, TOOL_LINK.format(arm))
#joint_names = HEAD_JOINTS
#joints = joints_from_names(robot, joint_names)
joints = base_joints + get_arm_joints(robot, arm)
#joints = get_movable_joints(robot)
print('Joints:', get_joint_names(robot, joints))
ik_joints = get_ik_joints(robot, MOVO_INFOS[arm], tool_link)
#fixed_joints = []
fixed_joints = ik_joints[:1]
#fixed_joints = ik_joints
sample_fn = get_sample_fn(robot, joints)
handles = []
for i in range(10):
print('Iteration:', i)
conf = sample_fn()
print(conf)
set_joint_positions(robot, joints, conf)
tool_pose = get_link_pose(robot, tool_link)
remove_handles(handles)
handles = draw_pose(tool_pose)
wait_for_user()
#conf = next(ikfast_inverse_kinematics(robot, MOVO_INFOS[arm], tool_link, tool_pose,
# fixed_joints=fixed_joints, max_time=0.1), None)
#if conf is not None:
# set_joint_positions(robot, ik_joints, conf)
#wait_for_user()
test_retraction(robot,
MOVO_INFOS[arm],
tool_link,
fixed_joints=fixed_joints,
max_time=0.1)
disconnect()
def main(group=SE3):
connect(use_gui=True)
set_camera_pose(camera_point=SIZE*np.array([1., -1., 1.]))
# TODO: can also create all links and fix some joints
# TODO: SE(3) motion planner (like my SE(3) one) where some dimensions are fixed
obstacle = create_box(w=SIZE, l=SIZE, h=SIZE, color=RED)
#robot = create_cylinder(radius=0.025, height=0.1, color=BLUE)
obstacles = [obstacle]
collision_id, visual_id = create_shape(get_cylinder_geometry(radius=0.025, height=0.1), color=BLUE)
robot = create_flying_body(group, collision_id, visual_id)
body_link = get_links(robot)[-1]
joints = get_movable_joints(robot)
joint_from_group = dict(zip(group, joints))
print(joint_from_group)
#print(get_aabb(robot, body_link))
dump_body(robot, fixed=False)
custom_limits = {joint_from_group[j]: l for j, l in CUSTOM_LIMITS.items()}
# sample_fn = get_sample_fn(robot, joints, custom_limits=custom_limits)
# for i in range(10):
# conf = sample_fn()
# set_joint_positions(robot, joints, conf)
# wait_for_user('Iteration: {}'.format(i))
# return
initial_point = SIZE*np.array([-1., -1., 0])
#initial_point = -1.*np.ones(3)
final_point = -initial_point
initial_euler = np.zeros(3)
add_line(initial_point, final_point, color=GREEN)
initial_conf = np.concatenate([initial_point, initial_euler])
final_conf = np.concatenate([final_point, initial_euler])
set_joint_positions(robot, joints, initial_conf)
#print(initial_point, get_link_pose(robot, body_link))
#set_pose(robot, Pose(point=-1.*np.ones(3)))
path = plan_joint_motion(robot, joints, final_conf, obstacles=obstacles,
self_collisions=False, custom_limits=custom_limits)
if path is None:
disconnect()
return
for i, conf in enumerate(path):
set_joint_positions(robot, joints, conf)
point, quat = get_link_pose(robot, body_link)
#euler = euler_from_quat(quat)
euler = intrinsic_euler_from_quat(quat)
print(conf)
print(point, euler)
wait_for_user('Step: {}/{}'.format(i, len(path)))
wait_for_user('Finish?')
