def main(cfg):
# Initialize digits
digits = tacto.Sensor(**cfg.tacto)
# Initialize World
log.info("Initializing world")
px.init()
p.resetDebugVisualizerCamera(**cfg.pybullet_camera)
robot = SawyerGripper(**cfg.sawyer_gripper)
# [21, 24]
digits.add_camera(robot.id, robot.digit_links)
# Add object to pybullet and digit simulator
obj = px.Body(**cfg.object)
digits.add_body(obj)
np.set_printoptions(suppress=True)
# run p.stepSimulation in another thread
t = px.utils.SimulationThread(real_time_factor=1.0)
t.start()
robot.reset()
panel = px.gui.RobotControlPanel(robot)
panel.start()
while True:
color, depth = digits.render()
digits.updateGUI(color, depth)
time.sleep(0.1)
def main(cfg):
# Initialize digits
bg = cv2.imread("conf/bg_digit_240_320.jpg")
digits = tacto.Sensor(**cfg.tacto, background=bg)
# Initialize World
log.info("Initializing world")
px.init()
p.resetDebugVisualizerCamera(**cfg.pybullet_camera)
# Create and initialize DIGIT
digit_body = px.Body(**cfg.digit)
digits.add_camera(digit_body.id, [-1])
# Add object to pybullet and tacto simulator
obj = px.Body(**cfg.object)
digits.add_body(obj)
# Create control panel to control the 6DoF pose of the object
panel = px.gui.PoseControlPanel(obj, **cfg.object_control_panel)
panel.start()
log.info(
"Use the slides to move the object until in contact with the DIGIT")
# run p.stepSimulation in another thread
t = px.utils.SimulationThread(real_time_factor=1.0)
t.start()
while True:
color, depth = digits.render()
digits.updateGUI(color, depth)
t.stop()
def main():
px.init()
startPos = [0, 0, 0]
startOrientation = p.getQuaternionFromEuler([0, 0, 0])
boxId = p.loadURDF("resources/fingerTip.urdf", startPos, startOrientation)
while True:
time.sleep(0.01)
p.stepSimulation()
def __init__(self, config_path=_get_default_config_path()):
px.init(mode=p.GUI)
self.cfg = OmegaConf.load(config_path)
self.robot = SawyerGripper(**self.cfg.sawyer_gripper)
self.obj = px.Body(**self.cfg.object)
self.digits = tacto.Sensor(**self.cfg.tacto)
self.camera = Camera()
self.viewer = None
self.digits.add_camera(self.robot.id, self.robot.digit_links)
self.digits.add_body(self.obj)
self.reset()
def main():
px.init()
robot = px.Robot("kuka_iiwa/model.urdf")
# Run the simulation in another thread
t = px.utils.SimulationThread(1.0)
t.start()
# ControlPanel also takes pybulletX.Body
panel = px.gui.RobotControlPanel(robot)
panel.start()
input("Press any key to exit ...")
def main():
px.init()
robot = px.Robot("kuka_iiwa/model.urdf", use_fixed_base=True)
robot.torque_control = True
while True:
time.sleep(0.01)
error = desired_joint_positions - robot.get_states().joint_position
actions = robot.action_space.new()
actions.joint_torque = error * P_GAIN
robot.set_actions(actions)
p.stepSimulation()
def __init__(self, cfg):
"""
Input: cfg contains the custom configuration of the environment
cfg.tacto
cfg.settings
show_gui=False,
dt=0.005,
action_frequency=30,
simulation_frequency=240,
max_episode_steps=500,
"""
# Init logger
self.logger = logging.getLogger(__name__)
# Init logic parameters
self.cfg = cfg
self.show_gui = cfg.settings.show_gui
self.dt = cfg.settings.dt
self.action_frequency = cfg.settings.action_frequency
self.simulation_frequency = cfg.settings.simulation_frequency
self.max_episode_steps = cfg.settings.max_episode_steps
self.elapsed_steps = 0
# Set interaction parameters
self.action_space = self.get_action_space()
self.observation_space = self.get_observation_space()
# Init environment
self.logger.info("Initializing world")
mode = p.GUI if self.show_gui else p.DIRECT
client_id = px.init(mode=mode)
self.physics_client = px.Client(client_id=client_id)
p.resetDebugVisualizerCamera(**cfg.pybullet_camera)
p.setTimeStep(1 / self.simulation_frequency)
def __init__(self, mode: int = None, client_id: int = None):
# should provide either mode or client_id but not both
# mode and client_id can't be both None at the same time.
# This is equiv. to XOR test
assert (mode is None) != (client_id is None)
if client_id is None:
self._initialized_by_us = True
self._id = px.init(mode=mode)
else:
self._initialized_by_us = False
self._id = client_id
def main(cfg):
# Initialize OmniTact
omnitact = tacto.Sensor(
**cfg.tacto, **{"config_path": tacto.get_omnitact_config_path()})
# Initialize World
log.info("Initializing world")
px.init()
p.resetDebugVisualizerCamera(**cfg.pybullet_camera)
p.configureDebugVisualizer(
p.COV_ENABLE_SHADOWS,
1,
lightPosition=[50, 0, 80],
)
# Create and initialize OmniTact
body = px.Body(**cfg.omnitact)
omnitact.add_camera(body.id, [-1])
obj = px.Body(**cfg.object)
omnitact.add_body(obj)
# Create control panel to control the 6DoF pose of the object
panel = px.gui.PoseControlPanel(obj, **cfg.object_control_panel)
panel.start()
log.info(
"Use the slides to move the object until in contact with the OmniTact")
# run p.stepSimulation in another thread
t = px.utils.SimulationThread(real_time_factor=1.0)
t.start()
while True:
color, depth = omnitact.render()
omnitact.updateGUI(color, depth)
t.stop()
def main(cfg):
# Initialize digits
# FIXME(poweic): this has to be done before p.connect if PYOPENGL_PLATFORM set to "egl"
digits = tacto.Sensor(**cfg.tacto)
# Initialize World
log.info("Initializing world")
px.init()
p.resetDebugVisualizerCamera(**cfg.pybullet_camera)
# Add allegro hand
allegro = px.Body(**cfg.allegro)
# Add cameras to tacto simulator
digits.add_camera(allegro.id, cfg.digit_link_id_allegro)
# Add object to pybullet and tacto simulator
obj = px.Body(**cfg.object)
digits.add_body(obj)
# Create control panel to control the 6DoF pose of the object
panel = px.gui.PoseControlPanel(obj, **cfg.object_control_panel)
panel.start()
log.info(
"Use the slides to move the object until in contact with the DIGIT")
# run p.stepSimulation in another thread
t = px.utils.SimulationThread(real_time_factor=1.0)
t.start()
while True:
color, depth = digits.render()
digits.updateGUI(color, depth)
t.stop()
