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hsr_env.py
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import time
import pybullet as p
import pybullet_utils.bullet_client as bc
import pybullet_data
import pybulletX as px
import random
from scipy.spatial.transform import Rotation as R
import numpy as np
import copy
import env_utils as eu
import ravens.utils.utils as ru
from gym.spaces import Box, Discrete
DISTAL_OPEN = -np.pi * 0.25
DISTAL_CLOSE = 0
PROXIMAL_OPEN = 1
PROXIMAL_CLOSE = -0.1
BOUNDS = 5
CAMERA_XTION_CONFIG = [{
'image_size': (480, 640),
'intrinsics': (537.4933389299223, 0.0, 319.9746375212718, 0.0, 536.5961755975517, 244.54846607953, 0.0, 0.0, 1.0),
'position': None,
'rotation': None,
'zrange': (0.5, 10.),
'noise': False
}]
CAMERA_REALSENSE_CONFIG = [{
'image_size': (480, 640),
'intrinsics': (
607.3814086914062, 0.0, 315.9123840332031, 0.0, 607.2514038085938, 233.77308654785156, 0.0, 0.0, 1.0),
'position': None,
'rotation': None,
'zrange': (0.3, 10.),
'noise': False
}]
POSE_HOLDING = {
'head_tilt_joint': np.pi * -0.25,
'arm_roll_joint': np.pi * 0.5,
'wrist_flex_joint': np.pi * -0.5,
}
base_locs = {
'right_tray': [-2.1, -0.4],
'left_tray': [-2.1, -0.7],
'right_bin': [-2.2, -1.2],
'left_bin': [-2.2, -1.5],
'right_drawer': [-1.8, 0.7],
'left_drawer': [-1.8, 1.0],
}
# hand palm link to hand cam
# ([0.03897505473979222, -0.015070500210564188, -0.004196379764539657], [-0.04207608800145346, -0.040159067991881625, 0.7057767579836123, 0.7060424662969788])
# realsense intrinsics
# [609.7646484375, 0.0, 313.8269958496094, 0.0, 609.2198486328125, 239.64578247070312, 0.0, 0.0, 1.0],
# robot.set_actions({'joint_position': q}) exceeds max velocity, so use this fn
def set_joint_position(client, robot, joint_position, max_forces=None, use_joint_effort_limits=True):
max_vels = robot.get_joint_infos()['joint_max_velocity']
force = robot.get_joint_infos()['joint_max_force']
pos = list(robot.get_states()['joint_position'])
joint2idx = {j.decode('utf-8'): i for i, j in enumerate(robot.get_joint_infos()['joint_name'])}
robot.torque_control = False
assert not np.all(np.array(max_forces) == 0), "max_forces can't be all zero"
limits = robot.joint_effort_limits(robot.free_joint_indices)
if max_forces is None and np.all(limits == 0):
# warnings.warn(
# "Joint maximum efforts provided by URDF are zeros. "
# "Set use_joint_effort_limits to False"
# )
use_joint_effort_limits = False
opts = {}
if max_forces is None:
if use_joint_effort_limits:
# Case 1
opts["forces"] = limits
else:
# Case 2: do nothing
pass
else:
if use_joint_effort_limits:
# Case 3
opts["forces"] = np.minimum(max_forces, limits)
else:
# Case 4
opts["forces"] = max_forces
if isinstance(joint_position, dict):
for k, v in joint_position.items():
i = joint2idx[k]
client.setJointMotorControl2(robot.id, robot.free_joint_indices[i], p.POSITION_CONTROL,
targetPosition=v, maxVelocity=max_vels[i], force=force[i])
else:
assert len(robot.free_joint_indices) == len(joint_position) or len(robot.free_joint_indices) - 4 == len(
joint_position), (
f"number of target positions ({len(joint_position)}) should match "
f"the number of joint indices ({len(robot.free_joint_indices)})"
)
time = np.max([abs(joint_position[i] - pos[i]) / max_vels[i] for i in [0, 1, 2]])
for i in range(len(joint_position)):
if time > 0 and (i in [0, 1, 2]): # linear path
v = abs(joint_position[i] - pos[i]) / time
client.setJointMotorControl2(robot.id, robot.free_joint_indices[i], p.POSITION_CONTROL,
targetPosition=joint_position[i], maxVelocity=v, # max_vels[i],
force=force[i], targetVelocity=v)
else:
client.setJointMotorControl2(robot.id, robot.free_joint_indices[i], p.POSITION_CONTROL,
targetPosition=joint_position[i], maxVelocity=max_vels[i], force=force[i])
def pose2mat(pos, orn):
m = np.eye(4)
m[:3, -1] = pos
m[:3, :3] = R.from_quat(orn).as_matrix()
return m
class HSREnv:
def __init__(self, connect=p.GUI):
c_direct = bc.BulletClient(connection_mode=p.DIRECT)
c_gui = bc.BulletClient(connection_mode=connect)
self.c_gui, self.c_direct = c_gui, c_direct