disconnect()
def main():
connect(use_gui=True)
with HideOutput():
pr2 = load_model(
"models/drake/pr2_description/urdf/pr2_simplified.urdf")
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['left_arm']),
REST_LEFT_ARM)
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['right_arm']),
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['torso']),
[0.2])
dump_body(pr2)
block = load_model(BLOCK_URDF, fixed_base=False)
set_point(block, [2, 0.5, 1])
target_point = point_from_pose(get_pose(block))
# head_link = link_from_name(pr2, HEAD_LINK)
head_joints = joints_from_names(pr2, PR2_GROUPS['head'])
head_link = head_joints[-1]
#max_detect_distance = 2.5
max_register_distance = 1.0
distance_range = (max_register_distance / 2, max_register_distance)
base_generator = visible_base_generator(pr2, target_point, distance_range)
base_joints = joints_from_names(pr2, PR2_GROUPS['base'])
for i in range(5):
base_conf = next(base_generator)
set_joint_positions(pr2, base_joints, base_conf)
p.addUserDebugLine(point_from_pose(get_link_pose(pr2, head_link)),
target_point,
lineColorRGB=(1, 0, 0)) # addUserDebugText
p.addUserDebugLine(point_from_pose(
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME))),
target_point,
lineColorRGB=(0, 0, 1)) # addUserDebugText
# head_conf = sub_inverse_kinematics(pr2, head_joints[0], HEAD_LINK, )
head_conf = inverse_visibility(pr2, target_point)
set_joint_positions(pr2, head_joints, head_conf)
print(get_detections(pr2))
# TODO: does this detect the robot sometimes?
detect_mesh, z = get_detection_cone(pr2, block)
detect_cone = create_mesh(detect_mesh, color=(0, 1, 0, 0.5))
set_pose(detect_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
view_cone = get_viewcone(depth=2.5, color=(1, 0, 0, 0.25))
set_pose(view_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
wait_for_user()
remove_body(detect_cone)
remove_body(view_cone)
disconnect()
def main(use_pr2_drake=True):
connect(use_gui=True)
add_data_path()
plane = p.loadURDF("plane.urdf")
table_path = "models/table_collision/table.urdf"
table = load_pybullet(table_path, fixed_base=True)
set_quat(table, quat_from_euler(Euler(yaw=PI / 2)))
# table/table.urdf, table_square/table_square.urdf, cube.urdf, block.urdf, door.urdf
obstacles = [plane, table]
pr2_urdf = DRAKE_PR2_URDF if use_pr2_drake else PR2_URDF
with HideOutput():
pr2 = load_model(pr2_urdf, fixed_base=True) # TODO: suppress warnings?
dump_body(pr2)
z = base_aligned_z(pr2)
print(z)
#z = stable_z_on_aabb(pr2, AABB(np.zeros(3), np.zeros(3)))
print(z)
set_point(pr2, Point(z=z))
print(get_aabb(pr2))
wait_if_gui()
base_start = (-2, -2, 0)
base_goal = (2, 2, 0)
arm_start = SIDE_HOLDING_LEFT_ARM
#arm_start = TOP_HOLDING_LEFT_ARM
#arm_start = REST_LEFT_ARM
arm_goal = TOP_HOLDING_LEFT_ARM
#arm_goal = SIDE_HOLDING_LEFT_ARM
left_joints = joints_from_names(pr2, PR2_GROUPS['left_arm'])
right_joints = joints_from_names(pr2, PR2_GROUPS['right_arm'])
torso_joints = joints_from_names(pr2, PR2_GROUPS['torso'])
set_joint_positions(pr2, left_joints, arm_start)
set_joint_positions(pr2, right_joints,
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, torso_joints, [0.2])
open_arm(pr2, 'left')
# test_ikfast(pr2)
add_line(base_start, base_goal, color=RED)
print(base_start, base_goal)
if use_pr2_drake:
test_drake_base_motion(pr2, base_start, base_goal, obstacles=obstacles)
else:
test_base_motion(pr2, base_start, base_goal, obstacles=obstacles)
test_arm_motion(pr2, left_joints, arm_goal)
# test_arm_control(pr2, left_joints, arm_start)
wait_if_gui('Finish?')
disconnect()
def main(use_pr2_drake=False):
connect(use_gui=True)
add_data_path()
plane = p.loadURDF("plane.urdf")
#table_path = "table/table.urdf"
# table_path = "models/table_collision/table.urdf"
# table = p.loadURDF(table_path, 0, 0, 0, 0, 0, 0.707107, 0.707107)
# table_square/table_square.urdf, cube.urdf, block.urdf, door.urdf
pr2_urdf = DRAKE_PR2_URDF if use_pr2_drake else PR2_URDF
with HideOutput():
pr2 = load_model(pr2_urdf, fixed_base=True) # TODO: suppress warnings?
