def _rotate_gripper_z(self, target_angle, num_step=None):
_, current_angle = vrep.simxGetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
vrep.simx_opmode_blocking)
# if target_angle > np.pi:
# target_angle -= np.pi
# if target_angle < -np.pi:
# target_angle += np.pi
if target_angle > np.pi + 0.2:
target_angle -= 2 * np.pi
if target_angle < -np.pi - 0.2:
target_angle += 2 * np.pi
ori_direction = np.asarray([0., 0., target_angle - current_angle[2]])
if num_step is not None:
num_move_step = num_step
else:
diff = abs(np.rad2deg(ori_direction[2]))
num_move_step = int((diff // 5) + 1)
ori_move_step = ori_direction / num_move_step
for step_iter in range(num_move_step):
vrep.simxSetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
(current_angle[0] + ori_move_step[0], current_angle[1] +
ori_move_step[1], current_angle[2] + ori_move_step[2]),
vrep.simx_opmode_blocking)
_, current_angle = vrep.simxGetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
vrep.simx_opmode_blocking)
vrep.simxSetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
(current_angle[0], current_angle[1], target_angle),
vrep.simx_opmode_blocking)
time.sleep(0.1)
def setup_sim_camera(self):
# Get handle to camera
sim_ret, self.cam_handle = vrep.simxGetObjectHandle(
self.sim_client, 'Vision_sensor_ortho', vrep.simx_opmode_blocking)
# Get camera pose and intrinsics in simulation
sim_ret, cam_position = vrep.simxGetObjectPosition(
self.sim_client, self.cam_handle, -1, vrep.simx_opmode_blocking)
sim_ret, cam_orientation = vrep.simxGetObjectOrientation(
self.sim_client, self.cam_handle, -1, vrep.simx_opmode_blocking)
cam_trans = np.eye(4, 4)
cam_trans[0:3, 3] = np.asarray(cam_position)
cam_orientation = [
-cam_orientation[0], -cam_orientation[1], -cam_orientation[2]
]
cam_rotm = np.eye(4, 4)
cam_rotm[0:3, 0:3] = np.linalg.inv(utils.euler2rotm(cam_orientation))
self.cam_pose = np.dot(
cam_trans, cam_rotm
) # Compute rigid transformation representating camera pose
self.cam_intrinsics = np.asarray([[618.62, 0, 320], [0, 618.62, 240],
[0, 0, 1]])
self.cam_depth_scale = 1
# Get background image
self.bg_color_img, self.bg_depth_img = self.get_camera_data()
self.bg_depth_img = self.bg_depth_img * self.cam_depth_scale
def setup_sim_camera(self, resolution_x=1024., resolution_y=1024.):
# Get handle to camera
perspectiveAngle = np.deg2rad(54.70)
self.cam_intrinsics = np.asarray(
[[
resolution_x / (2 * np.tan(perspectiveAngle / 2)), 0,
resolution_x / 2
],
[
0, resolution_y / (2 * np.tan(perspectiveAngle / 2)),
resolution_y / 2
], [0, 0, 1]])
_, self.cam_handle = vrep.simxGetObjectHandle(
self.sim_client, 'Vision_sensor_persp_0',
vrep.simx_opmode_blocking)
# Get camera pose and intrinsics in simulation
_, cam_position = vrep.simxGetObjectPosition(self.sim_client,
self.cam_handle, -1,
vrep.simx_opmode_blocking)
_, cam_orientation = vrep.simxGetObjectOrientation(
self.sim_client, self.cam_handle, -1, vrep.simx_opmode_blocking)
cam_trans = np.eye(4, 4)
cam_trans[0:3, 3] = np.asarray(cam_position)
cam_orientation = [
cam_orientation[0], cam_orientation[1], cam_orientation[2]
]
cam_rotm = np.eye(4, 4)
cam_rotm[0:3, 0:3] = utils.euler2rotm(cam_orientation)
self.cam_pose = np.dot(
cam_trans, cam_rotm
) # Compute rigid transformation representating camera pose
self.cam_depth_scale = 1
