class TestRobotEquivalentInterface(unittest.TestCase):
"""
Test the methods of SimFinger that provide an interface equivalent to the
RobotFrontend of robot_interfaces.
"""
def setUp(self):
self.finger = SimFinger(
finger_type="fingerone",
time_step=0.001,
enable_visualization=False,
)
self.start_position = [0, -0.7, -1.5]
self.finger.reset_finger_positions_and_velocities(self.start_position)
def tearDown(self):
# destroy the simulation to ensure that the next test starts with a
# clean state
del self.finger
def test_timing_action_t_vs_observation_t(self):
"""Verify that observation_t is really not affected by action_t."""
# Apply a max torque action for one step
action = self.finger.Action(torque=[
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
])
t = self.finger.append_desired_action(action)
obs = self.finger.get_observation(t)
# as obs_t is from just before action_t is applied, the position should
# not yet have changed
np.testing.assert_array_equal(self.start_position, obs.position)
# after applying another action (even with zero torque), we should see
# the effect
t = self.finger.append_desired_action(self.finger.Action())
obs = self.finger.get_observation(t)
# new position should be less, as negative torque is applied
np.testing.assert_array_less(obs.position, self.start_position)
def test_timing_action_t_vs_observation_tplus1(self):
"""Verify that observation_{t+1} is affected by action_t."""
# Apply a max torque action for one step
action = self.finger.Action(torque=[
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
])
t = self.finger.append_desired_action(action)
obs = self.finger.get_observation(t + 1)
# new position should be less, as negative torque is applied
np.testing.assert_array_less(obs.position, self.start_position)
def test_timing_observation_t_vs_tplus1(self):
# Apply a max torque action for one step
action = self.finger.Action(torque=[
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
])
t = self.finger.append_desired_action(action)
obs_t = self.finger.get_observation(t)
obs_tplus1 = self.finger.get_observation(t + 1)
# newer position should be lesser, as negative torque is applied
np.testing.assert_array_less(obs_tplus1.position, obs_t.position)
def test_timing_observation_t_multiple_times(self):
"""
Verify that calling get_observation(t) multiple times always gives same
result.
"""
# Apply a max torque action for one step
action = self.finger.Action(torque=[
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
])
t = self.finger.append_desired_action(action)
obs_t1 = self.finger.get_observation(t)
# observation should not change when calling multiple times with same t
for i in range(10):
obs_ti = self.finger.get_observation(t)
np.testing.assert_array_equal(obs_t1.position, obs_ti.position)
np.testing.assert_array_equal(obs_t1.velocity, obs_ti.velocity)
np.testing.assert_array_equal(obs_t1.torque, obs_ti.torque)
np.testing.assert_array_equal(obs_t1.tip_force, obs_ti.tip_force)
def test_timing_observation_tplus1_multiple_times(self):
"""
Verify that calling get_observation(t + 1) multiple times always gives
same result.
"""
# Apply a max torque action for one step
action = self.finger.Action(torque=[
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
])
t = self.finger.append_desired_action(action)
obs_t1 = self.finger.get_observation(t + 1)
# observation should not change when calling multiple times with same t
for i in range(10):
obs_ti = self.finger.get_observation(t + 1)
np.testing.assert_array_equal(obs_t1.position, obs_ti.position)
np.testing.assert_array_equal(obs_t1.velocity, obs_ti.velocity)
np.testing.assert_array_equal(obs_t1.torque, obs_ti.torque)
np.testing.assert_array_equal(obs_t1.tip_force, obs_ti.tip_force)
def test_exception_on_old_t(self):
"""Verify that calling get_observation with invalid t raises error."""
# verify that t < 0 is not accepted
with self.assertRaises(ValueError):
self.finger.get_observation(-1)
# append two actions
t1 = self.finger.append_desired_action(self.finger.Action())
t2 = self.finger.append_desired_action(self.finger.Action())
# it should be possible to get observation for t2 and t2 + 1 but not t1
# or t2 + 2
self.finger.get_observation(t2)
self.finger.get_observation(t2 + 1)
with self.assertRaises(ValueError):
self.finger.get_observation(t1)
with self.assertRaises(ValueError):
self.finger.get_observation(t2 + 2)
def test_observation_types(self):
"""Verify that all fields of observation are np.ndarrays."""