self.c_gui.setAdditionalSearchPath(pybullet_data.getDataPath())
self.c_direct.setAdditionalSearchPath(pybullet_data.getDataPath())
self.break_criteria = lambda: False
self.object_collision, self.furniture_collision = False, False
self.break_collision = False
# print(self.robot.get_joint_infos())
def close(self):
p.disconnect(self.c_direct)
def reset(self):
self.c_gui.resetSimulation()
self.c_direct.resetSimulation()
self.c_direct.setGravity(0, 0, -9.8)
self.c_gui.setGravity(0, 0, -9.8)
self.c_direct.setPhysicsEngineParameter(enableFileCaching=0)
self.c_gui.setPhysicsEngineParameter(enableFileCaching=0)
planeId = self.c_gui.loadURDF('plane.urdf')
self.c_gui.changeDynamics(planeId, -1, lateralFriction=1)
px_gui = px.Client(client_id=self.c_gui._client)
self.robot = px.Robot('hsrb_description/robots/hsrb.urdf', use_fixed_base=True, physics_client=px_gui)
px_direct = px.Client(client_id=self.c_direct._client)
self.robot_direct = px.Robot('hsrb_description/robots/hsrb.urdf', use_fixed_base=True, physics_client=px_direct)
self.joint2idx = {j.decode('utf-8'): i for i, j in enumerate(self.robot.get_joint_infos()['joint_name'])}
self.c_gui.changeVisualShape(self.robot.id, 15, rgbaColor=(1, 0.5, 0, 1))
self.c_gui.changeVisualShape(self.robot.id, 34, rgbaColor=(0, 1, 0, 1))
self.c_gui.changeVisualShape(self.robot.id, 35, rgbaColor=(1, 0, 0, 1))
self.c_gui.changeVisualShape(self.robot.id, 38, rgbaColor=(1, 0, 1, 1))
self.c_gui.changeVisualShape(self.robot.id, 40, rgbaColor=(0.5, 0, 0.5, 1))
self.c_gui.changeVisualShape(self.robot.id, 44, rgbaColor=(0, 1, 1, 1))
self.c_gui.changeVisualShape(self.robot.id, 46, rgbaColor=(0, 0.5, 0.5, 1))
self.uppers, self.lowers, self.ranges, self.rest = self.get_robot_info(self.robot)
self.max_vels = self.robot.get_joint_infos()['joint_max_velocity']
self.max_forces = self.robot.get_joint_infos()['joint_max_force']
vs_id = self.c_gui.createVisualShape(p.GEOM_SPHERE, radius=0.03, rgbaColor=[1, 0, 0, 1])
self.marker_id = self.c_gui.createMultiBody(basePosition=[0, 0, 0], baseCollisionShapeIndex=-1,
baseVisualShapeIndex=vs_id)
vs_id = self.c_gui.createVisualShape(p.GEOM_SPHERE, radius=0.03, rgbaColor=[0, 0, 1, 1])
self.marker_id2 = self.c_gui.createMultiBody(basePosition=[0, 0, 0], baseCollisionShapeIndex=-1,
baseVisualShapeIndex=vs_id)
self.markers = [self.marker_id, self.marker_id2]
def get_robot_info(self, robot):
joints = robot.get_joint_infos()
names = joints['joint_name']
print(list(enumerate(names)))
# print(self.robot.get_joint_infos(range(self.robot.num_joints)))
# print(self.robot.get_joint_info_by_name('head_rgbd_sensor_gazebo_frame_joint'))
uppers, lowers, ranges, rest = [], [], [], []
for i, name in enumerate(names):
ll = joints['joint_lower_limit'][i]
ul = joints['joint_upper_limit'][i]
lower = min(ll, ul)
upper = max(ll, ul)
lowers.append(lower)
uppers.append(upper)
ranges.append(upper - lower)
rest.append(0)
return uppers, lowers, ranges, rest
def get_heightmap(self, only_render=False, bounds=np.array([[0, 3], [-1.5, 1.5], [0, 0.3]]), px_size=0.01,
hand=False,
**kwargs):
marker_poses = []
for m in self.markers:
marker_poses.append(self.c_gui.getBasePositionAndOrientation(m))
self.c_gui.resetBasePositionAndOrientation(m, (0, 100, 0), (0, 0, 0, 1))
if hand:
cam_state = self.robot.get_link_state_by_name('hand_camera_gazebo_frame_joint')
orn = list(cam_state.world_link_frame_orientation)
orn = (R.from_quat(orn) * R.from_euler('YZ', [0.5 * np.pi, -0.5 * np.pi])).as_quat()
cam_pose = list(cam_state.world_link_frame_position), orn
else:
cam_state = self.robot.get_link_state_by_name('head_rgbd_sensor_gazebo_frame_joint')
orn = list(cam_state.world_link_frame_orientation)
orn = (R.from_quat(orn) * R.from_euler('YZ', [0.5 * np.pi, -0.5 * np.pi])).as_quat()
cam_pose = list(cam_state.world_link_frame_position), orn
cam_mat = pose2mat(*cam_pose)
base_state = self.robot.get_link_state_by_name('base_footprint_joint')
base_pose = list(base_state.world_link_frame_position), list(base_state.world_link_frame_orientation)
base_mat = pose2mat(*base_pose)
