class ScoopEnv:
RIGHT = 0
LEFT = 1
CLOSE = 2
def __init__(self, port=19997):
rospy.init_node('env', anonymous=True)
self.sim_client = utils.connectToSimulation('127.0.0.1', port)
# Create UR5 and restart simulator
self.rdd = RDD(self.sim_client, open_force=10, close_force=20)
self.ur5 = UR5(self.sim_client, self.rdd)
self.nA = 3
self.cube = None
self.cube_start_position = [-0.2, 0.9, 0.05]
self.cube_size = [0.1, 0.2, 0.04]
self.open_position = 0.3
self.state = [0 for _ in range(4 * 60)]
self.stateSub = rospy.Subscriber('sim/state', Float32MultiArray,
self.stateCallback)
def stateCallback(self, msg):
data = list(msg.data)
self.state = self.state[4:] + data
def reset(self):
vrep.simxStopSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
sim_ret, self.cube = utils.getObjectHandle(self.sim_client, 'cube')
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
[-0.2, 0.6, 0.07])
dy = 0.3 * np.random.random()
# dy = 0
# dz = 0.1 * np.random.random() - 0.05
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
target_pose[1, 3] += dy
# target_pose[2, 3] += dz
self.ur5.moveTo(target_pose)
self.rdd.open(self.open_position)
return self.state
def step(self, a):
if a in [self.RIGHT, self.LEFT]:
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
if a == self.RIGHT:
target_pose[1, 3] -= 0.01
elif a == self.LEFT:
target_pose[1, 3] += 0.01
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
target_pose[:3, 3])
elif a == self.CLOSE:
self.rdd.close()
sim_ret, cube_orientation = utils.getObjectOrientation(
self.sim_client, self.cube)
sim_ret, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
sim_ret, tip_position = utils.getObjectPosition(
self.sim_client, self.ur5.gripper_tip)
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 or cube_position[2] > self.cube_start_position[2] + 0.005):
return None, 1, True, None
self.rdd.open(self.open_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
else:
# cube in wrong position
sim_ret, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
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 not lifted
return self.state, 0, False, None
class SimpleGraspEnv:
N = 0
S = 1
E = 2
W = 3
CLOSE = 4
def __init__(self, port=19997):
self.sim_client = utils.connectToSimulation('127.0.0.1', port)
self.rdd = RDD(self.sim_client, open_force=20, close_force=20)
self.ur5 = UR5(self.sim_client, self.rdd)
self.nA = 5
self.cube = None
self.cube_start_position = [-0.35, 0.7, 0.03]
self.cube_size = [0.1, 0.1, 0.1]
self.open_position = 0.3
def getState(self):
sim_ret, narrow_velocity = utils.getJointPosition(
self.sim_client, self.rdd.finger_joint_narrow)
sim_ret, narrow_force = utils.getJointForce(
self.sim_client, self.rdd.finger_joint_narrow)
sim_ret, wide_velocity = utils.getJointPosition(
self.sim_client, self.rdd.finger_joint_wide)
sim_ret, wide_force = utils.getJointForce(self.sim_client,
self.rdd.finger_joint_wide)
return narrow_velocity, narrow_force, wide_velocity, wide_force
def reset(self):
vrep.simxStopSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
# Generate a cube
position = self.cube_start_position
# orientation = [np.radians(90), 0, np.radians(90)]
orientation = [0, 0, 0]
size = self.cube_size
mass = 10
color = [255, 0, 0]
self.cube = utils.generateShape(self.sim_client, 'cube', 0, size,
position, orientation, mass, color)
self.rdd.open(self.open_position)
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
[-0.2, 0.5, 0.05])
# time.sleep(1)
return self.getState()
def step(self, a):
if a in [self.N, self.S, self.W, self.E]:
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
if a == self.N:
target_pose[0, 3] += 0.01
elif a == self.S:
target_pose[0, 3] -= 0.01
elif a == self.W:
target_pose[1, 3] += 0.01
elif a == self.E:
target_pose[1, 3] -= 0.01
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target,