# Apply a max torque action for one step
action = self.finger.Action(torque=[
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
-self.finger.max_motor_torque,
])
t = self.finger.append_desired_action(action)
obs = self.finger.get_observation(t)
# verify types
self.assertIsInstance(obs.torque, np.ndarray)
self.assertIsInstance(obs.position, np.ndarray)
self.assertIsInstance(obs.velocity, np.ndarray)
self.assertIsInstance(obs.tip_force, np.ndarray)
def test_get_desired_action(self):
# verify that t < 0 is not accepted
with self.assertRaises(ValueError):
self.finger.get_desired_action(-1)
orig_action = self.finger.Action(torque=[1.0, 2.0, 3.0],
position=[0.0, -1.0, -2.0])
t = self.finger.append_desired_action(orig_action)
action = self.finger.get_desired_action(t)
np.testing.assert_array_equal(orig_action.torque, action.torque)
np.testing.assert_array_equal(orig_action.position, action.position)
# verify types
self.assertIsInstance(action.torque, np.ndarray)
self.assertIsInstance(action.position, np.ndarray)
self.assertIsInstance(action.position_kd, np.ndarray)
self.assertIsInstance(action.position_kp, np.ndarray)
def test_get_applied_action(self):
# verify that t < 0 is not accepted
with self.assertRaises(ValueError):
self.finger.get_applied_action(-1)
desired_action = self.finger.Action(torque=[5, 5, 5])
t = self.finger.append_desired_action(desired_action)
applied_action = self.finger.get_applied_action(t)
np.testing.assert_array_almost_equal(
applied_action.torque,
[
self.finger.max_motor_torque,
self.finger.max_motor_torque,
self.finger.max_motor_torque,
],
)
# verify types
self.assertIsInstance(applied_action.torque, np.ndarray)
self.assertIsInstance(applied_action.position, np.ndarray)
self.assertIsInstance(applied_action.position_kd, np.ndarray)
self.assertIsInstance(applied_action.position_kp, np.ndarray)
def test_get_timestamp_ms_001(self):
t = self.finger.append_desired_action(self.finger.Action())
first_stamp = self.finger.get_timestamp_ms(t)
t = self.finger.append_desired_action(self.finger.Action())
second_stamp = self.finger.get_timestamp_ms(t)
# time step is set to 0.001, so the difference between two steps should
# be 1 ms.
self.assertEqual(second_stamp - first_stamp, 1)
def test_get_timestamp_ms_tplus1_001(self):
t = self.finger.append_desired_action(self.finger.Action())
stamp_t = self.finger.get_timestamp_ms(t)
stamp_tp1 = self.finger.get_timestamp_ms(t + 1)
# time step is set to 0.001, so the difference between two steps should
# be 1 ms.
self.assertEqual(stamp_tp1 - stamp_t, 1)
def test_get_timestamp_ms_invalid_t(self):
# verify that t < 0 is not accepted
with self.assertRaises(ValueError):
self.finger.get_timestamp_ms(-1)
t = self.finger.append_desired_action(self.finger.Action())
with self.assertRaises(ValueError):
self.finger.get_timestamp_ms(t - 1)
with self.assertRaises(ValueError):
self.finger.get_timestamp_ms(t + 2)
def test_get_current_timeindex(self):
# no time index before first action
with self.assertRaises(ValueError):
self.finger.get_current_timeindex()
t = self.finger.append_desired_action(self.finger.Action())
self.assertEqual(self.finger.get_current_timeindex(), t)
class TriFingerPlatform:
"""
Wrapper around the simulation providing the same interface as
``robot_interfaces::TriFingerPlatformFrontend``.
