diff --git a/.gitattributes b/.gitattributes index 818d649bf21cdef29b21f885c8f770f9baa1714e..36aa66c3fd254e44e5f30338491c71492ba4ac47 100644 --- a/.gitattributes +++ b/.gitattributes @@ -29,3 +29,17 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +ur5e/collision/wrist2.stl filter=lfs diff=lfs merge=lfs -text +ur5e/collision/wrist3.stl filter=lfs diff=lfs merge=lfs -text +ur5e/collision/base.stl filter=lfs diff=lfs merge=lfs -text +ur5e/collision/forearm.stl filter=lfs diff=lfs merge=lfs -text +ur5e/collision/shoulder.stl filter=lfs diff=lfs merge=lfs -text +ur5e/collision/upperarm.stl filter=lfs diff=lfs merge=lfs -text +ur5e/collision/wrist1.stl filter=lfs diff=lfs merge=lfs -text +ur5e/visual filter=lfs diff=lfs merge=lfs -text +robotiq_2f_85/robotiq-2f-pad.stl filter=lfs diff=lfs merge=lfs -text +robotiq_2f_85/robotiq-2f-spring_link.stl filter=lfs diff=lfs merge=lfs -text +robotiq_2f_85/robotiq-2f-base.stl filter=lfs diff=lfs merge=lfs -text +robotiq_2f_85/robotiq-2f-coupler.stl filter=lfs diff=lfs merge=lfs -text +robotiq_2f_85/robotiq-2f-driver.stl filter=lfs diff=lfs merge=lfs -text +robotiq_2f_85/robotiq-2f-follower.stl filter=lfs diff=lfs merge=lfs -text diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..f875d659e6f5107febe668decfbcee5d98727ad9 --- /dev/null +++ b/.gitignore @@ -0,0 +1,162 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/#use-with-ide +.pdm.toml + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ + +.DS_Store \ No newline at end of file diff --git a/app.py b/app.py new file mode 100644 index 0000000000000000000000000000000000000000..2ae72eaa0ec40af831e3d2816c1a2892b01f9d6f --- /dev/null +++ b/app.py @@ -0,0 +1,143 @@ +import openai +import numpy as np +from tempfile import NamedTemporaryFile +import copy +import shapely +from shapely.geometry import * +from shapely.affinity import * +from omegaconf import OmegaConf +from moviepy.editor import ImageSequenceClip +import gradio as gr + + +from lmp import LMP, LMPFGen +from sim import PickPlaceEnv, LMP_wrapper +from consts import ALL_BLOCKS, ALL_BOWLS + + +class DemoRunner: + + def __init__(self): + self._cfg = OmegaConf.to_container(OmegaConf.load('cfg.yaml'), resolve=True) + self._env = None + self._model_name = '' + + def make_LMP(self, env): + # LMP env wrapper + cfg = copy.deepcopy(self._cfg) + cfg['env'] = { + 'init_objs': list(env.obj_name_to_id.keys()), + 'coords': cfg['tabletop_coords'] + } + for vs in cfg['lmps'].values(): + vs['engine'] = self._model_name + + LMP_env = LMP_wrapper(env, cfg) + # creating APIs that the LMPs can interact with + fixed_vars = { + 'np': np + } + fixed_vars.update({ + name: eval(name) + for name in shapely.geometry.__all__ + shapely.affinity.__all__ + }) + variable_vars = { + k: getattr(LMP_env, k) + for k in [ + 'get_bbox', 'get_obj_pos', 'get_color', 'is_obj_visible', 'denormalize_xy', + 'put_first_on_second', 'get_obj_names', + 'get_corner_name', 'get_side_name', + ] + } + variable_vars['say'] = lambda msg: print(f'robot says: {msg}') + + # creating the function-generating LMP + lmp_fgen = LMPFGen(cfg['lmps']['fgen'], fixed_vars, variable_vars) + + # creating other low-level LMPs + variable_vars.update({ + k: LMP(k, cfg['lmps'][k], lmp_fgen, fixed_vars, variable_vars) + for k in ['parse_obj_name', 'parse_position', 'parse_question', 'transform_shape_pts'] + }) + + # creating the LMP that deals w/ high-level language commands + lmp_tabletop_ui = LMP( + 'tabletop_ui', cfg['lmps']['tabletop_ui'], lmp_fgen, fixed_vars, variable_vars + ) + + return lmp_tabletop_ui + + def setup(self, api_key, model_name, n_blocks, n_bowls): + openai.api_key = api_key + self._model_name = model_name + + self._env = PickPlaceEnv(render=True, high_res=False, high_frame_rate=False) + block_list = np.random.choice(ALL_BLOCKS, size=n_blocks, replace=False).tolist() + bowl_list = np.random.choice(ALL_BOWLS, size=n_bowls, replace=False).tolist() + obj_list = block_list + bowl_list + self._env.reset(obj_list) + + self._lmp_tabletop_ui = self.make_LMP(self._env) + + info = '## Available objects: \n- ' + '\n- '.join(obj_list) + img = self._env.get_camera_image() + + return info, img + + def run(self, instruction): + if self._env is None: + return 'Please run setup first' + + self._env.cache_video = [] + + self._lmp_tabletop_ui(instruction, f'objects = {self._env.object_list}') + + video_file_name = '' + if self._env.cache_video: + rendered_clip = ImageSequenceClip(self._env.cache_video, fps=25) + video_file_name = NamedTemporaryFile(suffix='.mp4', delete=False).name + rendered_clip.write_videofile(video_file_name, fps=25) + + return 'Done', video_file_name + + +if __name__ == '__main__': + demo_runner = DemoRunner() + demo = gr.Blocks() + + with demo: + with gr.Row(): + with gr.Column(): + with gr.Row(): + inp_api_key = gr.Textbox(label='OpenAI API Key', lines=1, value='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') + inp_model_name = gr.Dropdown(label='Model Name', choices=['code-davinci-002', 'text-davinci-002'], value='code-davinci-002') + with gr.Row(): + inp_n_blocks = gr.Slider(label='Num Blocks', minimum=0, maximum=3, value=3, step=1) + inp_n_bowls = gr.Slider(label='Num Bowls', minimum=0, maximum=3, value=3, step=1) + + btn_setup = gr.Button("1) Setup/Reset Env") + info_setup = gr.Markdown(label='Setup Info') + with gr.Column(): + img_setup = gr.Image(label='Setup Image') + + with gr.Row(): + with gr.Column(): + + inp_instruction = gr.Textbox(label='Instruction', lines=1) + btn_run = gr.Button("2) Run Instruction") + info_run = gr.Label(label='Run Info') + with gr.Column(): + video_run = gr.Video(label='Run Video') + + btn_setup.click( + demo_runner.setup, + inputs=[inp_api_key, inp_model_name, inp_n_blocks, inp_n_bowls], + outputs=[info_setup, img_setup] + ) + btn_run.click( + demo_runner.run, + inputs=[inp_instruction], + outputs=[info_run, video_run] + ) + + demo.launch() \ No newline at end of file diff --git a/bowl/bowl.urdf b/bowl/bowl.urdf new file mode 100644 index 0000000000000000000000000000000000000000..44c62d62a9ad85a1f31c980d8764945d27cbebc4 --- /dev/null +++ b/bowl/bowl.urdf @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/bowl/cup.obj b/bowl/cup.obj new file mode 100644 index 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prompt_path: prompts/tabletop_ui.py + engine: model_name + max_tokens: 512 + temperature: 0 + query_prefix: '# ' + query_suffix: '.' + stop: ['#', 'objects = ['] + maintain_session: True + debug_mode: False + include_context: True + has_return: False + return_val_name: ret_val + parse_obj_name: + prompt_path: prompts/parse_obj_name.py + engine: model_name + max_tokens: 512 + temperature: 0 + query_prefix: '# ' + query_suffix: '.' + stop: ['#', 'objects = ['] + maintain_session: False + debug_mode: False + include_context: True + has_return: True + return_val_name: ret_val + parse_position: + prompt_path: prompts/parse_position.py + engine: model_name + max_tokens: 512 + temperature: 0 + query_prefix: '# ' + query_suffix: '.' + stop: ['#'] + maintain_session: False + debug_mode: False + include_context: True + has_return: True + return_val_name: ret_val + parse_question: + prompt_path: prompts/parse_question.py + engine: model_name + max_tokens: 512 + temperature: 0 + query_prefix: '# ' + query_suffix: '.' + stop: ['#', 'objects = ['] + maintain_session: False + debug_mode: False + include_context: True + has_return: True + return_val_name: ret_val + transform_shape_pts: + prompt_path: prompts/transform_shape_pts.py + engine: model_name + max_tokens: 512 + temperature: 0 + query_prefix: '# ' + query_suffix: '.' + stop: ['#'] + maintain_session: False + debug_mode: False + include_context: True + has_return: True + return_val_name: new_shape_pts + fgen: + prompt_path: prompts/fgen.py + engine: model_name + max_tokens: 512 + temperature: 0 + query_prefix: '# define function: ' + query_suffix: '.' + stop: ['# define', '# example'] + maintain_session: False + debug_mode: False + include_context: True + +tabletop_coords: + top_left: [-0.25, -0.25] + top_side: [0, -0.25] + top_right: [0.25, -0.25] + left_side: [-0.25, -0.5] + middle: [0, -0.5] + right_side: [0.25, -0.5] + bottom_left: [-0.25, -0.75] + bottom_side: [0, -0.75] + bottom_right: [0.25, -0.75] + table_z: 0 \ No newline at end of file diff --git a/consts.py b/consts.py new file mode 100644 index 0000000000000000000000000000000000000000..1e894ff2b31740f59f66203cc1d377684386aaac --- /dev/null +++ b/consts.py @@ -0,0 +1,33 @@ +import numpy as np + +# # Global constants: pick and place objects, colors, workspace bounds +COLORS = { + 'blue': (78/255, 121/255, 167/255, 255/255), + 'red': (255/255, 87/255, 89/255, 255/255), + 'green': (89/255, 169/255, 79/255, 255/255), + 'orange': (242/255, 142/255, 43/255, 255/255), + 'yellow': (237/255, 201/255, 72/255, 255/255), + 'purple': (176/255, 122/255, 161/255, 255/255), + 'pink': (255/255, 157/255, 167/255, 255/255), + 'cyan': (118/255, 183/255, 178/255, 255/255), + 'brown': (156/255, 117/255, 95/255, 255/255), + 'gray': (186/255, 176/255, 172/255, 255/255), +} + +CORNER_POS = { + 'top left corner': (-0.3 + 0.05, -0.2 - 0.05, 0), + 'top side': (0, -0.2 - 0.05, 0), + 'top right corner': (0.3 - 0.05, -0.2 - 0.05, 0), + 'left side': (-0.3 + 0.05, -0.5, 0), + 'middle': (0, -0.5, 0), + 'right side': (0.3 - 0.05, -0.5, 0), + 'bottom left corner': (-0.3 + 0.05, -0.8 + 0.05, 0), + 'bottom side': (0, -0.8 + 0.05, 0), + 'bottom right corner': (0.3 - 0.05, -0.8 + 0.05, 0), +} + +ALL_BLOCKS = ['blue block', 'red block', 'green block', 'orange block', 'yellow block', 'purple block', 'pink block', 'cyan block', 'brown block', 'gray block'] +ALL_BOWLS = ['blue bowl', 'red bowl', 'green bowl', 'orange bowl', 'yellow bowl', 'purple bowl', 'pink bowl', 'cyan bowl', 'brown bowl', 'gray bowl'] + +PIXEL_SIZE = 0.00267857 +BOUNDS = np.float32([[-0.3, 0.3], [-0.8, -0.2], [0, 0.15]]) # X Y Z \ No newline at end of file diff --git a/lmp.py b/lmp.py new file mode 100644 index 0000000000000000000000000000000000000000..166712d64b1faa3370f065e0eeb77e3e6417fe0b --- /dev/null +++ b/lmp.py @@ -0,0 +1,251 @@ +from time import sleep +import ast +import astunparse +import openai +from openai.error import RateLimitError, APIConnectionError +from pygments import highlight +from pygments.lexers import PythonLexer +from pygments.formatters import TerminalFormatter + + +class LMP: + + def __init__(self, name, cfg, lmp_fgen, fixed_vars, variable_vars): + self._name = name + self._cfg = cfg + + with open(self._cfg['prompt_path'], 'r') as f: + self._base_prompt = f.read() + + self._stop_tokens = list(self._cfg['stop']) + + self._lmp_fgen = lmp_fgen + + self._fixed_vars = fixed_vars + self._variable_vars = variable_vars + self.exec_hist = '' + + def clear_exec_hist(self): + self.exec_hist = '' + + def build_prompt(self, query, context=''): + if len(self._variable_vars) > 0: + variable_vars_imports_str = f"from utils import {', '.join(self._variable_vars.keys())}" + else: + variable_vars_imports_str = '' + prompt = self._base_prompt.replace('{variable_vars_imports}', variable_vars_imports_str) + + if self._cfg['maintain_session']: + prompt += f'\n{self.exec_hist}' + + if context != '': + prompt += f'\n{context}' + + use_query = f'{self._cfg["query_prefix"]}{query}{self._cfg["query_suffix"]}' + prompt += f'\n{use_query}' + + return prompt, use_query + + def __call__(self, query, context='', **kwargs): + prompt, use_query = self.build_prompt(query, context=context) + + while True: + try: + code_str = openai.Completion.create( + prompt=prompt, + stop=self._stop_tokens, + temperature=self._cfg['temperature'], + engine=self._cfg['engine'], + max_tokens=self._cfg['max_tokens'] + )['choices'][0]['text'].strip() + break + except (RateLimitError, APIConnectionError) as e: + print(f'OpenAI API got err {e}') + print('Retrying after 10s.') + sleep(10) + + if self._cfg['include_context'] and context != '': + to_exec = f'{context}\n{code_str}' + to_log = f'{context}\n{use_query}\n{code_str}' + else: + to_exec = code_str + to_log = f'{use_query}\n{to_exec}' + + to_log_pretty = highlight(to_log, PythonLexer(), TerminalFormatter()) + print(f'LMP {self._name} exec:\n\n{to_log_pretty}\n') + + new_fs = self._lmp_fgen.create_new_fs_from_code(code_str) + self._variable_vars.update(new_fs) + + gvars = merge_dicts([self._fixed_vars, self._variable_vars]) + lvars = kwargs + + if not self._cfg['debug_mode']: + exec_safe(to_exec, gvars, lvars) + + self.exec_hist += f'\n{to_exec}' + + if self._cfg['maintain_session']: + self._variable_vars.update(lvars) + + if self._cfg['has_return']: + return lvars[self._cfg['return_val_name']] + + +class LMPFGen: + + def __init__(self, cfg, fixed_vars, variable_vars): + self._cfg = cfg + + self._stop_tokens = list(self._cfg['stop']) + self._fixed_vars = fixed_vars + self._variable_vars = variable_vars + + with open(self._cfg['prompt_path'], 'r') as f: + self._base_prompt = f.read() + + def create_f_from_sig(self, f_name, f_sig, other_vars=None, fix_bugs=False, return_src=False): + print(f'Creating function: {f_sig}') + + use_query = f'{self._cfg["query_prefix"]}{f_sig}{self._cfg["query_suffix"]}' + prompt = f'{self._base_prompt}\n{use_query}' + + while True: + try: + f_src = openai.Completion.create( + prompt=prompt, + stop=self._stop_tokens, + temperature=self._cfg['temperature'], + engine=self._cfg['engine'], + max_tokens=self._cfg['max_tokens'] + )['choices'][0]['text'].strip() + break + except (RateLimitError, APIConnectionError) as e: + print(f'OpenAI API got err {e}') + print('Retrying after 10s.') + sleep(10) + + if fix_bugs: + f_src = openai.Edit.create( + model='code-davinci-edit-001', + input='# ' + f_src, + temperature=0, + instruction='Fix the bug if there is one. Improve readability. Keep same inputs and outputs. Only small changes. No comments.', + )['choices'][0]['text'].strip() + + if other_vars is None: + other_vars = {} + gvars = merge_dicts([self._fixed_vars, self._variable_vars, other_vars]) + lvars = {} + + exec_safe(f_src, gvars, lvars) + + f = lvars[f_name] + + to_print = highlight(f'{use_query}\n{f_src}', PythonLexer(), TerminalFormatter()) + print(f'LMP FGEN created:\n\n{to_print}\n') + + if return_src: + return f, f_src + return f + + def create_new_fs_from_code(self, code_str, other_vars=None, fix_bugs=False, return_src=False): + fs, f_assigns = {}, {} + f_parser = FunctionParser(fs, f_assigns) + f_parser.visit(ast.parse(code_str)) + for f_name, f_assign in f_assigns.items(): + if f_name in fs: + fs[f_name] = f_assign + + if other_vars is None: + other_vars = {} + + new_fs = {} + srcs = {} + for f_name, f_sig in fs.items(): + all_vars = merge_dicts([self._fixed_vars, self._variable_vars, new_fs, other_vars]) + if not var_exists(f_name, all_vars): + f, f_src = self.create_f_from_sig(f_name, f_sig, new_fs, fix_bugs=fix_bugs, return_src=True) + + # recursively define child_fs in the function body if needed + f_def_body = astunparse.unparse(ast.parse(f_src).body[0].body) + child_fs, child_f_srcs = self.create_new_fs_from_code( + f_def_body, other_vars=all_vars, fix_bugs=fix_bugs, return_src=True + ) + + if len(child_fs) > 0: + new_fs.update(child_fs) + srcs.update(child_f_srcs) + + # redefine parent f so newly created child_fs are in scope + gvars = merge_dicts([self._fixed_vars, self._variable_vars, new_fs, other_vars]) + lvars = {} + + exec_safe(f_src, gvars, lvars) + + f = lvars[f_name] + + new_fs[f_name], srcs[f_name] = f, f_src + + if return_src: + return new_fs, srcs + return new_fs + + +class FunctionParser(ast.NodeTransformer): + + def __init__(self, fs, f_assigns): + super().