def grasp_poses_example():
builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.0)
parser = Parser(plant, scene_graph)
grasp = parser.AddModelFromFile(
FindResourceOrThrow(
"drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_no_tip.sdf"
), "grasp")
brick = parser.AddModelFromFile(
FindResourceOrThrow(
"drake/examples/manipulation_station/models/061_foam_brick.sdf"))
plant.Finalize()
meshcat = ConnectMeshcatVisualizer(builder, scene_graph)
diagram = builder.Build()
context = diagram.CreateDefaultContext()
plant_context = plant.GetMyContextFromRoot(context)
B_O = plant.GetBodyByName("base_link", brick)
X_WO = plant.EvalBodyPoseInWorld(plant_context, B_O)
B_Ggrasp = plant.GetBodyByName("body", grasp)
p_GgraspO = [0, 0.12, 0]
R_GgraspO = RotationMatrix.MakeXRotation(np.pi / 2.0).multiply(
RotationMatrix.MakeZRotation(np.pi / 2.0))
X_GgraspO = RigidTransform(R_GgraspO, p_GgraspO)
X_OGgrasp = X_GgraspO.inverse()
X_WGgrasp = X_WO.multiply(X_OGgrasp)
plant.SetFreBodyPose(plant_context, B_Ggrasp, X_WGgrasp)
# Open the fingers, too
plant.GetJointByName("left_finger_sliding_joint",
grasp).set_translation(plant_context, -0.054)
plant.GetJointByName("right_finger_sliding_joint",
grasp).set_translation(plant_context, 0.054)
meshcat.load()
diagram.Publish(context)
FindResource("models/double_pendulum.urdf"))
plant.Finalize()
viz = ConnectPlanarSceneGraphVisualizer(builder,
scene_graph,
show=False,
xlim=[-.2, 2.2],
ylim=[-1., 1.])
viz.fig.set_size_inches([3, 2.5])
diagram = builder.Build()
context = diagram.CreateDefaultContext()
T = 2.
q = PiecewisePolynomial.FirstOrderHold(
[0, T], np.array([[-np.pi / 2.0 + 1., -np.pi / 2.0 - 1.], [-2., 2.]]))
plant_context = plant.GetMyContextFromRoot(context)
viz.start_recording()
for t in np.linspace(0, T, num=100):
context.SetTime(t)
plant.SetPositions(plant_context, q.value(t))
diagram.Publish(context)
viz.stop_recording()
ani = viz.get_recording_as_animation(repeat=False)
f = open("two_link_singularities.html", "w")
f.write(ani.to_jshtml())
f.close()
# Then I edited the style in to
# <img style="height:200px" id="_anim
def perform_iou_testing(model_file, test_specific_temp_directory,
pose_directory):
random_poses = {}
# Read camera translation calculated and applied on gazebo
# we read the random positions file as it contains everything:
with open(
test_specific_temp_directory + "/pics/" + pose_directory +
"/poses.txt", "r") as datafile:
for line in datafile:
if line.startswith("Translation:"):
line_split = line.split(" ")
# we make the value negative since gazebo moved the robot
# and in drakewe move the camera
trans_x = float(line_split[1])
trans_y = float(line_split[2])
trans_z = float(line_split[3])
elif line.startswith("Scaling:"):
line_split = line.split(" ")
scaling = float(line_split[1])
else:
line_split = line.split(" ")
if line_split[1] == "nan":
random_poses[line_split[0][:-1]] = 0
else:
random_poses[line_split[0][:-1]] = float(line_split[1])
builder = DiagramBuilder()
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
parser = Parser(plant)
model = make_parser(plant).AddModelFromFile(model_file)
model_bodies = me.get_bodies(plant, {model})
frame_W = plant.world_frame()
frame_B = model_bodies[0].body_frame()
if len(plant.GetBodiesWeldedTo(plant.world_body())) < 2:
plant.WeldFrames(frame_W,
frame_B,
X_PC=plant.GetDefaultFreeBodyPose(frame_B.body()))
# Creating cameras:
renderer_name = "renderer"
scene_graph.AddRenderer(renderer_name,
MakeRenderEngineVtk(RenderEngineVtkParams()))