def rotate_object(self, axis, heightmap_rotation_angle, workspace_limits): #tool_rotation_angle = (heightmap_rotation_angle % np.pi) - np.pi / 2 tool_rotation_angle = math.radians(np.float(heightmap_rotation_angle)) sim_ret, UR5_target_position = vrep.simxGetObjectPosition(self.sim_client, self.UR5_target_handle, -1, vrep.simx_opmode_blocking) # Compute gripper orientation and rotation increments sim_ret, gripper_orientation = vrep.simxGetObjectOrientation(self.sim_client, self.UR5_target_handle, -1, vrep.simx_opmode_blocking) rotation_step = 0.15 if (tool_rotation_angle - gripper_orientation[axis] > 0) else -0.15 num_rotation_steps = int(np.floor((tool_rotation_angle - gripper_orientation[axis]) / rotation_step)) # Simultaneously move and rotate gripper if axis==0: for step_iter in range(num_rotation_steps): vrep.simxSetObjectOrientation(self.sim_client, self.UR5_target_handle, -1, ( gripper_orientation[axis] + rotation_step * min(step_iter, num_rotation_steps), gripper_orientation[1], gripper_orientation[2]), vrep.simx_opmode_blocking) elif axis==1: for step_iter in range(num_rotation_steps): vrep.simxSetObjectOrientation(self.sim_client, self.UR5_target_handle, -1, ( gripper_orientation[0], gripper_orientation[axis] + rotation_step * min(step_iter, num_rotation_steps), gripper_orientation[2]), vrep.simx_opmode_blocking) elif axis==2: for step_iter in range(num_rotation_steps): vrep.simxSetObjectOrientation(self.sim_client, self.UR5_target_handle, -1, ( gripper_orientation[0], gripper_orientation[1], gripper_orientation[axis] + rotation_step * min(step_iter, num_rotation_steps)), vrep.simx_opmode_blocking)
def get_ur5_orientation(self): _, gripper_orientation = vrep.simxGetObjectOrientation(self.sim_client, self.UR5_target_handle, -1, vrep.simx_opmode_blocking) gripper_orientation[0] = math.degrees(gripper_orientation[0]) gripper_orientation[1] = math.degrees(gripper_orientation[1]) gripper_orientation[2] = math.degrees(gripper_orientation[2]) return gripper_orientation
def get_single_obj_orientations(self, object_handle):
_, obj_orientation = vrep.simxGetObjectOrientation(
self.sim_client, object_handle, -1, vrep.simx_opmode_blocking)
a = []
for i in obj_orientation:
temp = i if i >= 0 else i + 2 * np.pi
a.append(temp)
return np.asarray(a)
def getangle_360(self):
sim_ret, UR3_target_orientation = vrep.simxGetObjectOrientation(
self.clientID, self.UR3_target_handle, -1,
vrep.simx_opmode_blocking)
if (UR3_target_orientation[0] < 0):
UR3_target_angle_360 = -(UR3_target_orientation[1] + math.pi / 2)
else:
UR3_target_angle_360 = UR3_target_orientation[1] + math.pi / 2
return UR3_target_angle_360 / math.pi * 180
def get_obj_positions_and_orientations(self):
obj_positions = []
obj_orientations = []
for object_handle in self.object_handles:
sim_ret, object_position = vrep.simxGetObjectPosition(
self.sim_client, object_handle, -1, vrep.simx_opmode_blocking)
sim_ret, object_orientation = vrep.simxGetObjectOrientation(
self.sim_client, object_handle, -1, vrep.simx_opmode_blocking)
obj_positions.append(object_position)
obj_orientations.append(object_orientation)
return obj_positions, obj_orientations
def setVisionSensor(self):
sim_ret, self.VS_left_handle = vrep.simxGetObjectHandle(
self.clientID, 'Vision_sensor_left', vrep.simx_opmode_blocking)
ret, self.VS_left_position = vrep.simxGetObjectPosition(
self.clientID, self.VS_left_handle, -1, vrep.simx_opmode_blocking)
ret, self.VS_left_orientation = vrep.simxGetObjectOrientation(
self.clientID, self.VS_left_handle, -1, vrep.simx_opmode_blocking)
self.left_cam_intrinsics = np.asarray([[561.82, 0, 320],
[0, 561.82, 240], [0, 0,
1]]) # 内部参数
self.leftmat = utils.Creat_posemat(self.VS_left_orientation,
self.VS_left_position)
sim_ret, self.VS_right_handle = vrep.simxGetObjectHandle(
self.clientID, 'Vision_sensor_right', vrep.simx_opmode_blocking)
ret, self.VS_right_position = vrep.simxGetObjectPosition(
self.clientID, self.VS_right_handle, -1, vrep.simx_opmode_blocking)
ret, self.VS_right_orientation = vrep.simxGetObjectOrientation(
self.clientID, self.VS_right_handle, -1, vrep.simx_opmode_blocking)
self.right_cam_intrinsics = np.asarray([[561.82, 0, 320],
[0, 561.82, 240], [0, 0,
1]]) # 内部参数
