def compile_scene_tree_clearance_geometry_to_mbp_and_sg(
scene_tree, timestep=0.001, alpha=0.25):
builder = DiagramBuilder()
mbp, scene_graph = AddMultibodyPlantSceneGraph(
builder, MultibodyPlant(time_step=timestep))
parser = Parser(mbp)
parser.package_map().PopulateFromEnvironment("ROS_PACKAGE_PATH")
world_body = mbp.world_body()
free_body_poses = []
# For generating colors.
node_class_to_color_dict = {}
cmap = plt.cm.get_cmap('jet')
cmap_counter = 0.
for node in scene_tree.nodes:
if node.tf is not None and node.physics_geometry_info is not None:
# Don't have to do anything if this does not introduce geometry.
sanity_check_node_tf_and_physics_geom_info(node)
phys_geom_info = node.physics_geometry_info
has_clearance_geometry = len(phys_geom_info.clearance_geometry) > 0
if not has_clearance_geometry:
continue
# Add a body for this node and register the clearance geometry.
# TODO(gizatt) This tree body index is built in to disambiguate names.
# But I forsee a name-to-stuff resolution crisis when inference time comes...
# this might get resolved by the solution to that.
body = mbp.AddRigidBody(name=node.name,
M_BBo_B=phys_geom_info.spatial_inertia)
tf = torch_tf_to_drake_tf(node.tf)
mbp.SetDefaultFreeBodyPose(body, tf)
# Pick out a color for this class.
node_type_string = node.__class__.__name__
if node_type_string in node_class_to_color_dict.keys():
color = node_class_to_color_dict[node_type_string]
else:
color = list(cmap(cmap_counter))
color[3] = alpha
node_class_to_color_dict[node_type_string] = color
cmap_counter = np.fmod(cmap_counter + np.pi * 2., 1.)
# Handle adding primitive geometry by adding it all to one
# mbp.
if len(phys_geom_info.clearance_geometry) > 0:
for k, (tf, geometry) in enumerate(
phys_geom_info.clearance_geometry):
mbp.RegisterCollisionGeometry(
body=body,
X_BG=torch_tf_to_drake_tf(tf),
shape=geometry,
name=node.name + "_col_%03d" % k,
coulomb_friction=default_friction)
mbp.RegisterVisualGeometry(body=body,
X_BG=torch_tf_to_drake_tf(tf),
shape=geometry,
name=node.name +
"_vis_%03d" % k,
diffuse_color=color)
return builder, mbp, scene_graph
if __name__ == "__main__":
# Random seed setup for reproducibility.
np.random.seed(int(codecs.encode(os.urandom(4), 'hex'), 32) & (2**32 - 1))
random.seed(os.urandom(4))
for scene_k in range(25):
# Set up a new Drake scene from scratch.
builder = DiagramBuilder()
mbp, scene_graph = AddMultibodyPlantSceneGraph(
builder, MultibodyPlant(time_step=0.005))
# Add "tabletop" (ground) as a fixed Box welded to the world.
world_body = mbp.world_body()
ground_shape = Box(1., 1., 1.)
ground_body = mbp.AddRigidBody("ground", SpatialInertia(
mass=10.0, p_PScm_E=np.array([0., 0., 0.]),
G_SP_E=UnitInertia(1.0, 1.0, 1.0)))
mbp.WeldFrames(world_body.body_frame(), ground_body.body_frame(),
RigidTransform())
RegisterVisualAndCollisionGeometry(
mbp, ground_body,
RigidTransform(p=[0, 0, -0.5]),
ground_shape, "ground", np.array([0.5, 0.5, 0.5, 1.]),
CoulombFriction(0.9, 0.8))
# Figure out what YCB objects we have available to add.
ycb_object_dir = os.path.join(
getDrakePath(), "manipulation/models/ycb/sdf/")
def build_mbp(seed=0, verts_geom=False, convex_collision_geom=True):
# Make some random lumpy objects
trimeshes = []
np.random.seed(42)
for k in range(3):
# Make a small random number of triangles and chull it
# to get a lumpy object
mesh = trimesh.creation.random_soup(5)
mesh = trimesh.convex.convex_hull(mesh)
trimeshes.append(mesh)
# Create Drake geometry from those objects by adding a small
# sphere at each vertex
sphere_rad = 0.05
cmap = plt.cm.get_cmap('jet')
builder = DiagramBuilder()
mbp, scene_graph = AddMultibodyPlantSceneGraph(
builder, MultibodyPlant(time_step=0.001))
# Add ground
friction = CoulombFriction(0.9, 0.8)
g = pydrake_geom.Box(100., 100., 0.5)
tf = RigidTransform(p=[0., 0., -0.25])
mbp.RegisterVisualGeometry(body=mbp.world_body(),
X_BG=tf,
shape=g,
name="ground",
diffuse_color=[1.0, 1.0, 1.0, 1.0])
mbp.RegisterCollisionGeometry(body=mbp.world_body(),
X_BG=tf,
shape=g,
name="ground",
coulomb_friction=friction)
for i, mesh in enumerate(trimeshes):
inertia = SpatialInertia(mass=1.0,
p_PScm_E=np.zeros(3),
G_SP_E=UnitInertia(0.01, 0.01, 0.01))
body = mbp.AddRigidBody(name="body_%d" % i, M_BBo_B=inertia)
color = cmap(np.random.random())
if verts_geom:
for j, vert in enumerate(mesh.vertices):
g = pydrake_geom.Sphere(radius=sphere_rad)
tf = RigidTransform(p=vert)
mbp.RegisterVisualGeometry(body=body,
X_BG=tf,
shape=g,
name="body_%d_color_%d" % (i, j),
diffuse_color=color)
mbp.RegisterCollisionGeometry(body=body,
X_BG=tf,
shape=g,
name="body_%d_collision_%d" %
(i, j),
coulomb_friction=friction)
# And add mesh itself for vis
path = "/tmp/part_%d.obj" % i
trimesh.exchange.export.export_mesh(mesh, path)
g = pydrake_geom.Convex(path)
mbp.RegisterVisualGeometry(body=body,
X_BG=RigidTransform(),
shape=g,
name="body_%d_base" % i,
diffuse_color=color)
if convex_collision_geom:
mbp.RegisterCollisionGeometry(body=body,
X_BG=RigidTransform(),
shape=g,
name="body_%d_base_col" % i,
coulomb_friction=friction)
mbp.SetDefaultFreeBodyPose(body, RigidTransform(p=[i % 3, i / 3., 1.]))