# N.B. These properties are chosen arbitrarily.
depth_camera = DepthRenderCamera(
RenderCameraCore(
renderer_name,
CameraInfo(
width=960,
height=540,
focal_x=831.382036787,
focal_y=831.382036787,
center_x=480,
center_y=270,
),
ClippingRange(0.01, 10.0),
RigidTransform(),
),
DepthRange(0.01, 10.0),
)
world_id = plant.GetBodyFrameIdOrThrow(plant.world_body().index())
# Creating perspective cam
X_WB = xyz_rpy_deg(
[
1.6 / scaling + trans_x, -1.6 / scaling + trans_y,
1.2 / scaling + trans_z
],
[-120, 0, 45],
)
sensor_perspective = create_camera(builder, world_id, X_WB, depth_camera,
scene_graph)
# Creating top cam
X_WB = xyz_rpy_deg([0 + trans_x, 0 + trans_y, 2.2 / scaling + trans_z],
[-180, 0, -90])
sensor_top = create_camera(builder, world_id, X_WB, depth_camera,
scene_graph)
# Creating front cam
X_WB = xyz_rpy_deg([2.2 / scaling + trans_x, 0 + trans_y, 0 + trans_z],
[-90, 0, 90])
sensor_front = create_camera(builder, world_id, X_WB, depth_camera,
scene_graph)
# Creating side cam
X_WB = xyz_rpy_deg([0 + trans_x, 2.2 / scaling + trans_y, 0 + trans_z],
[-90, 0, 180])
sensor_side = create_camera(builder, world_id, X_WB, depth_camera,
scene_graph)
# Creating back cam
X_WB = xyz_rpy_deg([-2.2 / scaling + trans_x, 0 + trans_y, 0 + trans_z],
[-90, 0, -90])
sensor_back = create_camera(builder, world_id, X_WB, depth_camera,
scene_graph)
DrakeVisualizer.AddToBuilder(builder, scene_graph)
# Remove gravity to avoid extra movements of the model when running the simulation
plant.gravity_field().set_gravity_vector(
np.array([0, 0, 0], dtype=np.float64))
# Switch off collisions to avoid problems with random positions
collision_filter_manager = scene_graph.collision_filter_manager()
model_inspector = scene_graph.model_inspector()
geometry_ids = GeometrySet(model_inspector.GetAllGeometryIds())
collision_filter_manager.Apply(
CollisionFilterDeclaration().ExcludeWithin(geometry_ids))
plant.Finalize()
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
dofs = plant.num_actuated_dofs()
if dofs != plant.num_positions():
raise ValueError(
"Error on converted model: Num positions is not equal to num actuated dofs."
)
if pose_directory == "random_pose":
joint_positions = [0] * dofs
for joint_name, pose in random_poses.items():
# check if NaN
if pose != pose:
pose = 0
# drake will add '_joint' when there's a name collision
if plant.HasJointNamed(joint_name):
joint = plant.GetJointByName(joint_name)
else:
joint = plant.GetJointByName(joint_name + "_joint")
joint_positions[joint.position_start()] = pose
sim_plant_context = plant.GetMyContextFromRoot(
simulator.get_mutable_context())
plant.get_actuation_input_port(model).FixValue(sim_plant_context,
np.zeros((dofs, 1)))
plant.SetPositions(sim_plant_context, model, joint_positions)
simulator.AdvanceTo(1)
generate_images_and_iou(simulator, sensor_perspective,
test_specific_temp_directory, pose_directory, 1)
generate_images_and_iou(simulator, sensor_top,
test_specific_temp_directory, pose_directory, 2)
generate_images_and_iou(simulator, sensor_front,
test_specific_temp_directory, pose_directory, 3)
generate_images_and_iou(simulator, sensor_side,
test_specific_temp_directory, pose_directory, 4)
generate_images_and_iou(simulator, sensor_back,
test_specific_temp_directory, pose_directory, 5)