self.rightmat = utils.Creat_posemat(self.VS_right_orientation,
self.VS_right_position)
def get_obj_masks(self):
# from scipy.spatial.transform import Rotation as R
obj_contours = []
obj_number = len(self.obj_mesh_ind)
# scene = trimesh.Scene()
for object_idx in range(obj_number):
# Get object pose in simulation
sim_ret, obj_position = vrep.simxGetObjectPosition(
self.sim_client, self.object_handles[object_idx], -1,
vrep.simx_opmode_blocking)
sim_ret, obj_orientation = vrep.simxGetObjectOrientation(
self.sim_client, self.object_handles[object_idx], -1,
vrep.simx_opmode_blocking)
obj_trans = np.eye(4, 4)
obj_trans[0:3, 3] = np.asarray(obj_position)
obj_orientation = [
obj_orientation[0], obj_orientation[1], obj_orientation[2]
]
obj_rotm = np.eye(4, 4)
obj_rotm[0:3, 0:3] = utils.obj_euler2rotm(obj_orientation)
obj_pose = np.dot(
obj_trans, obj_rotm
) # Compute rigid transformation representating camera pose
# load .obj files
obj_mesh_file = os.path.join(
self.obj_mesh_dir,
self.mesh_list[self.obj_mesh_ind[object_idx]])
# print(obj_mesh_file)
mesh = trimesh.load_mesh(obj_mesh_file)
if obj_mesh_file.split('/')[-1] == '2.obj' or obj_mesh_file.split(
'/')[-1] == '6.obj':
mesh.apply_transform(obj_pose)
else:
# rest
transformation = np.array([[0, 0, 1, 0], [0, -1, 0, 0],
[1, 0, 0, 0], [0, 0, 0, 1]])
mesh.apply_transform(transformation)
mesh.apply_transform(obj_pose)
# scene.add_geometry(mesh)
obj_contours.append(mesh.vertices[:, 0:2])
# scene.show()
return obj_contours
def get_test_obj_masks(self):
obj_contours = []
obj_number = len(self.test_obj_mesh_files)
for object_idx in range(obj_number):
# Get object pose in simulation
sim_ret, obj_position = vrep.simxGetObjectPosition(
self.sim_client, self.object_handles[object_idx], -1,
vrep.simx_opmode_blocking)
sim_ret, obj_orientation = vrep.simxGetObjectOrientation(
self.sim_client, self.object_handles[object_idx], -1,
vrep.simx_opmode_blocking)
obj_trans = np.eye(4, 4)
obj_trans[0:3, 3] = np.asarray(obj_position)
obj_orientation = [
obj_orientation[0], obj_orientation[1], obj_orientation[2]
]
obj_rotm = np.eye(4, 4)
obj_rotm[0:3, 0:3] = utils.obj_euler2rotm(obj_orientation)
obj_pose = np.dot(
obj_trans, obj_rotm
) # Compute rigid transformation representating camera pose
# load .obj files
obj_mesh_file = self.test_obj_mesh_files[object_idx]
# print(obj_mesh_file)
mesh = trimesh.load_mesh(obj_mesh_file)
if obj_mesh_file.split('/')[-1] == '2.obj' or obj_mesh_file.split(
'/')[-1] == '6.obj':
mesh.apply_transform(obj_pose)
else:
# rest
transformation = np.array([[0, 0, 1, 0], [0, -1, 0, 0],
[1, 0, 0, 0], [0, 0, 0, 1]])
mesh.apply_transform(transformation)
mesh.apply_transform(obj_pose)
obj_contours.append(mesh.vertices[:, 0:2])
return obj_contours
def get_obj_mask(self, obj_ind):
# Get object pose in simulation
sim_ret, obj_position = vrep.simxGetObjectPosition(
self.sim_client, self.object_handles[obj_ind], -1,
vrep.simx_opmode_blocking)
sim_ret, obj_orientation = vrep.simxGetObjectOrientation(
self.sim_client, self.object_handles[obj_ind], -1,
vrep.simx_opmode_blocking)
obj_trans = np.eye(4, 4)
obj_trans[0:3, 3] = np.asarray(obj_position)
obj_orientation = [
obj_orientation[0], obj_orientation[1], obj_orientation[2]
]
obj_rotm = np.eye(4, 4)
obj_rotm[0:3, 0:3] = utils.obj_euler2rotm(obj_orientation)
obj_pose = np.dot(
obj_trans, obj_rotm
) # Compute rigid transformation representating camera pose
# load .obj files
obj_mesh_file = os.path.join(
self.obj_mesh_dir, self.mesh_list[self.obj_mesh_ind[obj_ind]])
mesh = trimesh.load_mesh(obj_mesh_file)
# transform the mesh to world frame
if obj_mesh_file.split('/')[-1] == '2.obj' or obj_mesh_file.split(
'/')[-1] == '6.obj':
mesh.apply_transform(obj_pose)
else:
# rest
transformation = np.array([[0, 0, 1, 0], [0, -1, 0, 0],
