def main(display='execute'): # control | execute | step
connect(use_gui=True)
disable_real_time()
draw_global_system()
with HideOutput():
robot = load_model(DRAKE_IIWA_URDF) # KUKA_IIWA_URDF | DRAKE_IIWA_URDF
floor = load_model('models/short_floor.urdf')
block = load_model(BLOCK_URDF, fixed_base=False)
set_pose(block, Pose(Point(y=0.5, z=stable_z(block, floor))))
set_default_camera(distance=2)
dump_world()
saved_world = WorldSaver()
command = plan(robot, block, fixed=[floor], teleport=False)
if (command is None) or (display is None):
print('Unable to find a plan!')
return
saved_world.restore()
update_state()
wait_if_gui('{}?'.format(display))
if display == 'control':
enable_gravity()
command.control(real_time=False, dt=0)
elif display == 'execute':
command.refine(num_steps=10).execute(time_step=0.005)
elif display == 'step':
command.step()
else:
raise ValueError(display)
print('Quit?')
wait_if_gui()
disconnect()
def main(display='control'): # control | execute | step
connect(use_gui=True)
disable_real_time()
# KUKA_IIWA_URDF | DRAKE_IIWA_URDF
robot = load_model(DRAKE_IIWA_URDF, fixed_base=True)
# floor = load_model('models/short_floor.urdf')
floor = p.loadURDF("plane.urdf")
block = load_model(
"models/drake/objects/block_for_pick_and_place_heavy.urdf", fixed_base=False)
set_pose(block, Pose(Point(y=0.5, z=stable_z(block, floor))))
set_default_camera()
dump_world()
saved_world = WorldSaver()
command = plan(robot, block, fixed=[floor], teleport=False)
if (command is None) or (display is None):
print('Unable to find a plan!')
return
saved_world.restore()
update_state()
user_input('{}?'.format(display))
if display == 'control':
enable_gravity()
command.control(real_time=False, dt=0)
elif display == 'execute':
command.refine(num_steps=10).execute(time_step=0.005)
elif display == 'step':
command.step()
else:
raise ValueError(display)
print('Quit?')
wait_for_user()
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():
# 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():
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 parse_robot(robot_json):
pose = parse_pose(robot_json)
if robot_json['name'] == 'pr2':
with HideOutput(True):
robot_id = load_model(DRAKE_PR2_URDF, fixed_base=True)
set_group_conf(robot_id, 'base', base_values_from_pose(pose))
else:
# TODO: set the z?
#set_pose(robot_id, pose)
raise NotImplementedError(robot_json['name'])
for joint, values in robot_json['conf'].items():
[value] = values
if has_joint(robot_id, joint):
set_joint_position(robot_id, joint_from_name(robot_id, joint),
value)
else:
print('Robot {} lacks joint {}'.format(robot_json['name'], joint))
if robot_json['name'] == 'pr2':
set_group_conf(robot_id, 'torso', [0.2])
set_group_conf(robot_id, 'left_arm', REST_LEFT_ARM)
set_group_conf(robot_id, 'right_arm',
rightarm_from_leftarm(REST_LEFT_ARM))
return robot_id
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():
connect(use_gui=True)
with HideOutput():
pr2 = load_model("models/pr2_description/pr2.urdf")
test_clone_robot(pr2)
test_clone_arm(pr2)
user_input('Finish?')
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(display='execute'): # control | execute | step
connect(use_gui=True)
disable_real_time()
with HideOutput():
root_directory = os.path.dirname(os.path.abspath(__file__))
robot = load_pybullet(os.path.join(root_directory, IRB6600_TRACK_URDF), fixed_base=True)
floor = load_model('models/short_floor.urdf')
block = load_model(BLOCK_URDF, fixed_base=False)
floor_x = 2
set_pose(floor, Pose(Point(x=floor_x, z=0.5)))
set_pose(block, Pose(Point(x=floor_x, y=0, z=stable_z(block, floor))))
# set_default_camera()
dump_world()
saved_world = WorldSaver()
with LockRenderer():
command = plan(robot, block, fixed=[floor], teleport=False)
if (command is None) or (display is None):
print('Unable to find a plan!')
print('Quit?')
wait_for_interrupt()
disconnect()
return
saved_world.restore()
update_state()
user_input('{}?'.format(display))
if display == 'control':
enable_gravity()
command.control(real_time=False, dt=0)
elif display == 'execute':
command.refine(num_steps=10).execute(time_step=0.002)
elif display == 'step':
command.step()
else:
raise ValueError(display)
print('Quit?')
wait_for_interrupt()
disconnect()
def main(display='execute'): # control | execute | step
# One of the arm's gantry carriage is fixed when the other is moving.
connect(use_gui=True)
set_camera(yaw=-90, pitch=-40, distance=10, target_position=(0, 7.5, 0))
draw_pose(unit_pose(), length=1.0)
disable_real_time()
with HideOutput():
root_directory = os.path.dirname(os.path.abspath(__file__))
robot = load_pybullet(os.path.join(root_directory, ETH_RFL_URDF), fixed_base=True)
# floor = load_model('models/short_floor.urdf')
block = load_model(BLOCK_URDF, fixed_base=False)
#link = link_from_name(robot, 'gantry_base_link')
#print(get_aabb(robot, link))
block_x = -0.2
#block_y = 1 if ARM == 'right' else 13.5
#block_x = 10
block_y = 5.
