/
oja.py
executable file
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/
oja.py
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import pybullet as pyb
import numpy as np
PI = 3.14159265359
ARM_LOWER = [-2*PI, -2*PI, -2*PI, -2*PI, -2*PI, -2*PI]
ARM_UPPER = [2*PI, 2*PI, 2*PI, 2*PI, 2*PI, 2*PI]
ARM_RANGE = [4*PI, 4*PI, 4*PI, 4*PI, 4*PI, 4*PI]
ARM_HOME = [PI/4, -PI/2, -PI/2, -PI/2, PI/2, 0]
ARM_DAMP = [0.01, 0.01, 0.001, 0.001, 0.001, 0.001]
GRIPPER_LOWER = [0, -0.8, 0, 0, -0.8, 0]
GRIPPER_UPPER = [0.8, 0, 0.8, 0.8, 0, 0.8]
GRIPPER_RANGE = [0.8, 0.8, 0.8, 0.8, 0.8, 0.8]
GRIPPER_HOME = [0, 0, 0, 0, 0, 0]
GRIPPER_DAMP = [0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001]
IDX_ARM = [1, 2, 3, 4, 5, 6]
IDX_GRIPPER = [10, 12, 14, 15, 17, 19]
IDX_TCP = 20
IDX_CAMERA = 23
class Oja:
def __init__(self, timestep, robot_xyz=(0, 0, 0), robot_rpy=(0, 0, 0)):
self.robotUid = None
self.timestep = timestep
self.load_robot(robot_xyz, robot_rpy)
def load_robot(self, robot_xyz=(0, 0, 0), robot_rpy=(0, 0, 0), joint_info=True):
self.robotUid = pyb.loadURDF("model/oja/oja.urdf.xacro", robot_xyz,
pyb.getQuaternionFromEuler(robot_rpy), useFixedBase=True)
if joint_info:
print('================================== Joint Info ==================================')
for i in range(pyb.getNumJoints(self.robotUid)):
info = pyb.getJointInfo(self.robotUid, i)
if info[2] == 0:
jtype = 'revolute'
elif info[2] == 1:
jtype = 'prismatic'
elif info[2] == 2:
jtype = 'spherical'
elif info[2] == 3:
jtype = 'planner'
elif info[2] == 4:
jtype = 'fixed'
else:
jtype = 'unknown'
print('{:02d}'.format(info[0]), ' ', jtype, '\t', info[1].decode("utf-8"), ' ', info[12].decode("utf-8"))
print('================================================================================')
def home(self):
self._set_joint(IDX_ARM, ARM_HOME, True)
self._set_joint(IDX_GRIPPER, GRIPPER_HOME, True)
def get_tcp_pose(self):
return pyb.getLinkState(self.robotUid, IDX_TCP, computeForwardKinematics=1)[4:6]
def set_gripper_joint(self, pos, reset=False):
self._set_joint(IDX_GRIPPER, [pos, -pos, pos, pos, -pos, pos], reset)
def set_tcp_pose(self, pos, rot, reset=True):
for _ in range(5):
tcp_pos, tcp_rot = self.get_tcp_pose()
if (np.abs(np.array(tcp_pos) - pos).sum() > 0.004) or \
(np.abs(np.array(tcp_rot) - rot).sum() > 0.015):
jpos = pyb.calculateInverseKinematics(self.robotUid, IDX_TCP, pos, rot,
ARM_LOWER+GRIPPER_LOWER, ARM_UPPER+GRIPPER_UPPER,
ARM_RANGE+GRIPPER_RANGE, ARM_HOME+GRIPPER_HOME,
ARM_DAMP+GRIPPER_DAMP, pyb.IK_SDLS)
jpos = jpos[:6]
self._set_joint(IDX_ARM, jpos, reset)
else:
return True
# return False
return True
def apply_speed_tcp(self, vel_xyz, vel_rpy, pose_tcp,
relative=False, reset=False, timestep=None):
timestep = timestep if timestep is not None else np.random.uniform(self.timestep[0], self.timestep[1])
if len(pose_tcp[1]) == 3:
euler = True
else:
euler = False
if relative:
tcp_r = pyb.getQuaternionFromEuler(pose_tcp[1]) if euler else pose_tcp[1]
pos_goal = [timestep * vel_xyz[i] for i in range(3)]
rot_goal = [timestep * vel_rpy[i] for i in range(3)]
pos, rot = pyb.multiplyTransforms(pose_tcp[0], tcp_r,
pos_goal, pyb.getQuaternionFromEuler(rot_goal))
self.set_tcp_pose(pos, rot, reset)
else:
tcp_r = pyb.getEulerFromQuaternion(pose_tcp[1]) if not euler else pose_tcp[1]
pos = [pose_tcp[0][i] + timestep * vel_xyz[i] for i in range(3)]
rot = [tcp_r[i] + timestep * vel_rpy[i] for i in range(3)]
rot = pyb.getQuaternionFromEuler(rot)
self.set_tcp_pose(pos, rot, reset)
return pos, \
pyb.getEulerFromQuaternion(rot) if euler else rot
def _set_joint(self, idx, pos, reset=False):
if reset:
pyb.resetJointStatesMultiDof(self.robotUid, idx, [[i] for i in pos], [[0] for _ in range(len(pos))])
else:
pyb.setJointMotorControlMultiDofArray(self.robotUid, idx, pyb.POSITION_CONTROL, [[i] for i in pos])
def get_image(self, size=(240, 240), clip=(0.1, 4.0), fov=58, baseline=None,
shift_xyz=(0, 0, 0), shift_rpy=(0, 0, 0), random_lighting=False):
# camera pose
cam_pos, cam_rot = pyb.getLinkState(self.robotUid, IDX_CAMERA, computeForwardKinematics=1)[4:6]
cam_pos, cam_rot = pyb.multiplyTransforms(cam_pos, cam_rot,
shift_xyz, pyb.getQuaternionFromEuler(shift_rpy))
if baseline is not None:
cam_pos, cam_rot = pyb.multiplyTransforms(cam_pos, cam_rot,
baseline[0], pyb.getQuaternionFromEuler(baseline[1]))
cam_rot = np.array(pyb.getMatrixFromQuaternion(cam_rot)).reshape(3, 3)
# rendering
viewMat = pyb.computeViewMatrix(cam_pos, cam_pos+cam_rot[:, 0], cam_rot[:, 2].tolist())
projMat = pyb.computeProjectionMatrixFOV(fov, size[0]/size[1], clip[0], clip[1])
if random_lighting:
pyb.configureDebugVisualizer(lightPosition=[np.random.uniform(-3, 3),
np.random.uniform(-3, 3),
np.random.uniform(1, 5)])
color, depth, segmask = pyb.getCameraImage(width=size[0],
height=size[1],
viewMatrix=viewMat,
projectionMatrix=projMat,
renderer=pyb.ER_BULLET_HARDWARE_OPENGL)[2:5]
return np.reshape(color, (size[1], size[0], 4))[..., :3], \
np.reshape(depth, (size[1], size[0])), \
np.reshape(segmask, (size[1], size[0]))