[1, 0, 0, 0], [0, 0, 0, 1]])
mesh.apply_transform(transformation)
mesh.apply_transform(obj_pose)
obj_contour = mesh.vertices[:, 0:2]
return obj_contour
def push(self, position, heightmap_rotation_angle, workspace_limits):
print('Executing: push at (%f, %f, %f)' %
(position[0], position[1], position[2]))
# Compute tool orientation from heightmap rotation angle
tool_rotation_angle = (heightmap_rotation_angle % np.pi) - np.pi / 2
# Adjust pushing point to be on tip of finger
position[2] = position[2] + 0.015
# Compute pushing direction
push_orientation = [1.0, 0.0]
push_direction = np.asarray([
push_orientation[0] * np.cos(heightmap_rotation_angle) -
push_orientation[1] * np.sin(heightmap_rotation_angle),
push_orientation[0] * np.sin(heightmap_rotation_angle) +
push_orientation[1] * np.cos(heightmap_rotation_angle)
])
# Move gripper to location above pushing point
pushing_point_margin = 0.1
location_above_pushing_point = (position[0], position[1],
position[2] + pushing_point_margin)
# Compute gripper position and linear movement increments
tool_position = location_above_pushing_point
sim_ret, UR5_target_position = vrep.simxGetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
vrep.simx_opmode_blocking)
move_direction = np.asarray([
tool_position[0] - UR5_target_position[0],
tool_position[1] - UR5_target_position[1],
tool_position[2] - UR5_target_position[2]
])
move_magnitude = np.linalg.norm(move_direction)
move_step = 0.05 * move_direction / move_magnitude + 1e-8
num_move_steps = int(np.floor(move_direction[0] / move_step[0]))
# Compute gripper orientation and rotation increments
sim_ret, gripper_orientation = vrep.simxGetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
vrep.simx_opmode_blocking)
rotation_step = 0.3 if (
tool_rotation_angle - gripper_orientation[1] > 0) else -0.3
num_rotation_steps = int(
np.floor((tool_rotation_angle - gripper_orientation[1]) /
rotation_step))
# Simultaneously move and rotate gripper
for step_iter in range(max(num_move_steps, num_rotation_steps)):
vrep.simxSetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
(UR5_target_position[0] +
move_step[0] * min(step_iter, num_move_steps),
UR5_target_position[1] +
move_step[1] * min(step_iter, num_move_steps),
UR5_target_position[2] +
move_step[2] * min(step_iter, num_move_steps)),
vrep.simx_opmode_blocking)
vrep.simxSetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
(np.pi / 2, gripper_orientation[1] +
rotation_step * min(step_iter, num_rotation_steps),
np.pi / 2), vrep.simx_opmode_blocking)
vrep.simxSetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
(tool_position[0], tool_position[1], tool_position[2]),
vrep.simx_opmode_blocking)
vrep.simxSetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
(np.pi / 2, tool_rotation_angle, np.pi / 2),
vrep.simx_opmode_blocking)
# Ensure gripper is closed
self.close_gripper()
# Approach pushing point
self.move_to(position, None)
# Compute target location (push to the right)
push_length = 0.1
target_x = min(
max(position[0] + push_direction[0] * push_length,
workspace_limits[0][0]), workspace_limits[0][1])
target_y = min(
max(position[1] + push_direction[1] * push_length,
workspace_limits[1][0]), workspace_limits[1][1])
push_length = np.sqrt(
np.power(target_x - position[0], 2) +
np.power(target_y - position[1], 2))
# Move in pushing direction towards target location
self.move_to([target_x, target_y, position[2]], None)
# Move gripper to location above grasp target
self.move_to([target_x, target_y, location_above_pushing_point[2]],
None)
def grasp(self, position, heightmap_rotation_angle, workspace_limits):
print('Executing: grasp at (%f, %f, %f)' %
(position[0], position[1], position[2]))
