def load_world():
root_directory = os.path.dirname(os.path.abspath(__file__))
with HideOutput():
floor = load_model('models/short_floor.urdf')
robot = load_pybullet(os.path.join(root_directory, KUKA_PATH), fixed_base=True)
set_point(floor, Point(z=-0.01))
return floor, robot
def main():
parser = argparse.ArgumentParser()
parser.add_argument('-viewer', action='store_true', help='enable the viewer while planning')
args = parser.parse_args()
print(args)
connect(use_gui=True)
with LockRenderer():
draw_pose(unit_pose(), length=1)
floor = create_floor()
with HideOutput():
robot = load_pybullet(get_model_path(ROOMBA_URDF), fixed_base=True, scale=2.0)
for link in get_all_links(robot):
set_color(robot, link=link, color=ORANGE)
robot_z = stable_z(robot, floor)
set_point(robot, Point(z=robot_z))
#set_base_conf(robot, rover_confs[i])
data_path = add_data_path()
shelf, = load_model(os.path.join(data_path, KIVA_SHELF_SDF), fixed_base=True) # TODO: returns a tuple
dump_body(shelf)
#draw_aabb(get_aabb(shelf))
wait_for_user()
disconnect()
def load_world():
# TODO: store internal world info here to be reloaded
robot = load_model(DRAKE_IIWA_URDF)
# robot = load_model(KUKA_IIWA_URDF)
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
block = load_model(BLOCK_URDF, fixed_base=False)
#cup = load_model('models/dinnerware/cup/cup_small.urdf', Pose(Point(x=+0.5, y=+0.5, z=0.5)), fixed_base=False)
body_names = {
sink: 'sink',
stove: 'stove',
block: 'celery',
}
movable_bodies = [block]
set_pose(block, Pose(Point(y=0.5, z=stable_z(block, floor))))
set_default_camera()
return robot, body_names, movable_bodies
def load_world():
# TODO: store internal world info here to be reloaded
set_default_camera()
draw_global_system()
with HideOutput():
#add_data_path()
robot = load_model(DRAKE_IIWA_URDF, fixed_base=True) # DRAKE_IIWA_URDF | KUKA_IIWA_URDF
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
celery = load_model(BLOCK_URDF, fixed_base=False)
radish = load_model(SMALL_BLOCK_URDF, fixed_base=False)
#cup = load_model('models/dinnerware/cup/cup_small.urdf',
# Pose(Point(x=+0.5, y=+0.5, z=0.5)), fixed_base=False)
draw_pose(Pose(), parent=robot, parent_link=get_tool_link(robot)) # TODO: not working
# dump_body(robot)
# wait_for_user()
body_names = {
sink: 'sink',
stove: 'stove',
celery: 'celery',
radish: 'radish',
}
movable_bodies = [celery, radish]
set_pose(celery, Pose(Point(y=0.5, z=stable_z(celery, floor))))
set_pose(radish, Pose(Point(y=-0.5, z=stable_z(radish, floor))))
return robot, body_names, movable_bodies
def load_world():
# TODO: store internal world info here to be reloaded
with HideOutput():
robot = load_model(DRAKE_IIWA_URDF)
#add_data_path()
#robot = load_pybullet(KUKA_IIWA_URDF)
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
celery = load_model(BLOCK_URDF, fixed_base=False)
radish = load_model(SMALL_BLOCK_URDF, fixed_base=False)
#cup = load_model('models/dinnerware/cup/cup_small.urdf',
# Pose(Point(x=+0.5, y=+0.5, z=0.5)), fixed_base=False)
body_names = {
sink: 'sink',
stove: 'stove',
celery: 'celery',
radish: 'radish',
}
movable_bodies = [celery, radish]
set_pose(celery, Pose(Point(y=0.5, z=stable_z(celery, floor))))
set_pose(radish, Pose(Point(y=-0.5, z=stable_z(radish, floor))))
set_default_camera()
return robot, body_names, movable_bodies
def problem_fn(n_rovers=1, collisions=True):
base_extent = 2.5
base_limits = (-base_extent / 2. * np.ones(2), base_extent / 2. * np.ones(2))
mound_height = 0.1
floor = create_box(base_extent, base_extent, 0.001, color=TAN) # TODO: two rooms
set_point(floor, Point(z=-0.001 / 2.))
wall1 = create_box(base_extent + mound_height, mound_height, mound_height, color=GREY)
set_point(wall1, Point(y=base_extent / 2., z=mound_height / 2.))
wall2 = create_box(base_extent + mound_height, mound_height, mound_height, color=GREY)
set_point(wall2, Point(y=-base_extent / 2., z=mound_height / 2.))
wall3 = create_box(mound_height, base_extent + mound_height, mound_height, color=GREY)
set_point(wall3, Point(x=base_extent / 2., z=mound_height / 2.))
