141 lines
5.0 KiB
Python
141 lines
5.0 KiB
Python
from pathlib import Path
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import pybullet as p
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import rospkg
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from robot_utils.bullet import *
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from robot_utils.controllers import CartesianPoseController
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from robot_utils.spatial import Rotation, Transform
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from utils import AABBox
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class Simulation(BtSim):
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def __init__(self, gui=True):
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super().__init__(gui=gui, sleep=False)
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p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
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p.resetDebugVisualizerCamera(1.4, 50, -35, [0.0, 0.0, 0.6])
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self.object_uids = []
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self.find_object_urdfs()
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self.load_table()
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self.load_robot()
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self.load_controller()
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self.reset()
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def find_object_urdfs(self):
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rospack = rospkg.RosPack()
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root = Path(rospack.get_path("vgn")) / "assets/urdfs/packed/test"
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self.urdfs = [str(f) for f in root.iterdir() if f.suffix == ".urdf"]
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def load_table(self):
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p.loadURDF("plane.urdf")
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ori = Rotation.from_rotvec(np.array([0, 0, np.pi / 2])).as_quat()
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p.loadURDF("table/table.urdf", baseOrientation=ori, useFixedBase=True)
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self.length = 0.3
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self.origin = [-0.3, -0.5 * self.length, 0.5]
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def load_robot(self):
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self.T_W_B = Transform(Rotation.identity(), np.r_[-0.6, 0.0, 0.4])
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self.arm = BtPandaArm(self.T_W_B)
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self.gripper = BtPandaGripper(self.arm)
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self.model = Model(self.arm.urdf_path, self.arm.base_frame, self.arm.ee_frame)
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self.camera = BtCamera(320, 240, 1.047, 0.1, 1.0, self.arm.uid, 11)
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def load_controller(self):
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self.controller = CartesianPoseController(self.model, self.arm.ee_frame, None)
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def reset(self):
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self.remove_all_objects()
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self.set_initial_arm_configuration()
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self.load_random_object_arrangement()
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uid = self.select_target()
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return self.get_target_bbox(uid)
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def set_initial_arm_configuration(self):
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q = self.arm.configurations["ready"]
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q[0] = np.deg2rad(np.random.uniform(-10, 10))
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q[5] = np.deg2rad(np.random.uniform(90, 105))
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for i, q_i in enumerate(q):
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p.resetJointState(self.arm.uid, i, q_i, 0)
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p.resetJointState(self.arm.uid, 9, 0.04, 0)
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p.resetJointState(self.arm.uid, 10, 0.04, 0)
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x0 = self.model.pose(self.arm.ee_frame, q)
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self.controller.x_d = x0
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def load_object(self, urdf, ori, pos, scale=1.0):
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uid = p.loadURDF(str(urdf), pos, ori.as_quat(), globalScaling=scale)
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self.object_uids.append(uid)
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return uid
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def remove_object(self, uid):
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p.removeBody(uid)
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self.object_uids.remove(uid)
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def remove_all_objects(self):
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for uid in list(self.object_uids):
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self.remove_object(uid)
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def load_random_object_arrangement(self, attempts=10):
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origin = np.r_[self.origin[:2], 0.625]
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scale = 0.8
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urdfs = np.random.choice(self.urdfs, 4)
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for urdf in urdfs:
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# Load the object
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uid = self.load_object(urdf, Rotation.identity(), [0.0, 0.0, 0.0], scale)
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lower, upper = p.getAABB(uid)
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z_offset = 0.5 * (upper[2] - lower[2]) + 0.002
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state_id = p.saveState()
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for _ in range(attempts):
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# Try to place the object without collision
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ori = Rotation.from_rotvec([0.0, 0.0, np.random.uniform(0, 2 * np.pi)])
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offset = np.r_[np.random.uniform(0.2, 0.8, 2) * self.length, z_offset]
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p.resetBasePositionAndOrientation(uid, origin + offset, ori.as_quat())
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self.step()
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if not p.getContactPoints(uid):
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break
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else:
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p.restoreState(stateId=state_id)
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else:
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# No placement found, remove the object
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self.remove_object(uid)
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def select_target(self):
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img = self.camera.get_image()
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uids, counts = np.unique(img.mask, return_counts=True)
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target_uid = uids[np.argmin(counts)]
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p.changeVisualShape(target_uid, -1, rgbaColor=[1, 0, 0, 1])
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return target_uid
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def get_target_bbox(self, uid):
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aabb_min, aabb_max = p.getAABB(uid)
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return AABBox(aabb_min, aabb_max)
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class CartesianPoseController:
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def __init__(self, model, frame, x0):
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self._model = model
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self._frame = frame
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self.kp = np.ones(6) * 4.0
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self.max_linear_vel = 0.2
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self.max_angular_vel = 1.57
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self.x_d = x0
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def update(self, q):
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x = self._model.pose(self._frame, q)
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error = np.zeros(6)
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error[:3] = self.x_d.translation - x.translation
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error[3:] = (self.x_d.rotation * x.rotation.inv()).as_rotvec()
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dx = self._limit_rate(self.kp * error)
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J_pinv = np.linalg.pinv(self._model.jacobian(self._frame, q))
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cmd = np.dot(J_pinv, dx)
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return cmd
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def _limit_rate(self, dx):
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linear, angular = dx[:3], dx[3:]
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linear = np.clip(linear, -self.max_linear_vel, self.max_linear_vel)
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angular = np.clip(angular, -self.max_angular_vel, self.max_angular_vel)
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return np.r_[linear, angular]
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