dump_body(pr2)
base_start = (-2, -2, 0)
base_goal = (2, 2, 0)
arm_start = SIDE_HOLDING_LEFT_ARM
#arm_start = TOP_HOLDING_LEFT_ARM
#arm_start = REST_LEFT_ARM
arm_goal = TOP_HOLDING_LEFT_ARM
#arm_goal = SIDE_HOLDING_LEFT_ARM
left_joints = joints_from_names(pr2, PR2_GROUPS['left_arm'])
right_joints = joints_from_names(pr2, PR2_GROUPS['right_arm'])
torso_joints = joints_from_names(pr2, PR2_GROUPS['torso'])
set_joint_positions(pr2, left_joints, arm_start)
set_joint_positions(pr2, right_joints,
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, torso_joints, [0.2])
open_arm(pr2, 'left')
# test_ikfast(pr2)
p.addUserDebugLine(base_start, base_goal,
lineColorRGB=(1, 0, 0)) # addUserDebugText
print(base_start, base_goal)
if use_pr2_drake:
test_drake_base_motion(pr2, base_start, base_goal)
else:
test_base_motion(pr2, base_start, base_goal)
test_arm_motion(pr2, left_joints, arm_goal)
# test_arm_control(pr2, left_joints, arm_start)
user_input('Finish?')
disconnect()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('-shape',
default='box',
choices=['box', 'sphere', 'cylinder', 'capsule'])
parser.add_argument('-video', action='store_true')
args = parser.parse_args()
video = 'video.mp4' if args.video else None
connect(use_gui=True, mp4=video)
if video is not None:
set_renderer(enable=False)
draw_global_system()
set_camera_pose(camera_point=Point(+1.5, -1.5, +1.5),
target_point=Point(-1.5, +1.5, 0))
add_data_path()
plane = load_pybullet('plane.urdf', fixed_base=True)
#plane = load_model('plane.urdf')
set_point(plane, Point(z=-1e-3))
ramp = create_ramp()
dump_body(ramp)
obj = create_object(args.shape)
set_euler(obj, np.random.uniform(-np.math.radians(1), np.math.radians(1),
3))
set_point(obj, np.random.uniform(-1e-3, +1e-3, 3))
#set_velocity(obj, linear=Point(x=-1))
set_position(obj, z=2.)
#set_position(obj, z=base_aligned_z(obj))
dump_body(obj)
#add_pose_constraint(obj, pose=(target_point, target_quat), max_force=200)
set_renderer(enable=True)
if video is None:
wait_if_gui('Begin?')
simulate(controller=condition_controller(lambda step:
(step != 0) and at_rest(obj)))
if video is None:
wait_if_gui('Finish?')
disconnect()
def problem1(n_obstacles=10, wall_side=0.1, obst_width=0.25, obst_height=0.5):
floor_extent = 5.0
base_limits = (-floor_extent/2.*np.ones(2),
+floor_extent/2.*np.ones(2))
floor_height = 0.001
floor = create_box(floor_extent, floor_extent, floor_height, color=TAN)
set_point(floor, Point(z=-floor_height/2.))
wall1 = create_box(floor_extent + wall_side, wall_side, wall_side, color=GREY)
set_point(wall1, Point(y=floor_extent/2., z=wall_side/2.))
wall2 = create_box(floor_extent + wall_side, wall_side, wall_side, color=GREY)
set_point(wall2, Point(y=-floor_extent/2., z=wall_side/2.))
wall3 = create_box(wall_side, floor_extent + wall_side, wall_side, color=GREY)
set_point(wall3, Point(x=floor_extent/2., z=wall_side/2.))
wall4 = create_box(wall_side, floor_extent + wall_side, wall_side, color=GREY)
set_point(wall4, Point(x=-floor_extent/2., z=wall_side/2.))
