box3 = MujocoPrimitiveObject(obj_pos=[.4, -0.1, 0.35], obj_name="box3", geom_rgba=[1, 0, 0, 1])
box4 = MujocoPrimitiveObject(obj_pos=[.6, -0.0, 0.35], obj_name="box4", geom_rgba=[1, 0, 0, 1])
box5 = MujocoPrimitiveObject(obj_pos=[.6, 0.1, 0.35], obj_name="box5", geom_rgba=[1, 1, 1, 1])
box6 = MujocoPrimitiveObject(obj_pos=[.6, 0.2, 0.35], obj_name="box6", geom_rgba=[1, 0, 0, 1])
table = MujocoPrimitiveObject(obj_pos=[0.5, 0.0, 0.2],
obj_name="table0",
geom_size=[0.25, 0.35, 0.2],
mass=2000)
object_list = [box1, box2, box3, box4, box5, box6, table]
scene = Scene(object_list=object_list, control=mj_ctrl.MocapControl()) # if we want to do mocap control
# scene = Scene(object_list=object_list) # ik control is default
mj_Robot = MujocoRobot(scene, gravity_comp=True, num_DoF=7)
duration = 2 # you can specify how long a trajectory can be executed witht the duration
mj_Robot.startLogging() # this will start logging robots internal state
mj_Robot.set_gripper_width = 0.0 # we set the gripper to clos at the beginning
home_position = mj_Robot.current_c_pos.copy() # store home position
home_orientation = mj_Robot.current_c_quat.copy() # store initial orientation
# execute the pick and place movements
mj_Robot.gotoCartPositionAndQuat([0.5, -0.2, 0.6 - 0.1], [0, 1, 0, 0], duration=duration)
mj_Robot.set_gripper_width = 0.04
mj_Robot.gotoCartPositionAndQuat([0.5, -0.2, 0.52 - 0.1], [0, 1, 0, 0], duration=duration)
mj_Robot.set_gripper_width = 0.00
mj_Robot.gotoCartPositionAndQuat(home_position, home_orientation, duration=duration)
from classic_framework.mujoco.MujocoScene import MujocoScene as Scene
from classic_framework.mujoco.mujoco_utils.mujoco_scene_object import MujocoPrimitiveObject
if __name__ == '__main__':
box = MujocoPrimitiveObject(obj_pos=[.6, -0.2, 0.15],
obj_name="box",
diaginertia=[0.01, 0.01, 0.01],
geom_rgba=[1, 0, 0, 1])
object_list = [box]
duration = 4
# Setup the scene
# ctrl = mj_ctrl.IKControl()# torque control
ctrl = mj_ctrl.MocapControl() # mocap control
scene = Scene(object_list=object_list, control=ctrl) # mocap control
mj_Robot = MujocoRobot(scene, gravity_comp=True, num_DoF=7)
mj_Robot.ctrl_duration = duration
home_position = mj_Robot.current_c_pos
mj_Robot.startLogging() # log the data for plotting
mj_Robot.set_gripper_width = 0.04
mj_Robot.gotoCartPositionAndQuat(desiredPos=[0.6, -0.20, 0.02],
desiredQuat=[0.009, 0.72, -0.67, -0.014],
duration=duration)
"""Close the fingers."""