camera_config = copy.deepcopy(CAMERA_REALSENSE_CONFIG if hand else CAMERA_XTION_CONFIG)
camera_config[0]['position'] = list(cam_state.world_link_frame_position)
camera_config[0]['rotation'] = orn
if only_render:
rgb, depth, seg = eu.render_camera(self.c_gui, camera_config[0])
cam_rel_mat = np.matmul(np.linalg.inv(base_mat), cam_mat)
camera_config[0]['position'] = cam_rel_mat[:3, -1]
camera_config[0]['rotation'] = R.from_matrix(cam_rel_mat[:3, :3]).as_quat()
camera_config[0]['base_frame'] = base_mat
out = rgb, depth, seg, camera_config[0]
else:
out = eu.get_heightmaps(self.c_gui, camera_config, bounds=bounds, px_size=px_size, **kwargs)
for m, m_pose in zip(self.markers, marker_poses):
self.c_gui.resetBasePositionAndOrientation(m, m_pose[0], m_pose[1])
return out
def open_gripper(self):
self.gripper_command(True)
def close_gripper(self):
self.gripper_command(False)
def look_at(self, v, sim=False):
orig_q = list(self.robot.get_states()['joint_position'])
curr_q = np.array(orig_q)
self.reset_joints(orig_q, False)
cam_axis = [1, 0, 0]
self.c_gui.changeVisualShape(self.marker_id, -1, rgbaColor=(0, 1, 0, 1))
self.c_gui.resetBasePositionAndOrientation(self.marker_id, v + np.array([0, 0, 0.1]), [0, 0, 0, 1])
for _ in range(1000):
curr_state = self.robot_direct.get_link_state_by_name('head_rgbd_sensor_gazebo_frame_joint')
head_pos = np.array(curr_state.world_link_frame_position)
head_orn = np.array(curr_state.world_link_frame_orientation)
head_mat = pose2mat(head_pos, head_orn)
point_head = np.linalg.inv(head_mat).dot([v[0], v[1], v[2], 1.0])[:3]
error_angle = np.arccos(np.dot(point_head, cam_axis) / np.linalg.norm(point_head))
if np.abs(error_angle) > 0.5 * np.pi:
curr_q[2] += np.pi
else:
if error_angle <= 0.01 * np.pi:
break
normal_head = np.cross(cam_axis, point_head)
normal_world = head_mat[:3, :3].dot(normal_head)
normed_normal_world = normal_world / np.linalg.norm(normal_world)
step_size = 0.5
correction_euler = R.from_rotvec(normed_normal_world * step_size * error_angle).as_euler('xyz')
link_id = self.robot_direct.get_joint_indices_by_names(['head_rgbd_sensor_gazebo_frame_joint'])[0]
link_id = int(link_id)
zeros = [0.0] * len(orig_q)
j_t, j_r = self.c_direct.calculateJacobian(self.robot_direct.id, link_id, [0, 0, 0], orig_q,
zeros, zeros)
j_r = np.array(j_r).T
correction_conf = j_r.dot(correction_euler)
mask = np.zeros_like(correction_conf)
mask[2] = 1.0 # base rotation
mask[5] = 1.0 # head tilt
correction_conf *= mask
curr_q = curr_q + correction_conf
self.reset_joints(curr_q, False)
if sim:
self.set_joint_position(curr_q, True)
self.sim_steps()
# print('target', v)
# print('error;', error_angle)
# input('ok?')
else:
self.reset_joints(curr_q, True)
def set_joint_position(self, q, gui):
if gui:
client, robot = self.c_gui, self.robot
else:
client, robot = self.c_direct, self.robot_direct
set_joint_position(client, robot, q)
def move_joints(self, config, sim=True):
for k, v in config.items():
j = self.robot.get_joint_info_by_name(k)
if not sim:
self.c_gui.resetJointState(self.robot.id, j.joint_index, v)
self.c_gui.setJointMotorControl2(self.robot.id, j.joint_index, p.POSITION_CONTROL,
targetPosition=v, maxVelocity=j.joint_max_velocity,
force=j.joint_max_force)
if sim:
self.sim_steps()
def gripper_command(self, open):
q = self.robot.get_states()['joint_position']
q[-1] = DISTAL_OPEN if open else DISTAL_CLOSE
q[-2] = PROXIMAL_OPEN if open else PROXIMAL_CLOSE
q[-3] = DISTAL_OPEN if open else DISTAL_CLOSE
q[-4] = PROXIMAL_OPEN if open else PROXIMAL_CLOSE
self.set_joint_position(q, True)
self.sim_steps()
def reset_joints(self, q, gui):
if gui:
client, robot = self.c_gui, self.robot
else:
client, robot = self.c_direct, self.robot_direct
for joint_index, joint_angle in zip(robot.free_joint_indices, q):
client.resetJointState(robot.id, joint_index, joint_angle)
if joint_index == 2:
client.setJointMotorControl2(robot.id, joint_index, p.POSITION_CONTROL,
targetPosition=joint_angle)
def reset_pose(self, full_random_pose=False, check_collisions=[], spawn_area=[[-3, 3], [-2, 2]]):
for _ in range(100):