walls = [wall1, wall2, wall3, wall4]
initial_surfaces = OrderedDict()
for _ in range(n_obstacles):
body = create_box(obst_width, obst_width, obst_height, color=GREY)
initial_surfaces[body] = floor
obstacles = walls + list(initial_surfaces)
initial_conf = np.array([+floor_extent/3, -floor_extent/3, 3*PI/4])
goal_conf = -initial_conf
with HideOutput():
robot = load_model(TURTLEBOT_URDF)
base_joints = joints_from_names(robot, BASE_JOINTS)
# base_link = child_link_from_joint(base_joints[-1])
base_link = link_from_name(robot, BASE_LINK_NAME)
set_all_color(robot, BLUE)
dump_body(robot)
set_point(robot, Point(z=stable_z(robot, floor)))
draw_pose(Pose(), parent=robot, parent_link=base_link, length=0.5)
set_joint_positions(robot, base_joints, initial_conf)
sample_placements(initial_surfaces, obstacles=[robot] + walls,
savers=[BodySaver(robot, joints=base_joints, positions=goal_conf)],
min_distances=10e-2)
return robot, base_limits, goal_conf, obstacles
def main():
connect(use_gui=True)
add_data_path()
draw_pose(Pose(), length=1.)
set_camera_pose(camera_point=[1, -1, 1])
plane = p.loadURDF("plane.urdf")
with LockRenderer():
with HideOutput(True):
robot = load_pybullet(FRANKA_URDF, fixed_base=True)
assign_link_colors(robot, max_colors=3, s=0.5, v=1.)
#set_all_color(robot, GREEN)
obstacles = [plane] # TODO: collisions with the ground
dump_body(robot)
print('Start?')
wait_for_user()
info = PANDA_INFO
tool_link = link_from_name(robot, 'panda_hand')
draw_pose(Pose(), parent=robot, parent_link=tool_link)
joints = get_movable_joints(robot)
print('Joints', [get_joint_name(robot, joint) for joint in joints])
check_ik_solver(info)
sample_fn = get_sample_fn(robot, joints)
for i in range(10):
print('Iteration:', i)
conf = sample_fn()
set_joint_positions(robot, joints, conf)
wait_for_user()
#test_ik(robot, info, tool_link, get_link_pose(robot, tool_link))
test_retraction(robot,
info,
tool_link,
use_pybullet=False,
max_distance=0.1,
max_time=0.05,
max_candidates=100)
disconnect()
def main(use_turtlebot=True):
parser = argparse.ArgumentParser()
parser.add_argument('-sim', action='store_true')
parser.add_argument('-video', action='store_true')
args = parser.parse_args()
video = 'video.mp4' if args.video else None
connect(use_gui=True, mp4=video)
#set_renderer(enable=False)
# print(list_pybullet_data())
# print(list_pybullet_robots())
draw_global_system()
set_camera_pose(camera_point=Point(+1.5, -1.5, +1.5),
target_point=Point(-1.5, +1.5, 0))
plane = load_plane()
#door = load_pybullet('models/door.urdf', fixed_base=True) # From drake
#set_point(door, Point(z=-.1))
door = create_door()
#set_position(door, z=base_aligned_z(door))
set_point(door, base_aligned(door))
#set_collision_margin(door, link=0, margin=0.)
set_configuration(door, [math.radians(-5)])
dump_body(door)
door_joint = get_movable_joints(door)[0]
door_link = child_link_from_joint(door_joint)
#draw_pose(get_com_pose(door, door_link), parent=door, parent_link=door_link)
draw_pose(Pose(), parent=door, parent_link=door_link)
wait_if_gui()
##########
start_x = +2
target_x = -start_x
if not use_turtlebot:
side = 0.25
robot = create_box(w=side, l=side, h=side, mass=5., color=BLUE)
set_position(robot, x=start_x)
#set_velocity(robot, linear=Point(x=-1))
else:
turtlebot_urdf = os.path.abspath(TURTLEBOT_URDF)
print(turtlebot_urdf)
#print(read(turtlebot_urdf))
robot = load_pybullet(turtlebot_urdf, merge=True, fixed_base=True)
robot_joints = get_movable_joints(robot)[:3]
set_joint_positions(robot, robot_joints, [start_x, 0, PI])
set_all_color(robot, BLUE)
set_position(robot, z=base_aligned_z(robot))
dump_body(robot)
##########
set_renderer(enable=True)
#test_door(door)
if args.sim:
test_simulation(robot, target_x, video)
else:
assert use_turtlebot # TODO: extend to the block
test_kinematic(robot, door, target_x)
disconnect()
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(num_iterations=10):