# Compute tool orientation from heightmap rotation angle
tool_rotation_angle = (heightmap_rotation_angle % np.pi) - np.pi / 2
# Avoid collision with floor
position = np.asarray(position).copy()
position[2] = max(position[2] - 0.04, workspace_limits[2][0] + 0.02)
# Move gripper to location above grasp target
grasp_location_margin = 0.15
# sim_ret, UR5_target_handle = vrep.simxGetObjectHandle(self.sim_client,'UR5_target',vrep.simx_opmode_blocking)
location_above_grasp_target = (position[0], position[1],
position[2] + grasp_location_margin)
# Compute gripper position and linear movement increments
tool_position = location_above_grasp_target
sim_ret, UR5_target_position = vrep.simxGetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
vrep.simx_opmode_blocking)
move_direction = np.asarray([
tool_position[0] - UR5_target_position[0],
tool_position[1] - UR5_target_position[1],
tool_position[2] - UR5_target_position[2]
])
move_magnitude = np.linalg.norm(move_direction)
move_step = 0.05 * move_direction / move_magnitude + 1e-8
num_move_steps = int(np.floor(move_direction[0] / move_step[0]))
# Compute gripper orientation and rotation increments
sim_ret, gripper_orientation = vrep.simxGetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
vrep.simx_opmode_blocking)
rotation_step = 0.3 if (
tool_rotation_angle - gripper_orientation[1] > 0) else -0.3
num_rotation_steps = int(
np.floor((tool_rotation_angle - gripper_orientation[1]) /
rotation_step))
# Simultaneously move and rotate gripper
for step_iter in range(max(num_move_steps, num_rotation_steps)):
vrep.simxSetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
(UR5_target_position[0] +
move_step[0] * min(step_iter, num_move_steps),
UR5_target_position[1] +
move_step[1] * min(step_iter, num_move_steps),
UR5_target_position[2] +
move_step[2] * min(step_iter, num_move_steps)),
vrep.simx_opmode_blocking)
vrep.simxSetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
(np.pi / 2, gripper_orientation[1] +
rotation_step * min(step_iter, num_rotation_steps),
np.pi / 2), vrep.simx_opmode_blocking)
vrep.simxSetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
(tool_position[0], tool_position[1], tool_position[2]),
vrep.simx_opmode_blocking)
vrep.simxSetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
(np.pi / 2, tool_rotation_angle, np.pi / 2),
vrep.simx_opmode_blocking)
# Ensure gripper is open
self.open_gripper()
# Approach grasp target
self.move_to(position, None)
# Close gripper to grasp target
gripper_full_closed = self.close_gripper()
# Move gripper to location above grasp target
self.move_to(location_above_grasp_target, None)
# Check if grasp is successful
gripper_full_closed = self.close_gripper()
grasp_success = not gripper_full_closed
# Move the grasped object elsewhere
grasped_object_name = None
if grasp_success:
object_positions = np.asarray(self.get_obj_positions())
object_positions = object_positions[:, 2]
grasped_object_ind = np.argmax(object_positions)
grasped_object_handle = self.object_handles[grasped_object_ind]
grasped_object_name = self.object_names[grasped_object_ind]
del self.object_handles[grasped_object_ind]
del self.object_names[grasped_object_ind]
vrep.simxSetObjectPosition(
self.sim_client, grasped_object_handle, -1,
(-1, -1 + 0.05 * float(grasped_object_ind), 0.1),
vrep.simx_opmode_blocking)
return grasped_object_name
def grasp(self, position, heightmap_rotation_angle, workspace_limits):
print('Executing: grasp at (%f, %f, %f)' %
(position[0], position[1], position[2]))
# Compute tool orientation from heightmap rotation angle
tool_rotation_angle = (heightmap_rotation_angle % np.pi) - np.pi / 2
# Avoid collision with floor
position = np.asarray(position).copy()
position[2] = max(position[2] - 0.04, workspace_limits[2][0] + 0.02)