wall4 = create_box(mound_height, base_extent + mound_height, mound_height, color=GREY)
set_point(wall4, Point(x=-base_extent / 2., z=mound_height / 2.))
wall5 = create_box(mound_height, (base_extent + mound_height)/ 2., mound_height, color=GREY)
set_point(wall5, Point(y=base_extent / 4., z=mound_height / 2.))
rover_confs = [(+1, 0, np.pi), (-1, 0, 0)]
assert n_rovers <= len(rover_confs)
robots = []
for i in range(n_rovers):
with HideOutput():
rover = load_model(TURTLEBOT_URDF)
robot_z = stable_z(rover, floor)
set_point(rover, Point(z=robot_z))
set_base_conf(rover, rover_confs[i])
robots.append(rover)
goal_confs = {robots[0]: rover_confs[-1]}
#goal_confs = {}
# TODO: make the objects smaller
cylinder_radius = 0.25
body1 = create_cylinder(cylinder_radius, mound_height, color=RED)
set_point(body1, Point(y=-base_extent / 4., z=mound_height / 2.))
body2 = create_cylinder(cylinder_radius, mound_height, color=BLUE)
set_point(body2, Point(x=base_extent / 4., y=3*base_extent / 8., z=mound_height / 2.))
movable = [body1, body2]
#goal_holding = {robots[0]: body1}
goal_holding = {}
return NAMOProblem(robots, base_limits, movable, collisions=collisions,
goal_holding=goal_holding, goal_confs=goal_confs)
def problem_fn(n_robots=2, collisions=True):
base_extent = 2.0
base_limits = (-base_extent / 2. * np.ones(2),
base_extent / 2. * np.ones(2))
mound_height = 0.1
floor, walls = create_environment(base_extent, mound_height)
width = base_extent / 2. - 4 * mound_height
wall5 = create_box(mound_height, width, mound_height, color=GREY)
set_point(wall5,
Point(y=-(base_extent / 2 - width / 2.), z=mound_height / 2.))
wall6 = create_box(mound_height, width, mound_height, color=GREY)
set_point(wall6,
Point(y=+(base_extent / 2 - width / 2.), z=mound_height / 2.))
distance = 0.5
#initial_confs = [(-distance, -distance, 0),
# (-distance, +distance, 0)]
initial_confs = [(-distance, -distance, 0), (+distance, +distance, 0)]
assert n_robots <= len(initial_confs)
body_from_name = {}
#robots = ['green']
robots = ['green', 'blue']
with LockRenderer():
for i, name in enumerate(robots):
with HideOutput():
body = load_model(
TURTLEBOT_URDF) # TURTLEBOT_URDF | ROOMBA_URDF
body_from_name[name] = body
robot_z = stable_z(body, floor)
set_point(body, Point(z=robot_z))
set_base_conf(body, initial_confs[i])
set_body_color(body, COLOR_FROM_NAME[name])
goals = [(+distance, -distance, 0), (+distance, +distance, 0)]
#goals = goals[::-1]
goals = initial_confs[::-1]
goal_confs = dict(zip(robots, goals))
return NAMOProblem(body_from_name,
robots,
base_limits,
collisions=collisions,
goal_confs=goal_confs)
def rovers1(n_rovers=2,
n_objectives=4,
n_rocks=3,
n_soil=3,
n_stores=1,
n_obstacles=8):
base_extent = 5.0
base_limits = (-base_extent / 2. * np.ones(2),
base_extent / 2. * np.ones(2))
mount_width = 0.5
mound_height = 0.1
floor = create_box(base_extent, base_extent, 0.001,
color=TAN) # TODO: two rooms
set_point(floor, Point(z=-0.001 / 2.))
wall1 = create_box(base_extent + mound_height,
mound_height,
mound_height,
color=GREY)
set_point(wall1, Point(y=base_extent / 2., z=mound_height / 2.))
wall2 = create_box(base_extent + mound_height,
mound_height,
mound_height,
color=GREY)
set_point(wall2, Point(y=-base_extent / 2., z=mound_height / 2.))
wall3 = create_box(mound_height,
base_extent + mound_height,
mound_height,
color=GREY)
set_point(wall3, Point(x=base_extent / 2., z=mound_height / 2.))
wall4 = create_box(mound_height,
base_extent + mound_height,
mound_height,
color=GREY)
set_point(wall4, Point(x=-base_extent / 2., z=mound_height / 2.))