# The URDF loader seems robust to package:// and slightly wrong relative paths?
connect(use_gui=True)
add_data_path()
plane = p.loadURDF("plane.urdf")
side = 0.05
block = create_box(w=side, l=side, h=side, color=RED)
start_time = time.time()
with LockRenderer():
with HideOutput():
# TODO: MOVO must be loaded last
robot = load_model(MOVO_URDF, fixed_base=True)
#set_all_color(robot, color=MOVO_COLOR)
assign_link_colors(robot)
base_joints = joints_from_names(robot, BASE_JOINTS)
draw_base_limits((get_min_limits(
robot, base_joints), get_max_limits(robot, base_joints)),
z=1e-2)
print('Load time: {:.3f}'.format(elapsed_time(start_time)))
dump_body(robot)
#print(get_colliding(robot))
#for arm in ARMS:
# test_close_gripper(robot, arm)
#test_grasps(robot, block)
arm = RIGHT
tool_link = link_from_name(robot, TOOL_LINK.format(arm))
#joint_names = HEAD_JOINTS
#joints = joints_from_names(robot, joint_names)
joints = base_joints + get_arm_joints(robot, arm)
#joints = get_movable_joints(robot)
print('Joints:', get_joint_names(robot, joints))
ik_info = MOVO_INFOS[arm]
print_ik_warning(ik_info)
ik_joints = get_ik_joints(robot, ik_info, tool_link)
#fixed_joints = []
fixed_joints = ik_joints[:1]
#fixed_joints = ik_joints
wait_if_gui('Start?')
sample_fn = get_sample_fn(robot, joints)
handles = []
for i in range(num_iterations):
conf = sample_fn()
print('Iteration: {}/{} | Conf: {}'.format(i + 1, num_iterations,
np.array(conf)))
set_joint_positions(robot, joints, conf)
tool_pose = get_link_pose(robot, tool_link)
remove_handles(handles)
handles = draw_pose(tool_pose)
wait_if_gui()
#conf = next(ikfast_inverse_kinematics(robot, MOVO_INFOS[arm], tool_link, tool_pose,
# fixed_joints=fixed_joints, max_time=0.1), None)
#if conf is not None:
# set_joint_positions(robot, ik_joints, conf)
#wait_if_gui()
test_retraction(robot,
ik_info,
tool_link,
fixed_joints=fixed_joints,
max_time=0.05,
max_candidates=100)
disconnect()
def problem1(n_obstacles=10, wall_side=0.1, obst_width=0.25, obst_height=0.5):
floor_extent = 5.0
base_limits = (-floor_extent / 2. * np.ones(2),
+floor_extent / 2. * np.ones(2))
floor_height = 0.001
floor = create_box(floor_extent, floor_extent, floor_height, color=TAN)
set_point(floor, Point(z=-floor_height / 2.))
wall1 = create_box(floor_extent + wall_side,
wall_side,
wall_side,
color=GREY)
set_point(wall1, Point(y=floor_extent / 2., z=wall_side / 2.))
wall2 = create_box(floor_extent + wall_side,
wall_side,
wall_side,
color=GREY)
set_point(wall2, Point(y=-floor_extent / 2., z=wall_side / 2.))
wall3 = create_box(wall_side,
floor_extent + wall_side,
wall_side,
color=GREY)
set_point(wall3, Point(x=floor_extent / 2., z=wall_side / 2.))