target_pose[:3, 3])
elif a is self.CLOSE:
closed = self.rdd.close()
if not closed:
sim_ret, cube_position = utils.getObjectPosition(
self.sim_client, self.cube)
sim_ret, tip_position = utils.getObjectPosition(
self.sim_client, self.ur5.gripper_tip)
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))):
return None, 1, True, None
self.rdd.open(self.open_position)
return self.getState(), 0, False, None
class ScoopEnv:
RIGHT = 0
LEFT = 1
UP = 2
DOWN = 3
CLOSE = 4
def __init__(self, port=19997):
self.sim_client = utils.connectToSimulation('127.0.0.1', port)
# Create UR5 and restart simulator
self.rdd = RDD(self.sim_client, open_force=20, close_force=20)
self.ur5 = UR5(self.sim_client, self.rdd)
self.nA = 5
self.cube = None
self.cube_start_position = [-0.2, 0.9, 0.05]
self.cube_size = [0.1, 0.2, 0.04]
self.open_position = 0.3
def getState(self):
sim_ret, narrow_velocity = utils.getJointPosition(self.sim_client, self.rdd.finger_joint_narrow)
sim_ret, narrow_force = utils.getJointForce(self.sim_client, self.rdd.finger_joint_narrow)
sim_ret, wide_velocity = utils.getJointPosition(self.sim_client, self.rdd.finger_joint_wide)
sim_ret, wide_force = utils.getJointForce(self.sim_client, self.rdd.finger_joint_wide)
return narrow_velocity, narrow_force, wide_velocity, wide_force
def reset(self):
vrep.simxStopSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
vrep.simxStartSimulation(self.sim_client, VREP_BLOCKING)
time.sleep(1)
# Generate a cube
# position = self.cube_start_position
# orientation = [np.radians(90), 0, np.radians(90)]
# # orientation = [0, 0, 0]
# size = self.cube_size
# mass = 0.1
# color = [255, 0, 0]
# self.cube = utils.importShape(self.sim_client, 'cube', CUBE_MESH, position, orientation, color)
# self.cube = utils.generateShape(self.sim_client, 'cube', 0, size, position, orientation, mass, color)
# time.sleep(1)
sim_ret, self.cube = utils.getObjectHandle(self.sim_client, 'cube')
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target, [-0.2, 0.6, 0.07])
# dy = 0.3 * np.random.random()
dy = 0
dz = 0.1 * np.random.random() - 0.05
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
target_pose[1, 3] += dy
target_pose[2, 3] += dz
self.ur5.moveTo(target_pose)
self.rdd.open(self.open_position)
return self.getState()
def step(self, a):
if a in [self.RIGHT, self.LEFT, self.UP, self.DOWN]:
current_pose = self.ur5.getEndEffectorPose()
target_pose = current_pose.copy()
if a == self.RIGHT:
target_pose[1, 3] -= 0.01
elif a == self.LEFT:
target_pose[1, 3] += 0.01
elif a == self.UP:
target_pose[2, 3] += 0.01
elif a == self.DOWN:
target_pose[2, 3] -= 0.01
utils.setObjectPosition(self.sim_client, self.ur5.UR5_target, target_pose[:3, 3])
elif a == self.CLOSE:
self.rdd.close()
sim_ret, cube_orientation = utils.getObjectOrientation(self.sim_client, self.cube)
sim_ret, cube_position = utils.getObjectPosition(self.sim_client, self.cube)
sim_ret, tip_position = utils.getObjectPosition(self.sim_client, self.ur5.gripper_tip)
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 or cube_position[2] > self.cube_start_position[2] + 0.005):
return None, 1, True, None
self.rdd.open(self.open_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
else:
# cube in wrong position
sim_ret, cube_position = utils.getObjectPosition(self.sim_client, self.cube)
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 not lifted
return self.getState(), 0, False, None
def planAction(self):
sim_ret, target_position = utils.getObjectPosition(self.sim_client, self.ur5.UR5_target)
# step 1: move to bottom
if target_position[2] > 0.06:
return self.DOWN
elif target_position[2] < 0.05:
return self.UP
# step 2: move to left
elif target_position[1] < 0.79:
return self.LEFT
elif target_position[1] > 0.8:
return self.RIGHT
# step 3: close
else:
return self.CLOSE