neutral = [0 for _ in self.robot.get_states()['joint_position']]
neutral[0] = np.random.uniform(spawn_area[0][0], spawn_area[0][1]) # q[0]
neutral[1] = np.random.uniform(spawn_area[1][0], spawn_area[1][1]) # q[1]
# neutral[2] = q[2]
if full_random_pose:
neutral[2] = np.random.uniform(-np.pi, np.pi)
neutral[3] = np.random.uniform(0, 0.345)
neutral[4] = np.random.uniform(-0.5 * np.pi, 0.5 * np.pi)
neutral[5] = np.random.uniform(-0.5 * np.pi, 0)
neutral[6] = np.random.uniform(0, 0.69)
neutral[7] = np.random.uniform(-0.75 * np.pi, 0)
neutral[8] = np.random.uniform(-2.09, 3.84)
neutral[9] = np.random.uniform(-1.92, 1.22)
neutral[10] = np.random.uniform(-1.92, 3.67)
neutral[-1] = np.random.uniform(DISTAL_OPEN, DISTAL_CLOSE)
neutral[-2] = np.random.uniform(PROXIMAL_CLOSE, PROXIMAL_OPEN)
neutral[-3] = np.random.uniform(DISTAL_OPEN, DISTAL_CLOSE)
neutral[-4] = np.random.uniform(PROXIMAL_CLOSE, PROXIMAL_OPEN)
else:
for k, v in POSE_HOLDING.items():
neutral[self.joint2idx[k]] = v
self.reset_joints(neutral, True)
self.set_joint_position(neutral, True)
valid = True
for id in check_collisions:
if len(self.c_gui.getClosestPoints(self.robot.id, id, 0)) > 0:
valid = False
break
if valid:
break
def move_arm(self, config, fill=True, skip=[]):
if fill:
for k, v in self.joint2idx.items():
if 3 <= v <= 10 and k not in config and k not in skip:
config[k] = 0
self.set_joint_position(config, True)
self.sim_steps()
def holding_pose(self, reset_head=True):
pose = POSE_HOLDING.copy()
if reset_head:
self.move_arm(pose)
else:
del pose['head_tilt_joint']
self.move_arm(pose, skip=['head_pan_joint', 'head_tilt_joint'])
def sim_steps(self, steps=240 * 10, finger_steps=240, stop_at_stop=True, stop_at_contact=False, min_steps=10):
prev = self.robot.get_states()['joint_position']
for t in range(steps):
if self.break_criteria():
break
self.c_gui.stepSimulation()
curr = self.robot.get_states()['joint_position']
eq = np.abs(curr - prev) < 1e-4 # 1e-3 too large
timeout = [t >= steps] * len(eq[:-4]) + [t >= finger_steps] * 4
if stop_at_contact:
is_in_contact = False
points1 = self.c_gui.getContactPoints(bodyA=self.robot.id, linkIndexA=40)
points2 = self.c_gui.getContactPoints(bodyA=self.robot.id, linkIndexA=46)
if len(points1) > 0:
for p in points1:
if p[9] > 0:
is_in_contact = True
break
if not is_in_contact and len(points2) > 0:
for p in points2:
if p[9] > 0:
is_in_contact = True
break
if is_in_contact:
print('stopping at contact')
break
if stop_at_stop and t >= min_steps and np.all(np.logical_or(eq, timeout)):
# print('breaking at', t, 'steps')
# print(eq, timeout)
break
prev = curr
q = self.robot.get_states()['joint_position']
q[2] %= (2 * np.pi)
self.reset_joints(q, True)
def stepSimulation(self):
self.c_gui.stepSimulation()
def move_base_abs(self, x, y, angle):
q = list(self.robot.get_states()['joint_position'])
q[0] = x
q[1] = y
q[2] = angle
self.set_joint_position(q[:-4], True)
self.sim_steps()
def move_base_rel(self, x, y, angle):
q = list(self.robot.get_states()['joint_position'])
new_x = q[0] + np.cos(q[2]) * x - np.sin(q[2]) * y
new_y = q[1] + np.sin(q[2]) * x + np.cos(q[2]) * y
angle = q[2] + angle
self.move_base_abs(new_x, new_y, angle)
def move_ee(self, pos, orn, open=True, t=10, stop_at_contact=False, constrain_joints=[2, 4, 5], damp_base=False,
min_steps=10):
pos = pos - R.from_quat(orn).as_matrix()[:3, 2] * 0.17
orig_q = list(self.robot.get_states()['joint_position'])
self.c_gui.changeVisualShape(self.marker_id, -1, rgbaColor=(1, 0, 0, 1))
self.c_gui.resetBasePositionAndOrientation(self.marker_id, pos, orn)
rmat = R.from_quat(orn).as_matrix()
self.c_gui.resetBasePositionAndOrientation(self.marker_id2, pos + rmat[:3, 2] * 0.2, orn)
self.reset_joints(orig_q, False)
lowers, uppers, ranges = list(self.lowers), list(self.uppers), list(self.ranges)
for i in constrain_joints:
lowers[i] = orig_q[i]
uppers[i] = orig_q[i]
# ranges[i] = 0.01
if damp_base:
for i in [0, 1]:
lowers[i] = orig_q[i] - 0.1
uppers[i] = orig_q[i] + 0.1
success = False
for i in range(10):
q = self.c_direct.calculateInverseKinematics(self.robot_direct.id, 34, pos, orn, lowerLimits=lowers,
