def create_rope_demo(env, rope_poss):
rope_sim_obj = create_rope(rope_poss)
env.sim.add_objects([rope_sim_obj])
env.sim.settle()
scene_state = env.observe_scene()
env.sim.remove_objects([rope_sim_obj])
pick_pos = rope_poss[0] + .1 * (rope_poss[1] - rope_poss[0])
drop_pos = rope_poss[3] + .1 * (rope_poss[2] - rope_poss[3]) + np.r_[0, .2, 0]
pick_R = np.array([[0, 0, 1], [0, 1, 0], [-1, 0, 0]])
drop_R = np.array([[0, 1, 0], [0, 0, -1], [-1, 0, 0]])
move_height = .2
aug_traj = create_augmented_traj(env.sim.robot, pick_pos, drop_pos, pick_R, drop_R, move_height)
demo = Demonstration("rope_demo", scene_state, aug_traj)
return demo
def main():
# define simulation objects
table_height = 0.77
sim_objs = []
sim_objs.append(XmlSimulationObject("robots/pr2-beta-static.zae", dynamic=False))
sim_objs.append(BoxSimulationObject("table", [1, 0, table_height-.1], [.85, .85, .1], dynamic=False))
# initialize simulation world and environment
sim = DynamicSimulationRobotWorld()
sim.add_objects(sim_objs)
sim.create_viewer()
sim.robot.SetDOFValues([0.25], [sim.robot.GetJoint('torso_lift_joint').GetJointIndex()])
sim.robot.SetDOFValues([1.25], [sim.robot.GetJoint('head_tilt_joint').GetJointIndex()]) # move head down so it can see the rope
sim_util.reset_arms_to_side(sim)
env = environment.LfdEnvironment(sim, sim, downsample_size=0.025)
demo_rope_poss = np.array([[.2, -.2, table_height+0.006],
[.8, -.2, table_height+0.006],
[.8, .2, table_height+0.006],
[.2, .2, table_height+0.006]])
demo = create_rope_demo(env, demo_rope_poss)
test_rope_poss = np.array([[.2, -.2, table_height+0.006],
[.5, -.4, table_height+0.006],
[.8, .0, table_height+0.006],
[.8, .2, table_height+0.006],
[.6, .0, table_height+0.006],
[.4, .2, table_height+0.006],
[.2, .2, table_height+0.006]])
test_rope_sim_obj = create_rope(test_rope_poss)
sim.add_objects([test_rope_sim_obj])
sim.settle()
test_scene_state = env.observe_scene()
reg_factory = TpsRpmRegistrationFactory()
traj_transferer = FingerTrajectoryTransferer(sim)
plot_cb = lambda i, i_em, x_nd, y_md, xtarg_nd, wt_n, f, corr_nm, rad: registration_plot_cb(sim, x_nd, y_md, f)
reg_and_traj_transferer = TwoStepRegistrationAndTrajectoryTransferer(reg_factory, traj_transferer)
test_aug_traj = reg_and_traj_transferer.transfer(demo, test_scene_state, callback=plot_cb, plotting=True)
env.execute_augmented_trajectory(test_aug_traj)