def __init__(self):
self.time_step = 0.004
self.finger = sim_finger.SimFinger(finger_type=Cage.args.finger_type,
time_step=self.time_step,
enable_visualization=True,)
self.num_fingers = self.finger.number_of_fingers
_kwargs = {"physicsClientId": self.finger._pybullet_client_id}
if Cage.args.control_mode == "position":
self.position_goals = visual_objects.Marker(number_of_goals=self.num_fingers)
self.initial_robot_position=np.array([0.0, np.deg2rad(-60), np.deg2rad(-60)] * 3, dtype=np.float32,)
self.finger.reset_finger_positions_and_velocities(self.initial_robot_position)
self.initial_object_pose = move_cube.Pose(position=[0, 0, move_cube._min_height],
orientation=move_cube.Pose().orientation)
self.cube = collision_objects.Block(self.initial_object_pose.position,
self.initial_object_pose.orientation, mass=0.020, **_kwargs)
self.cube_z = 0.0325
self.workspace_radius = 0.18
self.tricamera = camera.TriFingerCameras(**_kwargs)
self.initial_marker_position = np.array([[ 0. , 0.17856407, self.cube_z],
[ 0.15464102, -0.08928203, self.cube_z],
[-0.15464102, -0.08928203, self.cube_z]])
self.position_goals.set_state(self.initial_marker_position)
self.marker_position = self.initial_marker_position
self.ik_module = geometric_ik.GeometricIK()
def main():
time_step = 0.004
finger = sim_finger.SimFinger(
finger_type="trifingerone",
time_step=time_step,
enable_visualization=True,
)
# Important: The cameras need the be created _after_ the simulation is
# initialized.
cameras = camera.TriFingerCameras()
# Move the fingers to random positions
while True:
goal = np.array(
sample.random_joint_positions(
number_of_fingers=3,
lower_bounds=[-1, -1, -2],
upper_bounds=[1, 1, 2],
))
finger_action = finger.Action(position=goal)
for _ in range(50):
t = finger.append_desired_action(finger_action)
finger.get_observation(t)
images = cameras.get_images()
# images are rgb --> convert to bgr for opencv
images = [cv2.cvtColor(img, cv2.COLOR_RGB2BGR) for img in images]
cv2.imshow("camera60", images[0])
cv2.imshow("camera180", images[1])
cv2.imshow("camera300", images[2])
cv2.waitKey(int(time_step * 1000))
def __init__(self, env):
super().__init__(env)
self.cameras = camera.TriFingerCameras(image_size=(int(360 * 2), int(270 * 2)))
self.metadata = {"render.modes": ["rgb_array"]}
self._initial_reset = True
self._accum_reward = 0
self._reward_at_step = 0
def __init__(
self,
visualization=False,
initial_robot_position=None,
initial_object_pose=None,
enable_cameras=False,
):
"""Initialize.
Args:
visualization (bool): Set to true to run visualization.
initial_robot_position: Initial robot joint angles
initial_object_pose: Initial pose for the manipulation object.
Can be any object with attributes ``position`` (x, y, z) and
``orientation`` (x, y, z, w). This is optional, if not set, a
random pose will be sampled.
enable_cameras (bool): Set to true to enable camera observations.
By default this is disabled as rendering of images takes a lot
of computational power. Therefore the cameras should only be
enabled if the images are actually used.
"""
#: Camera rate in frames per second. Observations of camera and
#: object pose will only be updated with this rate.
#: NOTE: This is currently not used!
self._camera_rate_fps = 30
#: Set to true to render camera observations
self.enable_cameras = enable_cameras
#: Simulation time step
self._time_step = 0.004
# first camera update in the first step
self._next_camera_update_step = 0
# Initialize robot, object and cameras
# ====================================
self.simfinger = SimFinger(
finger_type="trifingerpro",
time_step=self._time_step,
enable_visualization=visualization,
)
if initial_robot_position is None:
initial_robot_position = self.spaces.robot_position.default
self.simfinger.reset_finger_positions_and_velocities(
initial_robot_position)
if initial_object_pose is None:
initial_object_pose = move_cube.Pose(
position=self.spaces.object_position.default,
orientation=self.spaces.object_orientation.default,
)
self.cube = collision_objects.Block(
initial_object_pose.position,
initial_object_pose.orientation,
mass=0.020,
)
self.tricamera = camera.TriFingerCameras()
# Forward some methods for convenience
# ====================================
# forward "RobotFrontend" methods directly to simfinger
self.Action = self.simfinger.Action
self.get_desired_action = self.simfinger.get_desired_action
self.get_applied_action = self.simfinger.get_applied_action
self.get_timestamp_ms = self.simfinger.get_timestamp_ms
self.get_current_timeindex = self.simfinger.get_current_timeindex
self.get_robot_observation = self.simfinger.get_observation
# forward kinematics directly to simfinger
self.forward_kinematics = (
self.simfinger.pinocchio_utils.forward_kinematics)
# Initialize log
# ==============
self._action_log = {
"initial_robot_position": initial_robot_position.tolist(),
"initial_object_pose": {
"position": initial_object_pose.position.tolist(),
"orientation": initial_object_pose.orientation.tolist(),
},
"actions": [],
}