mbp.Finalize()
return builder, mbp, scene_graph
def compile_scene_tree_to_mbp_and_sg(scene_tree, timestep=0.001):
builder = DiagramBuilder()
mbp, scene_graph = AddMultibodyPlantSceneGraph(
builder, MultibodyPlant(time_step=timestep))
parser = Parser(mbp)
parser.package_map().PopulateFromEnvironment("ROS_PACKAGE_PATH")
world_body = mbp.world_body()
node_to_free_body_ids_map = {}
body_id_to_node_map = {}
free_body_poses = []
for node in scene_tree.nodes:
node_to_free_body_ids_map[node] = []
if node.tf is not None and node.physics_geometry_info is not None:
# Don't have to do anything if this does not introduce geometry.
sanity_check_node_tf_and_physics_geom_info(node)
phys_geom_info = node.physics_geometry_info
# Don't have to do anything if this does not introduce geometry.
has_models = len(phys_geom_info.model_paths) > 0
has_prim_geometry = (len(phys_geom_info.visual_geometry) +
len(phys_geom_info.collision_geometry)) > 0
if not has_models and not has_prim_geometry:
continue
node_model_ids = []
# Handle adding primitive geometry by adding it all to one
# mbp.
if has_prim_geometry:
# Contain this primitive geometry in a model instance.
model_id = mbp.AddModelInstance(node.name + "::model_%d" %
len(node_model_ids))
node_model_ids.append(model_id)
# Add a body for this node, and register any of the
# visual and collision geometry available.
# TODO(gizatt) This tree body index is built in to disambiguate names.
# But I forsee a name-to-stuff resolution crisis when inference time comes...
# this might get resolved by the solution to that.
body = mbp.AddRigidBody(name=node.name,
model_instance=model_id,
M_BBo_B=phys_geom_info.spatial_inertia)
body_id_to_node_map[body.index()] = node
tf = torch_tf_to_drake_tf(node.tf)
if phys_geom_info.fixed:
weld = mbp.WeldFrames(world_body.body_frame(),
body.body_frame(), tf)
else:
node_to_free_body_ids_map[node].append(body.index())
mbp.SetDefaultFreeBodyPose(body, tf)
for k, (tf, geometry,
color) in enumerate(phys_geom_info.visual_geometry):
mbp.RegisterVisualGeometry(body=body,
X_BG=torch_tf_to_drake_tf(tf),
shape=geometry,
name=node.name +
"_vis_%03d" % k,
diffuse_color=color)
for k, (tf, geometry, friction) in enumerate(
phys_geom_info.collision_geometry):
mbp.RegisterCollisionGeometry(
body=body,
X_BG=torch_tf_to_drake_tf(tf),
shape=geometry,
name=node.name + "_col_%03d" % k,
coulomb_friction=friction)
# Handle adding each model from sdf/urdf.
if has_models:
for local_tf, model_path, root_body_name, q0_dict in phys_geom_info.model_paths:
model_id = parser.AddModelFromFile(
resolve_catkin_package_path(parser.package_map(),
model_path),
node.name + "::"
"model_%d" % len(node_model_ids))
node_model_ids.append(model_id)
if root_body_name is None:
root_body_ind_possibilities = mbp.GetBodyIndices(
model_id)
assert len(root_body_ind_possibilities) == 1, \
"Please supply root_body_name for model with path %s" % model_path
root_body = mbp.get_body(
root_body_ind_possibilities[0])
else:
root_body = mbp.GetBodyByName(name=root_body_name,
model_instance=model_id)
body_id_to_node_map[root_body.index()] = node
node_tf = torch_tf_to_drake_tf(node.tf)
full_model_tf = node_tf.multiply(
torch_tf_to_drake_tf(local_tf))
if phys_geom_info.fixed:
mbp.WeldFrames(world_body.body_frame(),
root_body.body_frame(), full_model_tf)
else:
node_to_free_body_ids_map[node].append(
root_body.index())
mbp.SetDefaultFreeBodyPose(root_body, full_model_tf)
# Handle initial joint state
if q0_dict is not None:
for joint_name in list(q0_dict.keys()):
q0_this = q0_dict[joint_name]
joint = mbp.GetMutableJointByName(
joint_name, model_instance=model_id)
# Reshape to make Drake happy.
q0_this = q0_this.reshape(joint.num_positions(), 1)
joint.set_default_positions(q0_this)
return builder, mbp, scene_graph, node_to_free_body_ids_map, body_id_to_node_map
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)