# TODO: can add obstacles along the wall
wall = create_box(mound_height, base_extent, mound_height,
color=GREY) # TODO: two rooms
set_point(wall, Point(z=mound_height / 2.))
add_data_path()
with HideOutput():
lander = load_pybullet(HUSKY_URDF, scale=1)
lander_z = stable_z(lander, floor)
set_point(lander, Point(-1.9, -2, lander_z))
mound1 = create_box(mount_width, mount_width, mound_height, color=GREY)
set_point(mound1, [+2, 2, mound_height / 2.])
mound2 = create_box(mount_width, mount_width, mound_height, color=GREY)
set_point(mound2, [-2, 2, mound_height / 2.])
mound3 = create_box(mount_width, mount_width, mound_height, color=GREY)
set_point(mound3, [+0.5, 2, mound_height / 2.])
mound4 = create_box(mount_width, mount_width, mound_height, color=GREY)
set_point(mound4, [-0.5, 2, mound_height / 2.])
mounds = [mound1, mound2, mound3, mound4]
random.shuffle(mounds)
body_types = []
initial_surfaces = OrderedDict()
min_distances = {}
for _ in range(n_obstacles):
body = create_box(mound_height,
mound_height,
4 * mound_height,
color=GREY)
initial_surfaces[body] = floor
rover_confs = [(+1, -1.75, np.pi), (-1, -1.75, 0)]
assert n_rovers <= len(rover_confs)
landers = [lander]
stores = ['store{}'.format(i) for i in range(n_stores)]
rovers = []
for i in range(n_rovers):
# camera_rgb_optical_frame
with HideOutput():
rover = load_model(TURTLEBOT_URDF)
robot_z = stable_z(rover, floor)
set_point(rover, Point(z=robot_z))
#handles = draw_aabb(get_aabb(rover)) # Includes the origin
#print(get_center_extent(rover))
#wait_for_user()
set_base_conf(rover, rover_confs[i])
rovers.append(rover)
#dump_body(rover)
#draw_pose(get_link_pose(rover, link_from_name(rover, KINECT_FRAME)))
obj_width = 0.07
obj_height = 0.2
objectives = []
for i in range(n_objectives):
body = create_box(obj_width, obj_width, obj_height, color=BLUE)
objectives.append(body)
#initial_surfaces[body] = random.choice(mounds)
initial_surfaces[body] = mounds[i]
min_distances.update({r: 0.05 for r in objectives})
# TODO: it is moving to intermediate locations attempting to reach the rocks
rocks = []
for _ in range(n_rocks):
body = create_box(0.075, 0.075, 0.01, color=BLACK)
rocks.append(body)
body_types.append((body, 'stone'))
for _ in range(n_soil):
body = create_box(0.1, 0.1, 0.005, color=BROWN)
rocks.append(body)
body_types.append((body, 'soil'))
soils = [] # Treating soil as rocks for simplicity
initial_surfaces.update({r: floor for r in rocks})
min_distances.update({r: 0.2 for r in rocks})
sample_placements(initial_surfaces, min_distances=min_distances)
return RoversProblem(rovers, landers, objectives, rocks, soils, stores,
base_limits, body_types)
def load_world():
# TODO: store internal world info here to be reloaded
with HideOutput():
robot = load_model(DRAKE_IIWA_URDF)
# robot = load_model(KUKA_IIWA_URDF)
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
block = load_model(BLOCK_URDF, fixed_base=False)
block1 = load_model(BLOCK_URDF, fixed_base=False)
block2 = load_model(BLOCK_URDF, fixed_base=False)
block3 = load_model(BLOCK_URDF, fixed_base=False)
block4 = load_model(BLOCK_URDF, fixed_base=False)
block5 = load_model(BLOCK_URDF, fixed_base=False)
block6 = load_model(BLOCK_URDF, fixed_base=False)
block7 = load_model(BLOCK_URDF, fixed_base=False)
block8 = load_model(BLOCK_URDF, fixed_base=False)
cup = load_model(
'models/cup.urdf', #'models/dinnerware/cup/cup_small.urdf'
fixed_base=False)
body_names = {
sink: 'sink',
stove: 'stove',
block: 'celery',
cup: 'cup',
}
movable_bodies = [
block, cup, block1, block2, block3, block4, block5, block6, block7,
block8
]
set_pose(block, Pose(Point(x=0.1, y=0.5, z=stable_z(block, floor))))
set_pose(block1, Pose(Point(x=-0.1, y=0.5, z=stable_z(block1, floor))))
set_pose(block2, Pose(Point(y=0.35, z=stable_z(block2, floor))))
set_pose(block3, Pose(Point(y=0.65, z=stable_z(block3, floor))))
set_pose(block4, Pose(Point(x=0.1, y=0.65, z=stable_z(block4, floor))))
set_pose(block5, Pose(Point(x=-0.1, y=0.65, z=stable_z(block5, floor))))
set_pose(block6, Pose(Point(x=0.1, y=0.35, z=stable_z(block6, floor))))
set_pose(block7, Pose(Point(x=-0.1, y=0.35, z=stable_z(block7, floor))))
set_pose(block8, Pose(Point(x=0, y=0.5, z=0.45)))
set_pose(cup, Pose(Point(y=0.5, z=stable_z(cup, floor))))
set_default_camera()
return robot, body_names, movable_bodies