# Move gripper to location above grasp target
grasp_location_margin = 0.15
# sim_ret, UR5_target_handle = vrep.simxGetObjectHandle(self.sim_client,'UR5_target',vrep.simx_opmode_blocking)
location_above_grasp_target = (position[0], position[1],
position[2] + grasp_location_margin)
# Compute gripper position and linear movement increments
tool_position = location_above_grasp_target
sim_ret, UR5_target_position = vrep.simxGetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
vrep.simx_opmode_blocking)
move_direction = np.asarray([
tool_position[0] - UR5_target_position[0],
tool_position[1] - UR5_target_position[1],
tool_position[2] - UR5_target_position[2]
])
move_magnitude = np.linalg.norm(move_direction)
move_step = 0.05 * move_direction / move_magnitude
num_move_steps = int(np.floor(move_direction[0] / move_step[0]))
# Compute gripper orientation and rotation increments
sim_ret, gripper_orientation = vrep.simxGetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
vrep.simx_opmode_blocking)
rotation_step = 0.3 if (
tool_rotation_angle - gripper_orientation[1] > 0) else -0.3
num_rotation_steps = int(
np.floor((tool_rotation_angle - gripper_orientation[1]) /
rotation_step))
# Simultaneously move and rotate gripper
for step_iter in range(max(num_move_steps, num_rotation_steps)):
vrep.simxSetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
(UR5_target_position[0] +
move_step[0] * min(step_iter, num_move_steps),
UR5_target_position[1] +
move_step[1] * min(step_iter, num_move_steps),
UR5_target_position[2] +
move_step[2] * min(step_iter, num_move_steps)),
vrep.simx_opmode_blocking)
vrep.simxSetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
(np.pi / 2, gripper_orientation[1] +
rotation_step * min(step_iter, num_rotation_steps),
np.pi / 2), vrep.simx_opmode_blocking)
vrep.simxSetObjectPosition(
self.sim_client, self.UR5_target_handle, -1,
(tool_position[0], tool_position[1], tool_position[2]),
vrep.simx_opmode_blocking)
vrep.simxSetObjectOrientation(
self.sim_client, self.UR5_target_handle, -1,
(np.pi / 2, tool_rotation_angle, np.pi / 2),
vrep.simx_opmode_blocking)
# Ensure gripper is open
self.open_gripper()
# Approach grasp target
self.move_to(position, None)
# Get images before grasping
color_img, depth_img = self.get_camera_data()
depth_img = depth_img * self.cam_depth_scale # Apply depth scale from calibration
# Get heightmaps beforew grasping
color_heightmap, depth_heightmap = utils.get_heightmap(
color_img, depth_img, self.cam_intrinsics, self.cam_pose,
workspace_limits, 0.002) # heightmap resolution from args
valid_depth_heightmap = depth_heightmap.copy()
valid_depth_heightmap[np.isnan(valid_depth_heightmap)] = 0
# Close gripper to grasp target
gripper_full_closed = self.close_gripper()
# Move gripper to location above grasp target
self.move_to(location_above_grasp_target, None)
# Check if grasp is successful
gripper_full_closed = self.close_gripper()
grasp_success = not gripper_full_closed
# Move the grasped object elsewhere
if grasp_success:
object_positions = np.asarray(self.get_obj_positions())
object_positions = object_positions[:, 2]
grasped_object_ind = np.argmax(object_positions)
print('grasp obj z position', max(object_positions))
grasped_object_handle = self.object_handles[grasped_object_ind]
vrep.simxSetObjectPosition(
self.sim_client, grasped_object_handle, -1,
(-0.5, 0.5 + 0.05 * float(grasped_object_ind), 0.1),
vrep.simx_opmode_blocking)
return grasp_success, color_img, depth_img, color_heightmap, valid_depth_heightmap, grasped_object_ind
else:
return grasp_success, None, None, None, None, None
def getObjectOrientation(sim_client, obj_handle):
sim_ret, orientation = vrep.simxGetObjectOrientation(
sim_client, obj_handle, -1, VREP_BLOCKING)
return sim_ret, np.asarray(orientation)