The following methods of the robot_interfaces counterpart are not
supported:
- get_robot_status()
- wait_until_timeindex()
"""
# Create the action and observation spaces
# ========================================
_n_joints = 9
_n_fingers = 3
_max_torque_Nm = 0.36
_max_velocity_radps = 10
spaces = SimpleNamespace()
spaces.robot_torque = SimpleNamespace(
low=np.full(_n_joints, -_max_torque_Nm, dtype=np.float32),
high=np.full(_n_joints, _max_torque_Nm, dtype=np.float32),
default=np.zeros(_n_joints, dtype=np.float32),
)
spaces.robot_position = SimpleNamespace(
low=np.array([-0.9, -1.57, -2.7] * _n_fingers, dtype=np.float32),
high=np.array([1.4, 1.57, 0.0] * _n_fingers, dtype=np.float32),
default=np.array(
[0.0, np.deg2rad(70), np.deg2rad(-130)] * _n_fingers,
dtype=np.float32,
),
)
spaces.robot_velocity = SimpleNamespace(
low=np.full(_n_joints, -_max_velocity_radps, dtype=np.float32),
high=np.full(_n_joints, _max_velocity_radps, dtype=np.float32),
default=np.zeros(_n_joints, dtype=np.float32),
)
spaces.object_position = SimpleNamespace(
low=np.array([-0.3, -0.3, 0], dtype=np.float32),
high=np.array([0.3, 0.3, 0.3], dtype=np.float32),
default=np.array([0, 0, move_cube._min_height], dtype=np.float32),
)
spaces.object_orientation = SimpleNamespace(
low=-np.ones(4, dtype=np.float32),
high=np.ones(4, dtype=np.float32),
default=move_cube.Pose().orientation,
)
# for convenience, we also create the respective gym spaces
spaces.robot_torque.gym = gym.spaces.Box(low=spaces.robot_torque.low,
high=spaces.robot_torque.high)
spaces.robot_position.gym = gym.spaces.Box(low=spaces.robot_position.low,
high=spaces.robot_position.high)
spaces.robot_velocity.gym = gym.spaces.Box(low=spaces.robot_velocity.low,
high=spaces.robot_velocity.high)
spaces.object_position.gym = gym.spaces.Box(
low=spaces.object_position.low, high=spaces.object_position.high)
spaces.object_orientation.gym = gym.spaces.Box(
low=spaces.object_orientation.low, high=spaces.object_orientation.high)
def __init__(
self,
visualization=False,
initial_robot_position=None,
initial_object_pose=None,
enable_cameras=False,
):
"""Initialize.
Args:
visualization (bool): Set to true to run visualization.
initial_robot_position: Initial robot joint angles
initial_object_pose: Initial pose for the manipulation object.
Can be any object with attributes ``position`` (x, y, z) and
``orientation`` (x, y, z, w). This is optional, if not set, a
random pose will be sampled.
enable_cameras (bool): Set to true to enable camera observations.
By default this is disabled as rendering of images takes a lot
of computational power. Therefore the cameras should only be
enabled if the images are actually used.
"""
#: Camera rate in frames per second. Observations of camera and
#: object pose will only be updated with this rate.
#: NOTE: This is currently not used!
self._camera_rate_fps = 30
#: Set to true to render camera observations
self.enable_cameras = enable_cameras
#: Simulation time step
self._time_step = 0.004
# first camera update in the first step
self._next_camera_update_step = 0
# Initialize robot, object and cameras
# ====================================
self.simfinger = SimFinger(
finger_type="trifingerpro",
time_step=self._time_step,
enable_visualization=visualization,
)
if initial_robot_position is None:
initial_robot_position = self.spaces.robot_position.default
self.simfinger.reset_finger_positions_and_velocities(
initial_robot_position)
if initial_object_pose is None:
initial_object_pose = move_cube.Pose(
position=self.spaces.object_position.default,
orientation=self.spaces.object_orientation.default,
)
self.cube = collision_objects.Block(
initial_object_pose.position,
initial_object_pose.orientation,
mass=0.020,
)
self.tricamera = camera.TriFingerCameras()
# Forward some methods for convenience
# ====================================
# forward "RobotFrontend" methods directly to simfinger
self.Action = self.simfinger.Action
self.get_desired_action = self.simfinger.get_desired_action
self.get_applied_action = self.simfinger.get_applied_action
self.get_timestamp_ms = self.simfinger.get_timestamp_ms
self.get_current_timeindex = self.simfinger.get_current_timeindex
self.get_robot_observation = self.simfinger.get_observation
# forward kinematics directly to simfinger
self.forward_kinematics = (
self.simfinger.pinocchio_utils.forward_kinematics)
# Initialize log
# ==============
self._action_log = {
"initial_robot_position": initial_robot_position.tolist(),
"initial_object_pose": {
"position": initial_object_pose.position.tolist(),
"orientation": initial_object_pose.orientation.tolist(),
},
"actions": [],
}
def get_time_step(self):
"""Get simulation time step in seconds."""
return self._time_step
def _compute_camera_update_step_interval(self):
return (1.0 / self._camera_rate_fps) / self._time_step
def append_desired_action(self, action):
"""
Call :meth:`pybullet.SimFinger.append_desired_action` and add the
action to the action log.
Arguments/return value are the same as for
:meth:`pybullet.SimFinger.append_desired_action`.