upperLimits=uppers,
jointRanges=ranges, restPoses=orig_q,
maxNumIterations=1000, residualThreshold=1e-4)
q = list(q)
self.reset_joints(q, False)
gripper_state = self.c_direct.getLinkState(self.robot_direct.id, 34, computeForwardKinematics=1)
pos_err = np.linalg.norm(np.array(gripper_state[4]) - pos)
orn_err = 1 - np.dot(gripper_state[1], orn) ** 2.0
c = all([lowers[i] <= q[i] <= uppers[i] for i in constrain_joints])
# print(i, pos_err, orn_err)
if pos_err < 0.01 and orn_err < 0.01: # and c:
success = True
break
else:
sample = list(np.array(self.robot.action_space.sample()['joint_position']))
sample[0] %= 10.0
sample[1] %= 10.0
# sample[2] %= (2*np.pi)
self.reset_joints(sample, False)
if not success:
print('FAILED TO FIND ACCURATE IK')
# q[-1] = DISTAL_OPEN if open else DISTAL_CLOSE
# q[-2] = PROXIMAL_OPEN if open else PROXIMAL_CLOSE
# q[-3] = DISTAL_OPEN if open else DISTAL_CLOSE
# q[-4] = PROXIMAL_OPEN if open else PROXIMAL_CLOSE
# if q[2] > orig_q[2]:
# diff = (q[2] - orig_q[2]) % (2 * np.pi)
# if diff > np.pi:
# q[2] = orig_q[2] - (np.pi * 2 - diff)
# else:
# q[2] = orig_q[2] + diff
# else:
# diff = (orig_q[2] - q[2]) % (2 * np.pi)
# if diff > np.pi:
# q[2] = orig_q[2] + (np.pi * 2 - diff)
# else:
# q[2] = orig_q[2] - diff
# set_joint_position(robot, orig_q, sim=False)
self.set_joint_position(q[:-4], True)
steps = 240 * t
return self.sim_steps(steps, stop_at_contact=stop_at_contact, min_steps=min_steps)
def grasp_primitive(self, pos, angle=0, frame=None, stop_at_contact=False):
euler = [np.pi, 0, angle]
# print('angle:', angle)
# euler = [np.pi, -0.5 * np.pi, 0]
rot = p.getQuaternionFromEuler(euler)
pos, rot = eu.transform(pos, rot, frame)
if np.abs(pos[0]) < BOUNDS and np.abs(pos[1]) < BOUNDS:
self.move_arm({
'arm_lift_joint': min(0.69, pos[2] + 0.1),
'arm_flex_joint': -1.57,
'arm_roll_joint': 0,
'wrist_flex_joint': -1.57,
}, fill=False)
# print(R.from_euler('xyz', euler).as_matrix())
rvec = R.from_quat(rot).as_matrix()[:3, 2]
self.move_ee(pos - 0.3 * rvec, rot)
if self.break_criteria():
return True
self.open_gripper()
if self.break_criteria():
return True
# for k in np.linspace(-0.3, 0, 10):
# self.move_ee(pos + k * rvec, rot, stop_at_contact=stop_at_contact, min_steps=0)
self.move_ee(pos + 0 * rvec, rot, stop_at_contact=stop_at_contact, min_steps=0)
if self.break_criteria():
return True
# print('close')
self.close_gripper()
# print('done')
# input('ok?')
# for k in np.linspace(0, -0.3, 10):
# self.move_ee(pos + k * rvec, rot, stop_at_contact=stop_at_contact, min_steps=0)
self.move_ee(pos - 0.3 * rvec, rot, stop_at_contact=stop_at_contact, min_steps=0)
tmp = self.furniture_collision
self.break_collision = False
if pos[2] > 0.4: # avoid table collision
self.move_base_rel(-0.5, 0, 0)
self.furniture_collision = tmp
self.break_collision = True
return True
return False
DEFAULT_CONFIG = {
'depth_noise': False,
'rot_noise': False,
'action_grasp': True,
'action_look': False,
'spawn_mode': 'box',
}
class WRSEnv(HSREnv):
def __init__(self, ycb=True, full_range=False, **kwargs):
super(WRSEnv, self).__init__(kwargs['connect'])
self.ycb = ycb
self.full_range = full_range
self.obj_ids = []
self.furn_ids = []
self.placed_objects = []
self.res = 224
self.hmap_bounds = np.array([[0, 3], [-1.5, 1.5], [-0.05, 1]])
assert (self.hmap_bounds[0, 1] - self.hmap_bounds[0, 0]) == (self.hmap_bounds[1, 1] - self.hmap_bounds[1, 0])
self.px_size = (self.hmap_bounds[0, 1] - self.hmap_bounds[0, 0]) / self.res
self.num_rots = 16
def generate_room(self, drawers_open=True, full_range=False):
random_containers = True
rot_noise = np.pi / 180 * 5
ids = {}
random_wall = True
if random_wall:
tmp_path = '/tmp/{}.sdf'.format(np.random.randint(1000000))
with open('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_frame/model.sdf', 'r') as f:
with open(tmp_path, 'w') as f_out:
height = np.random.uniform(0.5, 1.0)
thickness = np.random.uniform(0.01, 0.1)
data = f.read().replace('0.6</size>', '{}</size>'.format(height))
data = data.replace('0.3 ', '{} '.format(height / 2.0))
