def step(self, a):
"""
take a step
:param a: action, int
:return: observation, reward, done, info
"""
if a in [self.RIGHT, self.LEFT]:
current_position = self.target_position
target_pose = transformations.euler_matrix(
self.target_orientation[0], self.target_orientation[1],
self.target_orientation[2])
target_pose[:3, -1] = current_position
if a == self.RIGHT:
target_pose[1, 3] -= 0.01
elif a == self.LEFT:
target_pose[1, 3] += 0.01
utils.setObjectPositionOneShot(self.sim_client,
self.ur5.UR5_target, target_pose[:3,
3])
elif a == self.CLOSE:
self.rdd.setFingerPos(-0.1)
elif a == self.OPEN:
self.rdd.setFingerPos()
cube_orientation = self.cube_orientation
cube_position = self.cube_position
tip_position = self.tip_position
narrow_position = self.narrow_position
target_position = self.target_position
# arm is in wrong pose
# sim_ret, target_position = utils.getObjectPosition(self.sim_client, self.ur5.UR5_target)
if target_position[1] < 0.42 or target_position[
1] > 0.95 or target_position[2] < 0 or target_position[2] > 0.2:
print 'Wrong arm position: ', target_position
return None, -1, True, None
# cube in wrong position
while any(np.isnan(cube_position)):
res, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
if cube_position[0] < self.cube_start_position[0] - self.cube_size[0] or \
cube_position[0] > self.cube_start_position[0] + self.cube_size[0] or \
cube_position[1] < self.cube_start_position[1] - self.cube_size[1] or \
cube_position[1] > self.cube_start_position[1] + self.cube_size[1]:
print 'Wrong cube position: ', cube_position
return None, 0, True, None
# cube is lifted
if np.all(tip_position > (np.array(cube_position) - np.array(self.cube_size))) and \
np.all(tip_position < (np.array(cube_position) + np.array(self.cube_size))) and \
cube_orientation[0] < -0.02 and \
narrow_position > -0.5:
return None, 1, True, None
# cube is not lifted
return self.getObs(), 0, False, None
def step(self, a):
"""
take a step
:param a: action, int
:return: observation, reward, done, info
"""
self.sendClearSignal()
sim_ret, target_position = utils.getObjectPosition(
self.sim_client, self.ur5.UR5_target)
sim_ret, target_orientation = utils.getObjectOrientation(
self.sim_client, self.ur5.UR5_target)
target_pose = transformations.euler_matrix(target_orientation[0],
target_orientation[1],
target_orientation[2])
target_pose[:3, -1] = target_position
if a == self.RIGHT:
target_pose[1, 3] -= 0.05
elif a == self.LEFT:
target_pose[1, 3] += 0.05
elif a == self.UP:
target_pose[2, 3] += 0.03
elif a == self.DOWN:
target_pose[2, 3] -= 0.03
self.ur5.moveTo(target_pose)
sim_ret, cube_orientation = utils.getObjectOrientation(
self.sim_client, self.cube)
sim_ret, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
sim_ret, target_position = utils.getObjectPosition(
self.sim_client, self.ur5.UR5_target)
# arm is in wrong pose
# sim_ret, target_position = utils.getObjectPosition(self.sim_client, self.ur5.UR5_target)
if target_position[1] < 0.42 or target_position[
1] > 0.95 or target_position[2] < 0 or target_position[2] > 0.2:
# print 'Wrong arm position: ', target_position
return None, -1, True, None
# cube in wrong position
while any(np.isnan(cube_position)):
res, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
if cube_position[0] < self.cube_start_position[0] - self.cube_size[0] or \
cube_position[0] > self.cube_start_position[0] + self.cube_size[0] or \
cube_position[1] < self.cube_start_position[1] - self.cube_size[1] or \
cube_position[1] > self.cube_start_position[1] + self.cube_size[1]:
# print 'Wrong cube position: ', cube_position
return None, 0, True, None
# cube is lifted
if cube_orientation[0] < -0.05:
return None, 1, True, None
# cube is not lifted
return self.getObs(), 0, False, None
def getObjectPose(sim_client, obj_handle):
sim_ret, obj_position = getObjectPosition(sim_client, obj_handle)
sim_ret, obj_orientation = getObjectOrientation(sim_client, obj_handle)
obj_pose = transformations.euler_matrix(obj_orientation[0],
obj_orientation[1],
obj_orientation[2])
obj_pose[:3, -1] = np.asarray(obj_position)
return sim_ret, obj_pose
def __init__(self,
sim_client,
sensor_name,
workspace,
intrinsics,
get_rgb=True,
get_depth=True,
z_near=0.01,
z_far=10):
'''
VRep vision sensor class.
Args:
- sim_client: VRep client object to communicate with simulator over
- sensor_name: Sensor name in simulator
- workspace: Workspace for the vision sensor in robot coordinates
- intrinsics: sensor intrinsics
- get_rgb: Should the sensor get the rgb image
- get_depth: Should the sensor get the depth image
- z_near: Minimum distance for depth sensing
- z_far: Maximum distance for depth sensing
'''
self.sim_client = sim_client
self.workspace = workspace
self.intrinsics = intrinsics
self.get_rgb = get_rgb
self.get_depth = get_depth
# Setup sensor and default sensor values
sim_ret, self.sensor = utils.getObjectHandle(self.sim_client,
sensor_name)
sim_ret, pos = utils.getObjectPosition(self.sim_client, self.sensor)
sim_ret, rot = utils.getObjectOrientation(self.sim_client, self.sensor)
cam_trans = np.eye(4, 4)
cam_trans[:3, 3] = np.asarray(pos)
rotm = np.linalg.inv(
transformations.euler_matrix(-rot[0], -rot[1], -rot[2]))
self.pose = np.dot(cam_trans, rotm)
self.z_near = z_near
self.z_far = z_far