wall4 = create_box(wall_side,
floor_extent + wall_side,
wall_side,
color=GREY)
set_point(wall4, Point(x=-floor_extent / 2., z=wall_side / 2.))
wall5 = create_box(obst_width, obst_width, obst_height, color=GREY)
set_point(wall5, Point(z=obst_height / 2.))
walls = [wall1, wall2, wall3, wall4, wall5]
initial_surfaces = OrderedDict()
for _ in range(n_obstacles - 1):
body = create_box(obst_width, obst_width, obst_height, color=GREY)
initial_surfaces[body] = floor
pillars = list(initial_surfaces)
obstacles = walls + pillars
initial_conf = np.array([+floor_extent / 3, -floor_extent / 3, 3 * PI / 4])
goal_conf = -initial_conf
robot = load_pybullet(TURTLEBOT_URDF,
fixed_base=True,
merge=True,
sat=False)
base_joints = joints_from_names(robot, BASE_JOINTS)
# base_link = child_link_from_joint(base_joints[-1])
base_link = link_from_name(robot, BASE_LINK_NAME)
set_all_color(robot, BLUE)
dump_body(robot)
set_point(robot, Point(z=stable_z(robot, floor)))
#set_point(robot, Point(z=base_aligned_z(robot)))
draw_pose(Pose(), parent=robot, parent_link=base_link, length=0.5)
set_joint_positions(robot, base_joints, initial_conf)
sample_placements(
initial_surfaces,
obstacles=[robot] + walls,
savers=[BodySaver(robot, joints=base_joints, positions=goal_conf)],
min_distances=10e-2)
# The first calls appear to be the slowest
# times = []
# for body1, body2 in combinations(pillars, r=2):
# start_time = time.time()
# colliding = pairwise_collision(body1, body2)
# runtime = elapsed_time(start_time)
# print(colliding, runtime)
# times.append(runtime)
# print(times)
return robot, base_limits, goal_conf, obstacles
def main():
# TODO: update this example
connect(use_gui=True)
with HideOutput():
pr2 = load_model(DRAKE_PR2_URDF)
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['left_arm']),
REST_LEFT_ARM)
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['right_arm']),
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['torso']),
[0.2])
dump_body(pr2)
block = load_model(BLOCK_URDF, fixed_base=False)
set_point(block, [2, 0.5, 1])
target_point = point_from_pose(get_pose(block))
draw_point(target_point)
head_joints = joints_from_names(pr2, PR2_GROUPS['head'])
#head_link = child_link_from_joint(head_joints[-1])
#head_name = get_link_name(pr2, head_link)
head_name = 'high_def_optical_frame' # HEAD_LINK_NAME | high_def_optical_frame | high_def_frame
head_link = link_from_name(pr2, head_name)
#max_detect_distance = 2.5
max_register_distance = 1.0
distance_range = (max_register_distance / 2, max_register_distance)
base_generator = visible_base_generator(pr2, target_point, distance_range)
base_joints = joints_from_names(pr2, PR2_GROUPS['base'])
for i in range(5):
base_conf = next(base_generator)
set_joint_positions(pr2, base_joints, base_conf)
handles = [
add_line(point_from_pose(get_link_pose(pr2, head_link)),
target_point,
color=RED),
add_line(point_from_pose(
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME))),
target_point,
color=BLUE),
]
# head_conf = sub_inverse_kinematics(pr2, head_joints[0], HEAD_LINK, )
head_conf = inverse_visibility(pr2,
target_point,
head_name=head_name,
head_joints=head_joints)
assert head_conf is not None
set_joint_positions(pr2, head_joints, head_conf)
print(get_detections(pr2))
# TODO: does this detect the robot sometimes?
detect_mesh, z = get_detection_cone(pr2, block)
detect_cone = create_mesh(detect_mesh, color=(0, 1, 0, 0.5))
set_pose(detect_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
view_cone = get_viewcone(depth=2.5, color=(1, 0, 0, 0.25))
set_pose(view_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
wait_if_gui()
remove_body(detect_cone)
remove_body(view_cone)
disconnect()