data = data.replace('0.1 ', '{} '.format(thickness))
f_out.write(data)
x = self.c_gui.loadSDF(tmp_path)[0]
else:
x = self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_frame/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (0, 0, 0), (0, 0, 0, 1))
ids['walls'] = x
pos_noise = 0.1
x = self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_bookshelf/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
2.7 + np.random.uniform(-1, 1) * pos_noise, -1 + np.random.uniform(-1, 1) * pos_noise, 0),
p.getQuaternionFromEuler(
[0, 0, -1.57 + np.random.uniform(-1, 1) * rot_noise]))
ids['shelf'] = x
pos_noise = 0.2
x = self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_bin_black/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-2.7 + np.random.uniform(-1, 1) * pos_noise, -1.7 + np.random.uniform(-1, 1) * pos_noise, 0),
p.getQuaternionFromEuler(
[0, 0, np.random.uniform(-1, 1) * rot_noise]))
self.c_gui.changeVisualShape(x, -1, rgbaColor=(0.3, 0.3, 0.3, 1))
ids['bin_left'] = x
x = self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_bin_green/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-2.7 + np.random.uniform(-1, 1) * pos_noise, -1.2 + np.random.uniform(-1, 1) * pos_noise, 0),
p.getQuaternionFromEuler(
[0, 0, np.random.uniform(-1, 1) * rot_noise]))
self.c_gui.changeVisualShape(x, -1, rgbaColor=(0, 0.7, 0, 1))
ids['bin_right'] = x
x = self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_stair_like_drawer/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (-2.7, 1, 0), (0, 0, 0, 1))
ids['stair_drawer'] = x
random_knob = True
drawer_path = 'tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/{}/model-1_4.sdf'.format(
'trofast' if random_knob else 'trafast_knob')
pull_noise = 0.05
def spawn_drawer(pos, knob=True):
x = self.c_gui.loadSDF(drawer_path)[0]
self.c_gui.resetBasePositionAndOrientation(x, pos, (0, 0, 0, 1))
self.c_gui.changeVisualShape(x, -1, rgbaColor=(1, 0.5, 0, 1))
random_offset = np.array([
np.random.uniform(-0.01, 0.01),
np.random.uniform(-0.01, 0.01),
np.random.uniform(-0.03, 0.03),
])
if knob:
knob_id = eu.spawn_knob(self.c_gui, np.array(pos) + np.array([0.205, 0, 0.04]) + random_offset)
else:
knob_id = None
return x, knob_id
if full_range:
pull = np.random.uniform(-2.7 - pull_noise, -2.4 + pull_noise)
else:
pull = (-2.4 if drawers_open else -2.7) + np.random.uniform(-1, 1) * pull_noise
pos = (pull, 1, 0.1 + 0.115)
drawer_id, knob_id = spawn_drawer(pos)
ids['drawer_bottom'] = drawer_id
ids['knob_bottom'] = knob_id
if full_range:
pull = np.random.uniform(-2.7 - pull_noise, -2.4 + pull_noise)
else:
pull = (-2.4 if drawers_open else -2.7) + np.random.uniform(-1, 1) * pull_noise
pos = (pull, 0.67, 0.1 + 0.115)
drawer_id, knob_id = spawn_drawer(pos)
ids['drawer_left'] = drawer_id
ids['knob_left'] = knob_id
if full_range:
pull = np.random.uniform(-2.7 - pull_noise, -2.4 + pull_noise)
else:
pull = -2.7 + np.random.uniform(-1, 1) * pull_noise
pos = (pull, 1, 0.36 + 0.115)
drawer_id, knob_id = spawn_drawer(pos)
ids['drawer_top'] = drawer_id
ids['knob_top'] = knob_id
x = self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_tall_table/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-0.3 + np.random.uniform(-1, 1) * pos_noise, 1.2 + np.random.uniform(-1, 1) * pos_noise, 0),
p.getQuaternionFromEuler(
[0, 0, np.random.uniform(-1, 1) * rot_noise]))
ids['tall_table'] = x
x = self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_long_table/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-0.3 + np.random.uniform(-1, 1) * pos_noise, 0.2 + np.random.uniform(-1, 1) * pos_noise, 0),
p.getQuaternionFromEuler(
[0, 0, 1.57 + np.random.uniform(-1, 1) * rot_noise]))
ids['long_table'] = x
x = self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_long_table/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-2.7 + np.random.uniform(-1, 1) * pos_noise, -0.3 + np.random.uniform(-1, 1) * pos_noise, 0),
p.getQuaternionFromEuler(
[0, 0, 1.57 + np.random.uniform(-1, 1) * rot_noise]))
ids['long_table_placing'] = x
pos_noise = 0.03