"""
# update camera and object observations only with the rate of the
# cameras
# next_t = self.get_current_timeindex() + 1
# has_camera_update = next_t >= self._next_camera_update_step
# if has_camera_update:
# self._next_camera_update_step += (
# self._compute_camera_update_step_interval()
# )
# self._object_pose_t = self._get_current_object_pose()
# if self.enable_cameras:
# self._camera_observation_t = (
# self._get_current_camera_observation()
# )
has_camera_update = True
self._object_pose_t = self._get_current_object_pose()
if self.enable_cameras:
self._camera_observation_t = self._get_current_camera_observation()
t = self.simfinger.append_desired_action(action)
# The correct timestamp can only be acquired now that t is given.
# Update it accordingly in the object and camera observations
if has_camera_update:
camera_timestamp_s = self.get_timestamp_ms(t) / 1000
self._object_pose_t.timestamp = camera_timestamp_s
if self.enable_cameras:
for i in range(len(self._camera_observation_t.cameras)):
self._camera_observation_t.cameras[
i].timestamp = camera_timestamp_s
# write the desired action to the log
self._action_log["actions"].append({
"t":
t,
"torque":
action.torque.tolist(),
"position":
action.position.tolist(),
"position_kp":
action.position_kp.tolist(),
"position_kd":
action.position_kd.tolist(),
})
return t
def _get_current_object_pose(self, t=None):
cube_state = self.cube.get_state()
pose = ObjectPose()
pose.position = np.asarray(cube_state[0])
pose.orientation = np.asarray(cube_state[1])
pose.confidence = 1.0
# NOTE: The timestamp can only be set correctly after time step t is
# actually reached. Therefore, this is set to None here and filled
# with the proper value later.
if t is None:
pose.timestamp = None
else:
pose.timestamp = self.get_timestamp_ms(t)
return pose
def get_object_pose(self, t):
"""Get object pose at time step t.
Args:
t: The time index of the step for which the object pose is
requested. Only the value returned by the last call of
:meth:`~append_desired_action` is valid.
Returns:
ObjectPose: Pose of the object. Values come directly from the
simulation without adding noise, so the confidence is 1.0.
Raises:
ValueError: If invalid time index ``t`` is passed.
"""
current_t = self.simfinger._t
if t < 0:
raise ValueError("Cannot access time index less than zero.")
elif t == current_t:
return self._object_pose_t
elif t == current_t + 1:
return self._get_current_object_pose(t)
else:
raise ValueError(
"Given time index t has to match with index of the current"
" step or the next one.")
def _get_current_camera_observation(self, t=None):
images = self.tricamera.get_images()
observation = TriCameraObservation()
# NOTE: The timestamp can only be set correctly after time step t
# is actually reached. Therefore, this is set to None here and
# filled with the proper value later.
if t is None:
timestamp = None
else:
timestamp = self.get_timestamp_ms(t)
for i, image in enumerate(images):
observation.cameras[i].image = image
observation.cameras[i].timestamp = timestamp
return observation
def get_camera_observation(self, t):
"""Get camera observation at time step t.
Args:
t: The time index of the step for which the observation is
requested. Only the value returned by the last call of
:meth:`~append_desired_action` is valid.
Returns:
TriCameraObservation: Observations of the three cameras. Images
are rendered in the simulation. Note that they are not optimized
to look realistically.
Raises:
ValueError: If invalid time index ``t`` is passed.
"""
if not self.enable_cameras:
raise RuntimeError(
"Cameras are not enabled. Create `TriFingerPlatform` with"
" `enable_cameras=True` if you want to use camera"
" observations.")
current_t = self.simfinger._t
if t < 0:
raise ValueError("Cannot access time index less than zero.")
elif t == current_t:
return self._camera_observation_t
elif t == current_t + 1:
return self._get_current_camera_observation(t)
else:
raise ValueError(
"Given time index t has to match with index of the current"
" step or the next one.")
def store_action_log(self, filename):
"""Store the action log to a JSON file.
Args:
filename (str): Path to the JSON file to which the log shall be
written. If the file exists already, it will be overwritten.
"""
# TODO should the log also contain intermediate observations (object
# and finger) for verification?
t = self.simfinger.get_current_timeindex()
object_pose = self.get_object_pose(t)
self._action_log["final_object_pose"] = {
"position": object_pose.position.tolist(),
"orientation": object_pose.orientation.tolist(),
}
with open(filename, "w") as fh:
json.dump(self._action_log, fh)
