def reset(self):
"""Performs common reset functionality for all supported tasks."""
if not self.task:
raise ValueError(
'environment task must be set. Call set_task or pass '
'the task arg in the environment constructor.')
self.obj_ids = {'fixed': [], 'rigid': [], 'deformable': []}
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.setGravity(0, 0, -9.8)
# Temporarily disable rendering to load scene faster.
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
pybullet_utils.load_urdf(
p, os.path.join(self.assets_root, PLANE_URDF_PATH), [0, 0, -0.001])
pybullet_utils.load_urdf(
p, os.path.join(self.assets_root, UR5_WORKSPACE_URDF_PATH),
[0.5, 0, 0])
# Load UR5 robot arm equipped with suction end effector.
# TODO(andyzeng): add back parallel-jaw grippers.
# self.ur5 = pybullet_utils.load_urdf(
# p, os.path.join(self.assets_root, XMATE3_URDF_PATH))
self.ur5 = pybullet_utils.load_urdf(
p, os.path.join(self.assets_root, UR5_URDF_PATH))
self.ee = self.task.ee(self.assets_root, self.ur5, 9, self.obj_ids)
self.ee_tip = 10 # Link ID of suction cup.
# Get revolute joint indices of robot (skip fixed joints).
n_joints = p.getNumJoints(self.ur5)
joints = [p.getJointInfo(self.ur5, i) for i in range(n_joints)]
self.joints = [j[0] for j in joints if j[2] == p.JOINT_REVOLUTE]
# Move robot to home joint configuration.
for i in range(len(self.joints)):
p.resetJointState(self.ur5, self.joints[i], self.homej[i])
# Reset end effector.
self.ee.release()
# Reset task.
self.task.reset(self)
# Re-enable rendering.
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
self.episode_steps = 0
obs, _, _, _ = self.step()
return obs
def add_object(self, urdf, pose, category='rigid'):
"""List of (fixed, rigid, or deformable) objects in env."""
fixed_base = 1 if category == 'fixed' else 0
obj_id = pybullet_utils.load_urdf(p,
os.path.join(self.assets_root, urdf),
pose[0],
pose[1],
useFixedBase=fixed_base)
self.obj_ids[category].append(obj_id)
return obj_id
def __init__(self, assets_root, robot, ee, obj_ids): # pylint: disable=unused-argument
"""Creates spatula and 'attaches' it to the robot."""
super().__init__(assets_root)
# Load spatula model.
pose = ((0.487, 0.109, 0.438), p.getQuaternionFromEuler((np.pi, 0, 0)))
base = pybullet_utils.load_urdf(
p, os.path.join(self.assets_root, SPATULA_BASE_URDF), pose[0], pose[1])
p.createConstraint(
parentBodyUniqueId=robot,
parentLinkIndex=ee,
childBodyUniqueId=base,
childLinkIndex=-1,
jointType=p.JOINT_FIXED,
jointAxis=(0, 0, 0),
parentFramePosition=(0, 0, 0),
childFramePosition=(0, 0, 0.01))
def __init__(self, assets_root, robot, ee, obj_ids):
"""Creates suction and 'attaches' it to the robot.
Has special cases when dealing with rigid vs deformables. For rigid,
only need to check contact_constraint for any constraint. For soft
bodies (i.e., cloth or bags), use cloth_threshold to check distances
from gripper body (self.body) to any vertex in the cloth mesh. We
need correct code logic to handle gripping potentially a rigid or a
deformable (and similarly for releasing).
To be clear on terminology: 'deformable' here should be interpreted
as a PyBullet 'softBody', which includes cloths and bags. There's
also cables, but those are formed by connecting rigid body beads, so
they can use standard 'rigid body' grasping code.
To get the suction gripper pose, use p.getLinkState(self.body, 0),
and not p.getBasePositionAndOrientation(self.body) as the latter is
about z=0.03m higher and empirically seems worse.
Args:
assets_root: str for root directory with assets.
robot: int representing PyBullet ID of robot.
ee: int representing PyBullet ID of end effector link.
obj_ids: list of PyBullet IDs of all suctionable objects in the env.
"""
super().__init__(assets_root)
# Load suction gripper base model (visual only).
pose = ((0.487, 0.109, 0.438), p.getQuaternionFromEuler((np.pi, 0, 0)))
base = pybullet_utils.load_urdf(
p, os.path.join(self.assets_root, SUCTION_BASE_URDF), pose[0], pose[1])
p.createConstraint(
parentBodyUniqueId=robot,
parentLinkIndex=ee,
childBodyUniqueId=base,
childLinkIndex=-1,
jointType=p.JOINT_FIXED,
jointAxis=(0, 0, 0),
parentFramePosition=(0, 0, 0),
childFramePosition=(0, 0, 0.01))
# Load suction tip model (visual and collision) with compliance.
# urdf = 'assets/ur5/suction/suction-head.urdf'
pose = ((0.487, 0.109, 0.347), p.getQuaternionFromEuler((np.pi, 0, 0)))
self.body = pybullet_utils.load_urdf(
p, os.path.join(self.assets_root, SUCTION_HEAD_URDF), pose[0], pose[1])
constraint_id = p.createConstraint(
parentBodyUniqueId=robot,
parentLinkIndex=ee,
childBodyUniqueId=self.body,
childLinkIndex=-1,
jointType=p.JOINT_FIXED,
jointAxis=(0, 0, 0),
parentFramePosition=(0, 0, 0),
childFramePosition=(0, 0, -0.08))
p.changeConstraint(constraint_id, maxForce=50)
# Reference to object IDs in environment for simulating suction.
self.obj_ids = obj_ids
# Indicates whether gripper is gripping anything (rigid or def).
self.activated = False
# For gripping and releasing rigid objects.
self.contact_constraint = None
# Defaults for deformable parameters, and can override in tasks.
self.def_ignore = 0.035 # TODO(daniel) check if this is needed
self.def_threshold = 0.030
self.def_nb_anchors = 1
# Track which deformable is being gripped (if any), and anchors.
self.def_grip_item = None
self.def_grip_anchors = []
# Determines release when gripped deformable touches a rigid/def.
# TODO(daniel) should check if the code uses this -- not sure?
self.def_min_vetex = None
self.def_min_distance = None
# Determines release when a gripped rigid touches defs (e.g. cloth-cover).
self.init_grip_distance = None
self.init_grip_item = None