x = eu.load_container(self.c_gui) if random_containers else \
self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_tray/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-2.7 + np.random.uniform(-1, 1) * pos_noise, -0.75 + np.random.uniform(-1, 1) * pos_noise, 0.401),
p.getQuaternionFromEuler(
[0, 0, 1.57 + np.random.uniform(-1, 1) * rot_noise]))
self.c_gui.changeVisualShape(x, -1, rgbaColor=(0.3, 0.3, 0.3, 1))
ids['tray_left'] = x
x = eu.load_container(self.c_gui) if random_containers else \
self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_tray/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-2.7 + np.random.uniform(-1, 1) * pos_noise, -0.45 + np.random.uniform(-1, 1) * pos_noise, 0.401),
p.getQuaternionFromEuler(
[0, 0, 1.57 + np.random.uniform(-1, 1) * rot_noise]))
self.c_gui.changeVisualShape(x, -1, rgbaColor=(0.3, 0.3, 0.3, 1))
ids['tray_right'] = x
x = eu.load_container(self.c_gui, shape='left container') if random_containers else \
self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_container_a/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-2.7 + np.random.uniform(-1, 1) * pos_noise, -0.2 + np.random.uniform(-1, 1) * pos_noise, 0.401),
p.getQuaternionFromEuler(
[0, 0, np.random.uniform(-1, 1) * rot_noise]))
self.c_gui.changeVisualShape(x, -1, rgbaColor=(0.8, 0.0, 0.0, 1))
ids['container_left'] = x
x = eu.load_container(self.c_gui, shape='right container') if random_containers else \
self.c_gui.loadSDF('tmc_wrs_gazebo/tmc_wrs_gazebo_worlds/models/wrc_container_b/model.sdf')[0]
self.c_gui.resetBasePositionAndOrientation(x, (
-2.7 + np.random.uniform(-1, 1) * pos_noise, 0.1 + np.random.uniform(-1, 1) * pos_noise, 0.401),
p.getQuaternionFromEuler(
[0, 0, np.random.uniform(-1, 1) * rot_noise]))
self.c_gui.changeVisualShape(x, -1, rgbaColor=(0.3, 0.3, 0.2, 1))
ids['container_right'] = x
misc_drawers = True
if misc_drawers:
heights = [0.1 + 0.115, 0.36 + 0.115, 0.62 + 0.115]
for i in range(3):
if np.random.random() < 0.5:
pull = np.random.uniform(-2.7 - pull_noise, -2.4 + pull_noise)
pos = (pull, 1.33, heights[i])
drawer_id, _ = spawn_drawer(pos, knob=False)
ids['misc_drawer_{}'.format(i)] = drawer_id
return ids
def reset(self, full_random_pose=False, **kwargs):
super().reset()
self.furn_ids = self.generate_room(full_range=self.full_range)
for obj in self.obj_ids:
self.c_gui.removeBody(obj)
# self.c_gui.resetBasePositionAndOrientation(id, (-100, np.random.uniform(-100, 100), -100), (0, 0, 0, 1))
self.reset_pose(full_random_pose=full_random_pose, check_collisions=self.furn_ids.values(), **kwargs)
if not full_random_pose:
self.move_joints({
'joint_rz': np.random.uniform(-np.pi, np.pi),
'head_tilt_joint': np.random.uniform(-1.57, 0),
# 'head_pan_joint': np.random.uniform(np.pi * -0.25, np.pi * 0.25),
}, sim=False)
self.obj_ids = []
self.placed_objects = []
def spawn_objects(max_num, area, min_num=1, **kwargs):
coll_ids = [self.robot.id] + list(self.furn_ids.values()) + self.obj_ids
ids = []
for i, id in enumerate(
eu.spawn_objects(self.c_gui, num_spawn=np.random.randint(min_num, max_num), ycb=self.ycb,
**kwargs)):
success = setup_object(self.c_gui, id, coll_ids, area)
if success:
self.obj_ids.append(id)
ids.append(id)
else:
self.c_gui.removeBody(id)
return ids
# clean area
spawn_objects(20, [[-1.5, -1, 0.4], [-0.5, 1.5, 0.6]])
spawn_objects(5, [[-0.5, -0.5, 0.6], [-0.1, 0.5, 0.8]])
spawn_objects(5, [[-0.5, 1, 0.8], [-0.1, 1.5, 1.0]])
# trays
spawn_objects(3, np.array([[-2.75, -0.8, 0.6], [-2.65, -0.7, 0.7]]), 0)
spawn_objects(3, np.array([[-2.75, -0.5, 0.6], [-2.65, -0.4, 0.7]]), 0)
# bins
spawn_objects(3, np.array([[-2.75, -1.75, 0.4], [-2.65, -1.65, 0.5]]), 0)
spawn_objects(3, np.array([[-2.75, -1.25, 0.4], [-2.65, -1.15, 0.5]]), 0)
# drawers
spawn_objects(3, np.array([[-2.55, 0.65, 0.5], [-2.25, 0.75, 0.6]]), 0)
spawn_objects(3, np.array([[-2.55, 0.95, 0.5], [-2.25, 1.05, 0.6]]), 0)
# containers
pos = self.c_gui.getBasePositionAndOrientation(self.furn_ids['container_left'])[0]
spawn_objects(2, np.array(