duration = 1
mj_Robot.ctrl_duration = duration
mj_Robot.set_gripper_width = 0.0
mj_Robot.gotoCartPositionAndQuat(desiredPos=[0.6, -0.20, 0.02],
desiredQuat=[0.009, 0.72, -0.67, -0.014],
box2 = MujocoPrimitiveObject(obj_pos=[.6, -0.1, 0.35], obj_name="box2", geom_rgba=[0.2, 0.3, 0.7, 1])
box3 = MujocoPrimitiveObject(obj_pos=[.4, -0.1, 0.35], obj_name="box3", geom_rgba=[1, 0, 0, 1])
box4 = MujocoPrimitiveObject(obj_pos=[.6, -0.0, 0.35], obj_name="box4", geom_rgba=[1, 0, 0, 1])
box5 = MujocoPrimitiveObject(obj_pos=[.6, 0.1, 0.35], obj_name="box5", geom_rgba=[1, 1, 1, 1])
box6 = MujocoPrimitiveObject(obj_pos=[.6, 0.2, 0.35], obj_name="box6", geom_rgba=[1, 0, 0, 1])
table = MujocoPrimitiveObject(obj_pos=[0.5, 0.0, 0.2],
obj_name="table0",
geom_size=[0.25, 0.35, 0.2],
mass=2000)
object_list = [box1, box2, box3, box4, box5, box6, table]
scene = Scene(object_list)
mj_Robot = MujocoRobot(scene, gravity_comp=True, num_DoF=7)
duration = 2
mj_Robot.ctrl_duration = duration
mj_Robot.set_gripper_width = 0.0
home_position = mj_Robot.current_c_pos.copy()
home_orientation = mj_Robot.current_c_quat.copy()
mj_Robot.gotoCartPositionAndQuat([0.5, -0.2, 0.6 - 0.1], [0, 1, 0, 0], duration=duration)
mj_Robot.set_gripper_width = 0.04
cam_name = 'rgbd_cage'
plt.subplot(141)
plt.imshow(scene.get_segmentation_from_cam(cam_name=cam_name))
from classic_framework.mujoco.MujocoRobot import MujocoRobot
from classic_framework.mujoco.MujocoScene import MujocoScene as Scene
from classic_framework.interface.Logger import RobotPlotFlags
from classic_framework.utils.sim_path import sim_framework_path
import numpy as np
if __name__ == '__main__':
object_list = []
duration = 4
# Setup the scene
scene = Scene(object_list=object_list)
mj_Robot = MujocoRobot(scene, gravity_comp=True, num_DoF=7)
mj_Robot.startLogging()
# load the trajectory you want to follow
path2file = sim_framework_path(
'demos/mujoco/robot_control_scene_creation/des_joint_traj.npy')
des_joint_trajectory = np.load(path2file)
mj_Robot.follow_JointTraj(des_joint_trajectory)
mj_Robot.stopLogging()
mj_Robot.logger.plot(plotSelection=RobotPlotFlags.JOINTS)
from classic_framework.mujoco.MujocoRobot import MujocoRobot
from classic_framework.mujoco.MujocoScene import MujocoScene
import classic_framework.mujoco.mujoco_utils.mujoco_controllers as mj_ctrl
from demos.mujoco.kitbash.procedural_objects import KitBashContainer
if __name__ == "__main__":
# Generate KitBash Objects
obj_list = []
for i in range(20):
obj_list.append(KitBashContainer())
scene = MujocoScene(
object_list=obj_list,
# panda_xml_path=sim_framework_path('envs', 'mujoco', 'panda', 'panda_gym.xml'),
control=mj_ctrl.MocapControl(),
# gripper_control='none',
)
robot = MujocoRobot(scene)
for i in range(10000):
robot.gotoCartPositionAndQuat([0.5, 0.0, 0.5], [0, 1, 0, 0])
from classic_framework.interface.Logger import RobotPlotFlags
from classic_framework.mujoco.MujocoRobot import MujocoRobot
from classic_framework.mujoco.MujocoScene import MujocoScene as Scene
from classic_framework.mujoco.mujoco_utils.mujoco_scene_object import MujocoPrimitiveObject
if __name__ == '__main__':
box = MujocoPrimitiveObject(obj_pos=[.6, -0.2, 0.15],
obj_name="box",
diaginertia=[0.01, 0.01, 0.01],
geom_rgba=[1, 0, 0, 1])
object_list = [box]
duration = 4
# Setup the scene
scene = Scene(object_list=object_list)
mj_Robot = MujocoRobot(scene, gravity_comp=True, num_DoF=7)
mj_Robot.ctrl_duration = duration
robot_init_q = mj_Robot.current_j_pos
mj_Robot.startLogging() # log the data for plotting
des_q = np.array([
-0.17372284, 0.74377287, -0.15055875, -1.8271288, 0.17003154,
2.52458572, 1.85687575
])
mj_Robot.set_gripper_width = 0.04
mj_Robot.gotoJointPosition(des_q, duration=duration)
"""Close the fingers."""
duration = 3
mj_Robot.ctrl_duration = duration
mj_Robot.set_gripper_width = 0.0