# set_pose(floor, Pose(Point(x=floor_x, y=1, z=1.3)))
# set_pose(block, Pose(Point(x=floor_x, y=0.6, z=stable_z(block, floor))))
set_pose(block, Pose(Point(x=block_x, y=block_y, z=3.5)))
# set_default_camera()
dump_world()
#print(get_camera())
saved_world = WorldSaver()
with LockRenderer():
command = plan(robot, block, fixed=[], teleport=False) # fixed=[floor],
if (command is None) or (display is None):
print('Unable to find a plan! Quit?')
wait_for_interrupt()
disconnect()
return
saved_world.restore()
update_state()
print('{}?'.format(display))
wait_for_interrupt()
if display == 'control':
enable_gravity()
command.control(real_time=False, dt=0)
elif display == 'execute':
command.refine(num_steps=10).execute(time_step=0.002)
elif display == 'step':
command.step()
else:
raise ValueError(display)
print('Quit?')
wait_for_interrupt()
disconnect()
def load_world():
#print(get_data_path())
#p.loadURDF("samurai.urdf", useFixedBase=True) # World
#p.loadURDF("kuka_lwr/kuka.urdf", useFixedBase=True)
#p.loadURDF("kuka_iiwa/model_free_base.urdf", useFixedBase=True)
# TODO: store internal world info here to be reloaded
robot = load_model(DRAKE_IIWA_URDF)
# robot = load_model(KUKA_IIWA_URDF)
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
block = load_model(BLOCK_URDF, fixed_base=False)
#cup = load_model('models/dinnerware/cup/cup_small.urdf',
# Pose(Point(x=+0.5, y=+0.5, z=0.5)), fixed_base=False)
set_pose(block, Pose(Point(y=0.5, z=stable_z(block, floor))))
# print(get_camera())
set_default_camera()
return robot, block
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 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():
# https://github.com/ros-teleop/teleop_twist_keyboard
# http://openrave.org/docs/latest_stable/_modules/openravepy/misc/#SetViewerUserThread
connect(use_gui=True)
add_data_path()
load_pybullet("plane.urdf")
#load_pybullet("models/table_collision/table.urdf")
with HideOutput():
pr2 = load_model(DRAKE_PR2_URDF, fixed_base=True)
enable_gravity()
enable_real_time(
) # TODO: won't work as well on OS X due to simulation thread
#run_simulate(pr2)
run_thread(pr2)
# TODO: keep working on this
#userthread = threading.Thread(target=run_thread, args=[pr2])
#userthread.start()
#userthread.join()
disconnect()
def parse_robot(robot):
name = robot.find('name').text
urdf = robot.find('urdf').text
fixed_base = not parse_boolean(robot.find('movebase'))
print(name, urdf, fixed_base)
pose = parse_pose(robot.find('basepose'))
torso = parse_array(robot.find('torso'))
left_arm = parse_array(robot.find('left_arm'))
right_arm = parse_array(robot.find('right_arm'))
assert (name == 'pr2')
with HideOutput():
robot_id = load_model(DRAKE_PR2_URDF, fixed_base=True)
set_group_conf(robot_id, 'base', base_values_from_pose(pose))
set_group_conf(robot_id, 'torso', torso)
set_group_conf(robot_id, 'left_arm', left_arm)
set_group_conf(robot_id, 'right_arm', right_arm)
#set_point(robot_id, Point(z=point_from_pose(pose)[2]))
# TODO: base pose isn't right
# print(robot.tag)
# print(robot.attrib)
# print(list(robot.iter('basepose')))
return robot_id
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 main():
connect(use_gui=True)
add_data_path()
set_camera(0, -30, 1)
plane = load_pybullet('plane.urdf', fixed_base=True)
#plane = load_model('plane.urdf')
cup = load_model('models/cup.urdf', fixed_base=True)
#set_point(cup, Point(z=stable_z(cup, plane)))
set_point(cup, Point(z=.2))
set_color(cup, (1, 0, 0, .4))
num_droplets = 100
#radius = 0.025
#radius = 0.005
radius = 0.0025
# TODO: more efficient ways to make all of these
droplets = [create_sphere(radius, mass=0.01)
for _ in range(num_droplets)] # kg
cup_thickness = 0.001
lower, upper = get_lower_upper(cup)
print(lower, upper)
buffer = cup_thickness + radius
lower = np.array(lower) + buffer * np.ones(len(lower))
upper = np.array(upper) - buffer * np.ones(len(upper))
limits = zip(lower, upper)
x_range, y_range = limits[:2]
z = upper[2] + 0.1
#x_range = [-1, 1]
#y_range = [-1, 1]
#z = 1
for droplet in droplets:
x = np.random.uniform(*x_range)
y = np.random.uniform(*y_range)
set_point(droplet, Point(x, y, z))
for i, droplet in enumerate(droplets):
x, y = np.random.normal(0, 1e-3, 2)
set_point(droplet, Point(x, y, z + i * (2 * radius + 1e-3)))
#dump_world()
wait_for_user()
#user_input('Start?')
enable_gravity()
simulate_for_duration(5.0)
# enable_real_time()
# try:
# while True:
# enable_gravity() # enable_real_time requires a command
# #time.sleep(dt)
# except KeyboardInterrupt:
# pass
# print()
#time.sleep(1.0)
wait_for_user('Finish?')
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():
# 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()