[[pos[0] - 0.05, pos[1] - 0.05, pos[2] + 0.1], [pos[0] + 0.05, pos[1] + 0.05, pos[2] + 0.2]]), 0)
pos = self.c_gui.getBasePositionAndOrientation(self.furn_ids['container_right'])[0]
spawn_objects(2, np.array(
[[pos[0] - 0.1, pos[1] - 0.1, pos[2] + 0.1], [pos[0] + 0.1, pos[1] + 0.1, pos[2] + 0.2]]), 0)
# shelf
spawn_objects(10, [[2.6, -0.6, 0.49], [2.8, -1.4, 0.79]], min_num=1, max_side_len=0.3)
spawn_objects(10, [[2.6, -0.6, 0.79], [2.8, -1.4, 1.04]], min_num=1, max_side_len=0.3)
spawn_objects(10, [[2.6, -0.6, 1.04], [2.8, -1.4, 1.34]], min_num=1, max_side_len=0.3)
spawn_objects(10, [[2.6, -0.6, 0.49], [2.8, -1.4, 0.79]], min_num=1, max_side_len=0.1)
spawn_objects(10, [[2.6, -0.6, 0.79], [2.8, -1.4, 1.04]], min_num=1, max_side_len=0.1)
spawn_objects(10, [[2.6, -0.6, 1.04], [2.8, -1.4, 1.34]], min_num=1, max_side_len=0.1)
# print('settle')
x = [self.c_gui.getBasePositionAndOrientation(i)[0] for i in self.obj_ids]
for t in range(240 * 5):
self.c_gui.stepSimulation()
y = [self.c_gui.getBasePositionAndOrientation(i)[0] for i in self.obj_ids]
diff = np.abs(np.array(x) - np.array(y))
if t > 10 and np.all(diff < 1e-4):
# print('breaking at', t)
break
x = y
self.placed_objects = self.check_placed_objects()
def check_placed_objects(self):
ids = []
ks = [k for k in self.furn_ids.keys() if 'container' in k or 'tray' in k or 'drawer' in k or 'bin' in k]
for k in ks: # trays and containers
points = self.c_gui.getContactPoints(bodyA=self.furn_ids[k])
for c in points:
if c[2] in self.obj_ids:
ids.append(c[2])
# self.c_gui.changeVisualShape(c[2], -1, rgbaColor=(1, 0, 0, 1))
return list(set(ids))
class GraspEnv(WRSEnv):
def __init__(self, config=DEFAULT_CONFIG, break_collision=True, check_object_collision=True, random_hand=False,
**kwargs):
super(GraspEnv, self).__init__(**kwargs)
self.check_object_collision = check_object_collision
self.break_collision_default = break_collision
self.break_collision = self.break_collision_default
self.random_hand = random_hand
self.stats_history = []
self.observation_space = Box(-1, 1, (self.res, self.res))
self.config = config
self.seed = None
n_actions = 18 * self.res * self.res
self.action_space = Discrete(n_actions)
self.hmap, self.obs_config, self.segmap = None, None, None
self.dummy = np.zeros((3, self.res, self.res), dtype=np.float32)
self.steps = 0
self.ep_counter = 0
self.attach_wrapper()
def attach_wrapper(self):
def wrapper(fn):
def wrapper():
fn()
if self.check_object_collision and not self.object_collision:
for id in self.obj_ids:
if len(self.c_gui.getClosestPoints(self.robot.id, id, 0, 15, -1)) > 0:
self.object_collision = True
break
if not self.furniture_collision:
ks = [k for k in self.furn_ids.keys() if 'container' not in k and 'tray' not in k]
for id in [self.furn_ids[k] for k in ks]:
if len(self.c_gui.getClosestPoints(self.robot.id, id, 0)) > 0:
self.furniture_collision = True
break
return wrapper
def break_criteria():
return self.break_collision and (self.furniture_collision or self.object_collision)
self.c_gui.stepSimulation = wrapper(self.c_gui.stepSimulation)
self.break_criteria = break_criteria
def random_action_sample_fn(config, uniform=False):
if uniform:
def fn():
return np.random.randint((config['rots'] + 1) * config['res'] * config['res'])
else:
def fn():
primitive = np.random.randint(int(config['action_grasp']) + int(config['action_look']))
if primitive == 0:
return np.random.randint(config['rots'] * config['res'] * config['res'])
elif primitive == 1:
offset = config['rots'] * config['res'] * config['res']
return offset + np.random.randint(config['res'] * config['res'])
raise Exception('invalid primitive')
return fn
def reset(self, full_random_pose=False):
self.ep_start_time = time.time()
self.ep_counter += 1
self.target_loc = None
self.break_collision = self.break_collision_default
super().reset(full_random_pose=full_random_pose, spawn_area=[[-3, 0], [-2, 2]])
# self.reset_env()
self.stats = {
'grasp_rotations': [0] * 16,
'object_collisions': 0,
'furniture_collisions': 0,
'episodes': 0,
'grasp_success_collision': 0,
'grasp_success_safe': 0,
'grasp_failure_collision': 0,