__init__() + self._fs = fs + self._f_assigns = f_assigns + + def visit_Call(self, node): + self.generic_visit(node) + if isinstance(node.func, ast.Name): + f_sig = astunparse.unparse(node).strip() + f_name = astunparse.unparse(node.func).strip() + self._fs[f_name] = f_sig + return node + + def visit_Assign(self, node): + self.generic_visit(node) + if isinstance(node.value, ast.Call): + assign_str = astunparse.unparse(node).strip() + f_name = astunparse.unparse(node.value.func).strip() + self._f_assigns[f_name] = assign_str + return node + + +def var_exists(name, all_vars): + try: + eval(name, all_vars) + except: + exists = False + else: + exists = True + return exists + + +def merge_dicts(dicts): + return { + k : v + for d in dicts + for k, v in d.items() + } + + +def exec_safe(code_str, gvars=None, lvars=None): + banned_phrases = ['import', '__'] + for phrase in banned_phrases: + assert phrase not in code_str + + if gvars is None: + gvars = {} + if lvars is None: + lvars = {} + empty_fn = lambda *args, **kwargs: None + custom_gvars = merge_dicts([ + gvars, + {'exec': empty_fn, 'eval': empty_fn} + ]) + exec(code_str, custom_gvars, lvars) \ No newline at end of file diff --git a/prompts/fgen.py b/prompts/fgen.py new file mode 100644 index 0000000000000000000000000000000000000000..e3623264cf6bc506e1ce350c2379bc264390887a --- /dev/null +++ b/prompts/fgen.py @@ -0,0 +1,49 @@ +import numpy as np +from shapely.geometry import * +from shapely.affinity import * + +from env_utils import get_obj_pos, get_obj_names +from ctrl_utils import put_first_on_second + +# define function: total = get_total(xs=numbers). +def get_total(xs): + return np.sum(xs) + +# define function: y = eval_line(x, slope, y_intercept=0). +def eval_line(x, slope, y_intercept): + return x * slope + y_intercept + +# define function: pt = get_pt_to_the_left(pt, dist). +def get_pt_to_the_left(pt, dist): + return pt + [-dist, 0] + +# define function: pt = get_pt_to_the_top(pt, dist). +def get_pt_to_the_top(pt, dist): + return pt + [0, dist] + +# define function line = make_line_by_length(length=x). +def make_line_by_length(length): + line = LineString([[0, 0], [length, 0]]) + return line + +# define function: line = make_vertical_line_by_length(length=x). +def make_vertical_line_by_length(length): + line = make_line_by_length(length) + vertical_line = rotate(line, 90) + return vertical_line + +# define function: pt = interpolate_line(line, t=0.5). +def interpolate_line(line, t): + pt = line.interpolate(t, normalized=True) + return np.array(pt.coords[0]) + +# example: scale a line by 2. +line = make_line_by_length(1) +new_shape = scale(line, xfact=2, yfact=2) + +# example: put object1 on top of object0. +put_first_on_second('object1', 'object0') + +# example: get the position of the first object. +obj_names = get_obj_names() +pos_2d = get_obj_pos(obj_names[0]) \ No newline at end of file diff --git a/prompts/parse_obj_name.py b/prompts/parse_obj_name.py new file mode 100644 index 0000000000000000000000000000000000000000..4372db7e58c7e8fb49f566680c971d1bff758a0b --- /dev/null +++ b/prompts/parse_obj_name.py @@ -0,0 +1,64 @@ +import numpy as np +from env_utils import get_obj_pos, parse_position +from utils import get_obj_positions_np + +objects = ['blue block', 'cyan block', 'purple bowl', 'gray bowl', 'brown bowl', 'pink block', 'purple block'] +# the block closest to the purple bowl. +block_names = ['blue block', 'cyan block', 'purple block'] +block_positions = get_obj_positions_np(block_names) +closest_block_idx = get_closest_idx(points=block_positions, point=get_obj_pos('purple bowl')) +closest_block_name = block_names[closest_block_idx] +ret_val = closest_block_name +objects = ['brown bowl', 'banana', 'brown block', 'apple', 'blue bowl', 'blue block'] +# the blocks. +ret_val = ['brown block', 'blue block'] +objects = ['brown bowl', 'banana', 'brown block', 'apple', 'blue bowl', 'blue block'] +# the brown objects. +ret_val = ['brown bowl', 'brown block'] +objects = ['brown bowl', 'banana', 'brown block', 'apple', 'blue bowl', 'blue block'] +# a fruit that's not the apple +fruit_names = ['banana', 'apple'] +for fruit_name in fruit_names: + if fruit_name != 'apple': + ret_val = fruit_name +objects = ['blue block', 'cyan block', 'purple bowl', 'brown bowl', 'purple block'] +# blocks above the brown bowl. +block_names = ['blue block', 'cyan block', 'purple block'] +brown_bowl_pos = get_obj_pos('brown bowl') +use_block_names = [] +for block_name in block_names: + if get_obj_pos(block_name)[1] > brown_bowl_pos[1]: + use_block_names.append(block_name) +ret_val = use_block_names +objects = ['blue block', 'cyan block', 'purple bowl', 'brown bowl', 'purple block'] +# the blue block. +ret_val = 'blue block' +objects = ['blue block', 'cyan block', 'purple bowl', 'brown bowl', 'purple block'] +# the block closest to the bottom right corner. +corner_pos = parse_position('bottom right corner') +block_names = ['blue block', 'cyan block', 'purple block'] +block_positions = get_obj_positions_np(block_names) +closest_block_idx = get_closest_idx(points=block_positions, point=corner_pos) +closest_block_name = block_names[closest_block_idx] +ret_val = closest_block_name +objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block'] +# the left most block. +block_names = ['green block', 'brown block', 'blue block'] +block_positions = get_obj_positions_np(block_names) +left_block_idx = np.argsort(block_positions[:, 0])[0] +left_block_name = block_names[left_block_idx] +ret_val = left_block_name +objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block'] +# the bowl on near the top. +bowl_names = ['brown bowl', 'green bowl', 'blue bowl'] +bowl_positions = get_obj_positions_np(bowl_names) +top_bowl_idx = np.argsort(block_positions[:, 1])[-1] +top_bowl_name = bowl_names[top_bowl_idx] +ret_val = top_bowl_name +objects = ['yellow bowl', 'purple block', 'yellow block', 'purple bowl', 'pink bowl', 'pink block'] +# the third bowl from the right. +bowl_names = ['yellow bowl', 'purple bowl', 'pink bowl'] +bowl_positions = get_obj_positions_np(bowl_names) +bowl_idx = np.argsort(block_positions[:, 0])[-3] +bowl_name = bowl_names[bowl_idx] +ret_val = bowl_name \ No newline at end of file diff --git a/prompts/parse_position.py b/prompts/parse_position.py new file mode 100644 index 0000000000000000000000000000000000000000..f88e8eeb69ddd2605e9ee5275115a917b2387e3f --- /dev/null +++ b/prompts/parse_position.py @@ -0,0 +1,54 @@ +import numpy as np +from shapely.geometry import * +from shapely.affinity import * +from env_utils import denormalize_xy, parse_obj_name, get_obj_names, get_obj_pos + +# a 30cm horizontal line in the middle with 3 points. +middle_pos = denormalize_xy([0.5, 0.5]) +start_pos = middle_pos + [-0.3/2, 0] +end_pos = middle_pos + [0.3/2, 0] +line = make_line(start=start_pos, end=end_pos) +points = interpolate_pts_on_line(line=line, n=3) +ret_val = points +# a 20cm vertical line near the right with 4 points. +middle_pos = denormalize_xy([1, 0.5]) +start_pos = middle_pos + [0, -0.2/2] +end_pos = middle_pos + [0, 0.2/2] +line = make_line(start=start_pos, end=end_pos) +points = interpolate_pts_on_line(line=line, n=4) +ret_val = points +# a diagonal line from the top left to the bottom right corner with 5 points. +top_left_corner = denormalize_xy([0, 1]) +bottom_right_corner = denormalize_xy([1, 0]) +line = make_line(start=top_left_corner, end=bottom_right_corner) +points = interpolate_pts_on_line(line=line, n=5) +ret_val = points +# a triangle with size 10cm with 3 points. +polygon = make_triangle(size=0.1, center=denormalize_xy([0.5, 0.5])) +points = get_points_from_polygon(polygon) +ret_val = points +# the corner closest to the sun colored block. +block_name = parse_obj_name('the sun colored block', f'objects = {get_obj_names()}') +corner_positions = np.array([denormalize_xy(pos) for pos in [[0, 0], [0, 1], [1, 1], [1, 0]]]) +closest_corner_pos = get_closest_point(points=corner_positions, point=get_obj_pos(block_name)) +ret_val = closest_corner_pos +# the side farthest from the right most bowl. +bowl_name = parse_obj_name('the right most bowl', f'objects = {get_obj_names()}') +side_positions = np.array([denormalize_xy(pos) for pos in [[0.5, 0], [0.5, 1], [1, 0.5], [0, 0.5]]]) +farthest_side_pos = get_farthest_point(points=side_positions, point=get_obj_pos(bowl_name)) +ret_val = farthest_side_pos +# a point above the third block from the bottom. +block_name = parse_obj_name('the third block from the bottom', f'objects = {get_obj_names()}') +ret_val = get_obj_pos(block_name) + [0.1, 0] +# a point 10cm left of the bowls. +bowl_names = parse_obj_name('the bowls', f'objects = {get_obj_names()}') +bowl_positions = get_all_object_positions_np(obj_names=bowl_names) +left_obj_pos = bowl_positions[np.argmin(bowl_positions[:, 0])] + [-0.1, 0] +ret_val = left_obj_pos +# the bottom side. +bottom_pos = denormalize_xy([0.5, 0]) +ret_val = bottom_pos +# the top corners. +top_left_pos = denormalize_xy([0, 1]) +top_right_pos = denormalize_xy([1, 1]) +ret_val = [top_left_pos, top_right_pos] \ No newline at end of file diff --git a/prompts/parse_question.py b/prompts/parse_question.py new file mode 100644 index 0000000000000000000000000000000000000000..221f0524563237cafc1ac225791e6dc2477d20d6 --- /dev/null +++ b/prompts/parse_question.py @@ -0,0 +1,30 @@ +from utils import get_obj_pos, get_obj_names, parse_obj_name, bbox_contains_pt, is_obj_visible + +objects = ['yellow bowl', 'blue block', 'yellow block', 'blue bowl', 'fruit', 'green block', 'black bowl'] +# is the blue block to the right of the yellow bowl? +ret_val = get_obj_pos('blue block')[0] > get_obj_pos('yellow bowl')[0] +objects = ['yellow bowl', 'blue block', 'yellow block', 'blue bowl', 'fruit', 'green block', 'black bowl'] +# how many yellow objects are there? +yellow_object_names = parse_obj_name('the yellow objects', f'objects = {get_obj_names()}') +ret_val = len(yellow_object_names) +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# is the pink block on the green bowl? +ret_val = bbox_contains_pt(container_name='green bowl', obj_name='pink block') +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# what are the blocks left of the green bowl? +block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}') +green_bowl_pos = get_obj_pos('green bowl') +left_block_names = [] +for block_name in block_names: + if get_obj_pos(block_name)[0] < green_bowl_pos[0]: + left_block_names.append(block_name) +ret_val = left_block_names +objects = ['pink block', 'yellow block', 'pink bowl', 'blue block', 'blue bowl', 'yellow bowl'] +# is the sun colored block above the blue bowl? +sun_block_name = parse_obj_name('sun colored block', f'objects = {get_obj_names()}') +sun_block_pos = get_obj_pos(sun_block_name) +blue_bowl_pos = get_obj_pos('blue bowl') +ret_val = sun_block_pos[1] > blue_bowl_pos[1] +objects = ['pink block', 'yellow block', 'pink bowl', 'blue block', 'blue bowl', 'yellow bowl'] +# is the green block below the blue bowl? +ret_val = get_obj_pos('green block')[1] < get_obj_pos('blue bowl')[1] \ No newline at end of file diff --git a/prompts/tabletop_ui.py b/prompts/tabletop_ui.py new file mode 100644 index 0000000000000000000000000000000000000000..98de642d6084a923730a2bca9fae27cc5e5d7849 --- /dev/null +++ b/prompts/tabletop_ui.py @@ -0,0 +1,198 @@ +# Python 2D robot control script +import numpy as np +from env_utils import put_first_on_second, get_obj_pos, get_obj_names, say, get_corner_name, get_side_name, is_obj_visible, stack_objects_in_order +from plan_utils import parse_obj_name, parse_position, parse_question, transform_shape_pts + +objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl'] +# the yellow block on the yellow bowl. +say('Ok - putting the yellow block on the yellow bowl') +put_first_on_second('yellow block', 'yellow bowl') +objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl'] +# which block did you move. +say('I moved the yellow block') +objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl'] +# move the green block to the top right corner. +say('Got it - putting the green block on the top right corner') +corner_pos = parse_position('top right corner') +put_first_on_second('green block', corner_pos) +objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl'] +# stack the blue bowl on the yellow bowl on the green block. +order_bottom_to_top = ['green block', 'yellow block', 'blue bowl'] +say(f'Sure - stacking from top to bottom: {", ".join(order_bottom_to_top)}') +stack_objects_in_order(object_names=order_bottom_to_top) +objects = ['cyan block', 'white block', 'cyan bowl', 'blue block', 'blue bowl', 'white bowl'] +# move the cyan block into its corresponding bowl. +matches = {'cyan block': 'cyan bowl'} +say('Got it - placing the cyan block on the cyan bowl') +for first, second in matches.items(): + put_first_on_second(first, get_obj_pos(second)) +objects = ['cyan block', 'white block', 'cyan bowl', 'blue block', 'blue bowl', 'white bowl'] +# make a line of blocks on the right side. +say('No problem! Making a line of blocks on the right side') +block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}') +line_pts = parse_position(f'a 30cm vertical line on the right with {len(block_names)} points') +for block_name, pt in zip(block_names, line_pts): + put_first_on_second(block_name, pt) +objects = ['yellow block', 'red block', 'yellow bowl', 'gray block', 'gray bowl', 'red bowl'] +# put the small banana colored thing in between the blue bowl and green block. +say('Sure thing - putting the yellow block between the blue bowl and the green block') +target_pos = parse_position('a point in the middle betweeen the blue bowl and the green block') +put_first_on_second('yellow block', target_pos) +objects = ['yellow block', 'red block', 'yellow bowl', 'gray block', 'gray bowl', 'red bowl'] +# can you cut the bowls in half. +say('no, I can only move objects around') +objects = ['yellow block', 'green block', 'yellow bowl', 'gray block', 'gray bowl', 'green bowl'] +# stack the blocks on the right side with the gray one on the bottom. +say('Ok. stacking the blocks on the right side with the gray block on the bottom') +right_side = parse_position('the right side') +put_first_on_second('gray block', right_side) +order_bottom_to_top = ['gray block', 'green block', 'yellow block'] +stack_objects_in_order(object_names=order_bottom_to_top) +objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl'] +# hide the blue bowl. +bowl_name = np.random.choice(['yellow bowl', 'green bowl']) +say(f'Sounds good! Hiding the blue bowl under the {bowl_name}') +put_first_on_second(bowl_name, 'blue bowl') +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# stack everything with the green block on top. +say('Ok! Stacking everything with the green block on the top') +order_bottom_to_top = ['blue bowl', 'pink bowl', 'green bowl', 'pink block', 'blue block', 'green block'] +stack_objects_in_order(object_names=order_bottom_to_top) +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# move the grass-colored bowl to the left. +say('Sure - moving the green bowl left by 10 centimeters') +left_pos = parse_position('a point 10cm left of the green bowl') +put_first_on_second('green bowl', left_pos) +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# why did you move the red bowl. +say(f'I did not move the red bowl') +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# undo that. +say('Sure - moving the green bowl right by 10 centimeters') +left_pos = parse_position('a point 10cm right of the green bowl') +put_first_on_second('green bowl', left_pos) +objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block'] +# place the top most block to the corner closest to the bottom most block. +top_block_name = parse_obj_name('top most block', f'objects = {get_obj_names()}') +bottom_block_name = parse_obj_name('bottom most block', f'objects = {get_obj_names()}') +closest_corner_pos = parse_position(f'the corner closest to the {bottom_block_name}', f'objects = {get_obj_names()}') +say(f'Putting the {top_block_name} on the {get_corner_name(closest_corner_pos)}') +put_first_on_second(top_block_name, closest_corner_pos) +objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block'] +# move the brown bowl to the side closest to the green block. +closest_side_position = parse_position('the side closest to the green block') +say(f'Got it - putting the brown bowl on the {get_side_name(closest_side_position)}') +put_first_on_second('brown bowl', closest_side_position) +objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block'] +# place the green block to the right of the bowl that has the blue block. +bowl_name = parse_obj_name('the bowl that has the blue block', f'objects = {get_obj_names()}') +if bowl_name: + target_pos = parse_position(f'a point 10cm to the right of the {bowl_name}') + say(f'No problem - placing the green block to the right of the {bowl_name}') + put_first_on_second('green block', target_pos) +else: + say('There are no bowls that has the blue block') +objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block'] +# place the blue block in the empty bowl. +empty_bowl_name = parse_obj_name('the empty bowl', f'objects = {get_obj_names()}') +if empty_bowl_name: + say(f'Ok! Putting the blue block on the {empty_bowl_name}') + put_first_on_second('blue block', empty_bowl_name) +else: + say('There are no empty bowls') +objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block'] +# move the other blocks to the bottom corners. +block_names = parse_obj_name('blocks other than the blue block', f'objects = {get_obj_names()}') +corners = parse_position('the bottom corners') +for block_name, pos in zip(block_names, corners): + put_first_on_second(block_name, pos) +objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block'] +# move the red bowl a lot to the left of the blocks. +say('Sure! Moving the red bowl to a point left of the blocks') +left_pos = parse_position('a point 20cm left of the blocks') +put_first_on_second('red bowl', left_pos) +objects = ['pink block', 'gray block', 'orange block'] +# move the pinkish colored block on the bottom side. +say('Ok - putting the pink block on the bottom side') +bottom_side_pos = parse_position('the bottom side') +put_first_on_second('pink block', bottom_side_pos) +objects = ['yellow bowl', 'blue block', 'yellow block', 'blue bowl'] +# is the blue block to the right of the yellow bowl? +if parse_question('is the blue block to the right of the yellow bowl?', f'objects = {get_obj_names()}'): + say('yes, there is a blue block to the right of the yellow bow') +else: + say('no, there is\'t a blue block to the right of the yellow bow') +objects = ['yellow bowl', 'blue block', 'yellow block', 'blue bowl'] +# how many yellow objects are there? +n_yellow_objs = parse_question('how many yellow objects are there', f'objects = {get_obj_names()}') +say(f'there are {n_yellow_objs} yellow object') +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# move the left most block to the green bowl. +left_block_name = parse_obj_name('left most block', f'objects = {get_obj_names()}') +say(f'Moving the {left_block_name} on the green bowl') +put_first_on_second(left_block_name, 'green bowl') +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# move the other blocks to different corners. +block_names = parse_obj_name(f'blocks other than the {left_block_name}', f'objects = {get_obj_names()}') +corners = parse_position('the corners') +say(f'Ok - moving the other {len(block_names)} blocks to different corners') +for block_name, pos in zip(block_names, corners): + put_first_on_second(block_name, pos) +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# is the pink block on the green bowl. +if parse_question('is the pink block on the green bowl', f'objects = {get_obj_names()}'): + say('Yes - the pink block is on the green bowl.') +else: + say('No - the pink block is not on the green bowl.') +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# what are the blocks left of the green bowl. +left_block_names = parse_question('what are the blocks left of the green bowl', f'objects = {get_obj_names()}') +if len(left_block_names) > 0: + say(f'These blocks are left of the green bowl: {", ".join(left_block_names)}') +else: + say('There are no blocks left of the green bowl') +objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl'] +# if you see a purple bowl put it on the blue bowl +if is_obj_visible('purple bowl'): + say('Putting the purple bowl on the pink bowl') + put_first_on_second('purple bowl', 'pink bowl') +else: + say('I don\'t see a purple bowl') +objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl'] +# imagine that the bowls are different biomes on earth and imagine that the blocks are parts of a building. +say('ok') +objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl'] +# now build a tower in the grasslands. +order_bottom_to_top = ['green bowl', 'blue block', 'green block', 'yellow block'] +say('stacking the blocks on the green bowl') +stack_objects_in_order(object_names=order_bottom_to_top) +objects = ['yellow block', 'green block', 'yellow bowl', 'gray block', 'gray bowl', 'green bowl'] +# show me what happens when the desert gets flooded by the ocean. +say('putting the yellow bowl on the blue bowl') +put_first_on_second('yellow bowl', 'blue bowl') +objects = ['pink block', 'gray block', 'orange block'] +# move all blocks 5cm toward the top. +say('Ok - moving all blocks 5cm toward the top') +block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}') +for block_name in block_names: + target_pos = parse_position(f'a point 5cm above the {block_name}') + put_first_on_second(block_name, target_pos) +objects = ['cyan block', 'white block', 'purple bowl', 'blue block', 'blue bowl', 'white bowl'] +# make a triangle of blocks in the middle. +block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}') +triangle_pts = parse_position(f'a triangle with size 10cm around the middle with {len(block_names)} points') +say('Making a triangle of blocks around the middle of the workspace') +for block_name, pt in zip(block_names, triangle_pts): + put_first_on_second(block_name, pt) +objects = ['cyan block', 'white block', 'purple bowl', 'blue block', 'blue bowl', 'white bowl'] +# make the triangle smaller. +triangle_pts = transform_shape_pts('scale it by 0.5x', shape_pts=triangle_pts) +say('Making the triangle smaller') +block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}') +for block_name, pt in zip(block_names, triangle_pts): + put_first_on_second(block_name, pt) +objects = ['brown bowl', 'red block', 'brown block', 'red bowl', 'pink bowl', 'pink block'] +# put the red block on the farthest bowl. +farthest_bowl_name = parse_obj_name('the bowl farthest from the red block', f'objects = {get_obj_names()}') +say(f'Putting the red block on the {farthest_bowl_name}') +put_first_on_second('red block', farthest_bowl_name) \ No newline at end of file diff --git a/prompts/transform_shape_pts.py b/prompts/transform_shape_pts.py new file mode 100644 index 0000000000000000000000000000000000000000..e5c74b856805818dc788de1df4b0495d9cc404ba --- /dev/null +++ b/prompts/transform_shape_pts.py @@ -0,0 +1,19 @@ +import numpy as np +from utils import get_obj_pos, get_obj_names, parse_position, parse_obj_name + +# make it bigger by 1.5. +new_shape_pts = scale_pts_around_centroid_np(shape_pts, scale_x=1.5, scale_y=1.5) +# move it to the right by 10cm. +new_shape_pts = translate_pts_np(shape_pts, delta=[0.1, 0]) +# move it to the top by 20cm. +new_shape_pts = translate_pts_np(shape_pts, delta=[0, 0.2]) +# rotate it clockwise by 40 degrees. +new_shape_pts = rotate_pts_around_centroid_np(shape_pts, angle=-np.deg2rad(40)) +# rotate by 30 degrees and make it slightly smaller +new_shape_pts = rotate_pts_around_centroid_np(shape_pts, angle=np.deg2rad(30)) +new_shape_pts = scale_pts_around_centroid_np(new_shape_pts, scale_x=0.7, scale_y=0.7) +# move it toward the blue block. +block_name = parse_obj_name('the blue block', f'objects = {get_obj_names()}') +block_pos = get_obj_pos(block_name) +mean_delta = np.mean(block_pos - shape_pts, axis=1) +new_shape_pts = translate_pts_np(shape_pts, mean_delta) \ No newline at end of file diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..737d4c35a19d07bfa07bfd24beba0da0f1b2e3b4 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,11 @@ +numpy +scipy +shapely +astunparse +pygments +openai +pybullet +imageio==2.4.1 +imageio-ffmpeg +moviepy +omegaconf \ No newline at end of file diff --git a/robotiq_2f_85/README.md b/robotiq_2f_85/README.md new file mode 100644 index 0000000000000000000000000000000000000000..82cbae156ff1b2cdf7e4d0858bb4f3e7092cf7a3 --- /dev/null +++ b/robotiq_2f_85/README.md @@ -0,0 +1,52 @@ +## Robotiq 2F 85 gripper +For this gripper, the following Github repo can be used as a reference: https://github.com/Shreeyak/robotiq.git + +### mimic tag in URDF +This gripper is developed for ROS and uses the `mimic` tag within the URDF files to make the gripper move. From our research `mimic` tag within URDF is not supported by pybullet. To overcome this, one can use the `createConstraint` function. Please refer to [this](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/mimicJointConstraint.py) example from the bullet3 repo to see how to replicate a `mimic` joint: + +```python +#a mimic joint can act as a gear between two joints +#you can control the gear ratio in magnitude and sign (>0 reverses direction) + +import pybullet as p +import time +p.connect(p.GUI) +p.loadURDF("plane.urdf",0,0,-2) +wheelA = p.loadURDF("differential/diff_ring.urdf",[0,0,0]) +for i in range(p.getNumJoints(wheelA)): + print(p.getJointInfo(wheelA,i)) + p.setJointMotorControl2(wheelA,i,p.VELOCITY_CONTROL,targetVelocity=0,force=0) + + +c = p.createConstraint(wheelA,1,wheelA,3,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0]) +p.changeConstraint(c,gearRatio=1, maxForce=10000) + +c = p.createConstraint(wheelA,2,wheelA,4,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0]) +p.changeConstraint(c,gearRatio=-1, maxForce=10000) + +c = p.createConstraint(wheelA,1,wheelA,4,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0]) +p.changeConstraint(c,gearRatio=-1, maxForce=10000) + + +p.setRealTimeSimulation(1) +while(1): + p.setGravity(0,0,-10) + time.sleep(0.01) +#p.removeConstraint(c) + +``` + + +Details on `createConstraint` can be found in the pybullet [getting started](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.fq749wu22x4c) guide. + +### Files in folder +Since parameters like gear ratio and direction are required, one can find the `robotiq_2f_85_mimic_joints.urdf` which contains the mimic tags as in original URDF, which can be used as a reference. It was generated from `robotiq/robotiq_2f_robot/robot/simple_rq2f85_pybullet.urdf.xacro` as so: +``` +rosrun xacro xacro --inorder simple_rq2f85_pybullet.urdf.xacro +adaptive_transmission:="true" > robotiq_2f_85_mimic_joints.urdf +``` + +The URDF meant for use in pybullet is `robotiq_2f_85.urdf` and it is generated in a similar manner as above by running: +``` +rosrun xacro xacro --inorder simple_rq2f85_pybullet.urdf.xacro > robotiq_2f_85.urdf +``` \ No newline at end of file diff --git a/robotiq_2f_85/robotiq-2f-base.mtl b/robotiq_2f_85/robotiq-2f-base.mtl new file mode 100644 index 0000000000000000000000000000000000000000..35d36cfef2bea7c53cb427fdfdc6a639abfa9110 --- /dev/null +++ b/robotiq_2f_85/robotiq-2f-base.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'gripper-2f.blend' +# Material Count: 1 + +newmtl Default +Ns 96.078431 +Ka 1.000000 1.000000 1.000000 +Kd 0.640000 0.640000 0.640000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 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0000000000000000000000000000000000000000..84439d4d6772b11202907033b3d39799fd91224b Binary files /dev/null and b/robotiq_2f_85/textures/gripper-2f_Roughness.jpg differ diff --git a/sim.py b/sim.py new file mode 100644 index 0000000000000000000000000000000000000000..8f5df1d96742852611db4f54358b014a3b6250ca --- /dev/null +++ b/sim.py @@ -0,0 +1,655 @@ +import pybullet +import pybullet_data +import threading +from time import sleep +import numpy as np +import os +from consts import BOUNDS, COLORS, PIXEL_SIZE, CORNER_POS +from shapely.geometry import box + +# Gripper (Robotiq 2F85) code +class Robotiq2F85: + """Gripper handling for Robotiq 2F85.""" + + def __init__(self, robot, tool): + self.robot = robot + self.tool = tool + pos = [0.1339999999999999, -0.49199999999872496, 0.5] + rot = pybullet.getQuaternionFromEuler([np.pi, 0, np.pi]) + urdf = 'robotiq_2f_85/robotiq_2f_85.urdf' + self.body = pybullet.loadURDF(urdf, pos, rot) + self.n_joints = pybullet.getNumJoints(self.body) + self.activated = False + + # Connect gripper base to robot tool. + pybullet.createConstraint(self.robot, tool, self.body, 0, jointType=pybullet.JOINT_FIXED, jointAxis=[0, 0, 0], parentFramePosition=[0, 0, 0], childFramePosition=[0, 0, -0.07], childFrameOrientation=pybullet.getQuaternionFromEuler([0, 0, np.pi / 2])) + + # Set friction coefficients for gripper fingers. + for i in range(pybullet.getNumJoints(self.body)): + pybullet.changeDynamics(self.body, i, lateralFriction=10.0, spinningFriction=1.0, rollingFriction=1.0, frictionAnchor=True) + + # Start thread to handle additional gripper constraints. + self.motor_joint = 1 + self.constraints_thread = threading.Thread(target=self.step) + self.constraints_thread.daemon = True + self.constraints_thread.start() + + # Control joint positions by enforcing hard contraints on gripper behavior. + # Set one joint as the open/close motor joint (other joints should mimic). + def step(self): + while True: + try: + currj = [pybullet.getJointState(self.body, i)[0] for i in range(self.n_joints)] + indj = [6, 3, 8, 5, 10] + targj = [currj[1], -currj[1], -currj[1], currj[1], currj[1]] + pybullet.setJointMotorControlArray(self.body, indj, pybullet.POSITION_CONTROL, targj, positionGains=np.ones(5)) + except: + return + sleep(0.001) + + # Close gripper fingers. + def activate(self): + pybullet.setJointMotorControl2(self.body, self.motor_joint, pybullet.VELOCITY_CONTROL, targetVelocity=1, force=10) + self.activated = True + + # Open gripper fingers. + def release(self): + pybullet.setJointMotorControl2(self.body, self.motor_joint, pybullet.VELOCITY_CONTROL, targetVelocity=-1, force=10) + self.activated = False + + # If activated and object in gripper: check object contact. + # If activated and nothing in gripper: check gripper contact. + # If released: check proximity to surface (disabled). + def detect_contact(self): + obj, _, ray_frac = self.check_proximity() + if self.activated: + empty = self.grasp_width() < 0.01 + cbody = self.body if empty else obj + if obj == self.body or obj == 0: + return False + return self.external_contact(cbody) + # else: + # return ray_frac < 0.14 or self.external_contact() + + # Return if body is in contact with something other than gripper + def external_contact(self, body=None): + if body is None: + body = self.body + pts = pybullet.getContactPoints(bodyA=body) + pts = [pt for pt in pts if pt[2] != self.body] + return len(pts) > 0 # pylint: disable=g-explicit-length-test + + def check_grasp(self): + while self.moving(): + sleep(0.001) + success = self.grasp_width() > 0.01 + return success + + def grasp_width(self): + lpad = np.array(pybullet.getLinkState(self.body, 4)[0]) + rpad = np.array(pybullet.getLinkState(self.body, 9)[0]) + dist = np.linalg.norm(lpad - rpad) - 0.047813 + return dist + + def check_proximity(self): + ee_pos = np.array(pybullet.getLinkState(self.robot, self.tool)[0]) + tool_pos = np.array(pybullet.getLinkState(self.body, 0)[0]) + vec = (tool_pos - ee_pos) / np.linalg.norm((tool_pos - ee_pos)) + ee_targ = ee_pos + vec + ray_data = pybullet.rayTest(ee_pos, ee_targ)[0] + obj, link, ray_frac = ray_data[0], ray_data[1], ray_data[2] + return obj, link, ray_frac + + +# Gym-style environment code +class PickPlaceEnv(): + + def __init__(self, render=False, high_res=False, high_frame_rate=False): + self.dt = 1/480 + self.sim_step = 0 + + # Configure and start PyBullet. + # python3 -m pybullet_utils.runServer + # pybullet.connect(pybullet.SHARED_MEMORY) # pybullet.GUI for local GUI. + pybullet.connect(pybullet.DIRECT) # pybullet.GUI for local GUI. + pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0) + pybullet.setPhysicsEngineParameter(enableFileCaching=0) + assets_path = os.path.dirname(os.path.abspath("")) + pybullet.setAdditionalSearchPath(assets_path) + pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()) + pybullet.setTimeStep(self.dt) + + self.home_joints = (np.pi / 2, -np.pi / 2, np.pi / 2, -np.pi / 2, 3 * np.pi / 2, 0) # Joint angles: (J0, J1, J2, J3, J4, J5). + self.home_ee_euler = (np.pi, 0, np.pi) # (RX, RY, RZ) rotation in Euler angles. + self.ee_link_id = 9 # Link ID of UR5 end effector. + self.tip_link_id = 10 # Link ID of gripper finger tips. + self.gripper = None + + self.render = render + self.high_res = high_res + self.high_frame_rate = high_frame_rate + + def reset(self, object_list): + pybullet.resetSimulation(pybullet.RESET_USE_DEFORMABLE_WORLD) + pybullet.setGravity(0, 0, -9.8) + self.cache_video = [] + + # Temporarily disable rendering to load URDFs faster. + pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0) + + # Add robot. + pybullet.loadURDF("plane.urdf", [0, 0, -0.001]) + self.robot_id = pybullet.loadURDF("ur5e/ur5e.urdf", [0, 0, 0], flags=pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL) + self.ghost_id = pybullet.loadURDF("ur5e/ur5e.urdf", [0, 0, -10]) # For forward kinematics. + self.joint_ids = [pybullet.getJointInfo(self.robot_id, i) for i in range(pybullet.getNumJoints(self.robot_id))] + self.joint_ids = [j[0] for j in self.joint_ids if j[2] == pybullet.JOINT_REVOLUTE] + + # Move robot to home configuration. + for i in range(len(self.joint_ids)): + pybullet.resetJointState(self.robot_id, self.joint_ids[i], self.home_joints[i]) + + # Add gripper. + if self.gripper is not None: + while self.gripper.constraints_thread.is_alive(): + self.constraints_thread_active = False + self.gripper = Robotiq2F85(self.robot_id, self.ee_link_id) + self.gripper.release() + + # Add workspace. + plane_shape = pybullet.createCollisionShape(pybullet.GEOM_BOX, halfExtents=[0.3, 0.3, 0.001]) + plane_visual = pybullet.createVisualShape(pybullet.GEOM_BOX, halfExtents=[0.3, 0.3, 0.001]) + plane_id = pybullet.createMultiBody(0, plane_shape, plane_visual, basePosition=[0, -0.5, 0]) + pybullet.changeVisualShape(plane_id, -1, rgbaColor=[0.2, 0.2, 0.2, 1.0]) + + # Load objects according to config. + self.object_list = object_list + self.obj_name_to_id = {} + obj_xyz = np.zeros((0, 3)) + for obj_name in object_list: + if ('block' in obj_name) or ('bowl' in obj_name): + + # Get random position 15cm+ from other objects. + while True: + rand_x = np.random.uniform(BOUNDS[0, 0] + 0.1, BOUNDS[0, 1] - 0.1) + rand_y = np.random.uniform(BOUNDS[1, 0] + 0.1, BOUNDS[1, 1] - 0.1) + rand_xyz = np.float32([rand_x, rand_y, 0.03]).reshape(1, 3) + if len(obj_xyz) == 0: + obj_xyz = np.concatenate((obj_xyz, rand_xyz), axis=0) + break + else: + nn_dist = np.min(np.linalg.norm(obj_xyz - rand_xyz, axis=1)).squeeze() + if nn_dist > 0.15: + obj_xyz = np.concatenate((obj_xyz, rand_xyz), axis=0) + break + + object_color = COLORS[obj_name.split(' ')[0]] + object_type = obj_name.split(' ')[1] + object_position = rand_xyz.squeeze() + if object_type == 'block': + object_shape = pybullet.createCollisionShape(pybullet.GEOM_BOX, halfExtents=[0.02, 0.02, 0.02]) + object_visual = pybullet.createVisualShape(pybullet.GEOM_BOX, halfExtents=[0.02, 0.02, 0.02]) + object_id = pybullet.createMultiBody(0.01, object_shape, object_visual, basePosition=object_position) + elif object_type == 'bowl': + object_position[2] = 0 + object_id = pybullet.loadURDF("bowl/bowl.urdf", object_position, useFixedBase=1) + pybullet.changeVisualShape(object_id, -1, rgbaColor=object_color) + self.obj_name_to_id[obj_name] = object_id + + + # Re-enable rendering. + pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1) + + for _ in range(200): + pybullet.stepSimulation() + + # record object positions at reset + self.init_pos = {name: self.get_obj_pos(name) for name in object_list} + + return self.get_observation() + + def servoj(self, joints): + """Move to target joint positions with position control.""" + pybullet.setJointMotorControlArray( + bodyIndex=self.robot_id, + jointIndices=self.joint_ids, + controlMode=pybullet.POSITION_CONTROL, + targetPositions=joints, + positionGains=[0.01]*6) + + def movep(self, position): + """Move to target end effector position.""" + joints = pybullet.calculateInverseKinematics( + bodyUniqueId=self.robot_id, + endEffectorLinkIndex=self.tip_link_id, + targetPosition=position, + targetOrientation=pybullet.getQuaternionFromEuler(self.home_ee_euler), + maxNumIterations=100) + self.servoj(joints) + + def get_ee_pos(self): + ee_xyz = np.float32(pybullet.getLinkState(self.robot_id, self.tip_link_id)[0]) + return ee_xyz + + def step(self, action=None): + """Do pick and place motion primitive.""" + pick_pos, place_pos = action['pick'].copy(), action['place'].copy() + + # Set fixed primitive z-heights. + hover_xyz = np.float32([pick_pos[0], pick_pos[1], 0.2]) + if pick_pos.shape[-1] == 2: + pick_xyz = np.append(pick_pos, 0.025) + else: + pick_xyz = pick_pos + pick_xyz[2] = 0.025 + if place_pos.shape[-1] == 2: + place_xyz = np.append(place_pos, 0.15) + else: + place_xyz = place_pos + place_xyz[2] = 0.15 + + # Move to object. + ee_xyz = self.get_ee_pos() + while np.linalg.norm(hover_xyz - ee_xyz) > 0.01: + self.movep(hover_xyz) + self.step_sim_and_render() + ee_xyz = self.get_ee_pos() + + while np.linalg.norm(pick_xyz - ee_xyz) > 0.01: + self.movep(pick_xyz) + self.step_sim_and_render() + ee_xyz = self.get_ee_pos() + + # Pick up object. + self.gripper.activate() + for _ in range(240): + self.step_sim_and_render() + while np.linalg.norm(hover_xyz - ee_xyz) > 0.01: + self.movep(hover_xyz) + self.step_sim_and_render() + ee_xyz = self.get_ee_pos() + + for _ in range(50): + self.step_sim_and_render() + + # Move to place location. + while np.linalg.norm(place_xyz - ee_xyz) > 0.01: + self.movep(place_xyz) + self.step_sim_and_render() + ee_xyz = self.get_ee_pos() + + # Place down object. + while (not self.gripper.detect_contact()) and (place_xyz[2] > 0.03): + place_xyz[2] -= 0.001 + self.movep(place_xyz) + for _ in range(3): + self.step_sim_and_render() + self.gripper.release() + for _ in range(240): + self.step_sim_and_render() + place_xyz[2] = 0.2 + ee_xyz = self.get_ee_pos() + while np.linalg.norm(place_xyz - ee_xyz) > 0.01: + self.movep(place_xyz) + self.step_sim_and_render() + ee_xyz = self.get_ee_pos() + place_xyz = np.float32([0, -0.5, 0.2]) + while np.linalg.norm(place_xyz - ee_xyz) > 0.01: + self.movep(place_xyz) + self.step_sim_and_render() + ee_xyz = self.get_ee_pos() + + observation = self.get_observation() + reward = self.get_reward() + done = False + info = {} + return observation, reward, done, info + + def set_alpha_transparency(self, alpha: float) -> None: + for id in range(20): + visual_shape_data = pybullet.getVisualShapeData(id) + for i in range(len(visual_shape_data)): + object_id, link_index, _, _, _, _, _, rgba_color = visual_shape_data[i] + rgba_color = list(rgba_color[0:3]) + [alpha] + pybullet.changeVisualShape( + self.robot_id, linkIndex=i, rgbaColor=rgba_color) + pybullet.changeVisualShape( + self.gripper.body, linkIndex=i, rgbaColor=rgba_color) + + def step_sim_and_render(self): + pybullet.stepSimulation() + self.sim_step += 1 + + interval = 40 if self.high_frame_rate else 60 + # Render current image at 8 FPS. + if self.sim_step % interval == 0 and self.render: + self.cache_video.append(self.get_camera_image()) + + def get_camera_image(self): + if not self.high_res: + image_size = (240, 240) + intrinsics = (120., 0, 120., 0, 120., 120., 0, 0, 1) + else: + image_size=(360, 360) + intrinsics=(180., 0, 180., 0, 180., 180., 0, 0, 1) + color, _, _, _, _ = self.render_image(image_size, intrinsics) + return color + + def get_reward(self): + return None + + def get_observation(self): + observation = {} + + # Render current image. + color, depth, position, orientation, intrinsics = self.render_image() + + # Get heightmaps and colormaps. + points = self.get_pointcloud(depth, intrinsics) + position = np.float32(position).reshape(3, 1) + rotation = pybullet.getMatrixFromQuaternion(orientation) + rotation = np.float32(rotation).reshape(3, 3) + transform = np.eye(4) + transform[:3, :] = np.hstack((rotation, position)) + points = self.transform_pointcloud(points, transform) + heightmap, colormap, xyzmap = self.get_heightmap(points, color, BOUNDS, PIXEL_SIZE) + + observation["image"] = colormap + observation["xyzmap"] = xyzmap + + return observation + + def render_image(self, image_size=(720, 720), intrinsics=(360., 0, 360., 0, 360., 360., 0, 0, 1)): + + # Camera parameters. + position = (0, -0.85, 0.4) + orientation = (np.pi / 4 + np.pi / 48, np.pi, np.pi) + orientation = pybullet.getQuaternionFromEuler(orientation) + zrange = (0.01, 10.) + noise=True + + # OpenGL camera settings. + lookdir = np.float32([0, 0, 1]).reshape(3, 1) + updir = np.float32([0, -1, 0]).reshape(3, 1) + rotation = pybullet.getMatrixFromQuaternion(orientation) + rotm = np.float32(rotation).reshape(3, 3) + lookdir = (rotm @ lookdir).reshape(-1) + updir = (rotm @ updir).reshape(-1) + lookat = position + lookdir + focal_len = intrinsics[0] + znear, zfar = (0.01, 10.) + viewm = pybullet.computeViewMatrix(position, lookat, updir) + fovh = (image_size[0] / 2) / focal_len + fovh = 180 * np.arctan(fovh) * 2 / np.pi + + # Notes: 1) FOV is vertical FOV 2) aspect must be float + aspect_ratio = image_size[1] / image_size[0] + projm = pybullet.computeProjectionMatrixFOV(fovh, aspect_ratio, znear, zfar) + + # Render with OpenGL camera settings. + _, _, color, depth, segm = pybullet.getCameraImage( + width=image_size[1], + height=image_size[0], + viewMatrix=viewm, + projectionMatrix=projm, + shadow=1, + flags=pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX, + renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) + + # Get color image. + color_image_size = (image_size[0], image_size[1], 4) + color = np.array(color, dtype=np.uint8).reshape(color_image_size) + color = color[:, :, :3] # remove alpha channel + if noise: + color = np.int32(color) + color += np.int32(np.random.normal(0, 3, color.shape)) + color = np.uint8(np.clip(color, 0, 255)) + + # Get depth image. + depth_image_size = (image_size[0], image_size[1]) + zbuffer = np.float32(depth).reshape(depth_image_size) + depth = (zfar + znear - (2 * zbuffer - 1) * (zfar - znear)) + depth = (2 * znear * zfar) / depth + if noise: + depth += np.random.normal(0, 0.003, depth.shape) + + intrinsics = np.float32(intrinsics).reshape(3, 3) + return color, depth, position, orientation, intrinsics + + def get_pointcloud(self, depth, intrinsics): + """Get 3D pointcloud from perspective depth image. + Args: + depth: HxW float array of perspective depth in meters. + intrinsics: 3x3 float array of camera intrinsics matrix. + Returns: + points: HxWx3 float array of 3D points in camera coordinates. + """ + height, width = depth.shape + xlin = np.linspace(0, width - 1, width) + ylin = np.linspace(0, height - 1, height) + px, py = np.meshgrid(xlin, ylin) + px = (px - intrinsics[0, 2]) * (depth / intrinsics[0, 0]) + py = (py - intrinsics[1, 2]) * (depth / intrinsics[1, 1]) + points = np.float32([px, py, depth]).transpose(1, 2, 0) + return points + + def transform_pointcloud(self, points, transform): + """Apply rigid transformation to 3D pointcloud. + Args: + points: HxWx3 float array of 3D points in camera coordinates. + transform: 4x4 float array representing a rigid transformation matrix. + Returns: + points: HxWx3 float array of transformed 3D points. + """ + padding = ((0, 0), (0, 0), (0, 1)) + homogen_points = np.pad(points.copy(), padding, + 'constant', constant_values=1) + for i in range(3): + points[Ellipsis, i] = np.sum(transform[i, :] * homogen_points, axis=-1) + return points + + def get_heightmap(self, points, colors, bounds, pixel_size): + """Get top-down (z-axis) orthographic heightmap image from 3D pointcloud. + Args: + points: HxWx3 float array of 3D points in world coordinates. + colors: HxWx3 uint8 array of values in range 0-255 aligned with points. + bounds: 3x2 float array of values (rows: X,Y,Z; columns: min,max) defining + region in 3D space to generate heightmap in world coordinates. + pixel_size: float defining size of each pixel in meters. + Returns: + heightmap: HxW float array of height (from lower z-bound) in meters. + colormap: HxWx3 uint8 array of backprojected color aligned with heightmap. + xyzmap: HxWx3 float array of XYZ points in world coordinates. + """ + width = int(np.round((bounds[0, 1] - bounds[0, 0]) / pixel_size)) + height = int(np.round((bounds[1, 1] - bounds[1, 0]) / pixel_size)) + heightmap = np.zeros((height, width), dtype=np.float32) + colormap = np.zeros((height, width, colors.shape[-1]), dtype=np.uint8) + xyzmap = np.zeros((height, width, 3), dtype=np.float32) + + # Filter out 3D points that are outside of the predefined bounds. + ix = (points[Ellipsis, 0] >= bounds[0, 0]) & (points[Ellipsis, 0] < bounds[0, 1]) + iy = (points[Ellipsis, 1] >= bounds[1, 0]) & (points[Ellipsis, 1] < bounds[1, 1]) + iz = (points[Ellipsis, 2] >= bounds[2, 0]) & (points[Ellipsis, 2] < bounds[2, 1]) + valid = ix & iy & iz + points = points[valid] + colors = colors[valid] + + # Sort 3D points by z-value, which works with array assignment to simulate + # z-buffering for rendering the heightmap image. + iz = np.argsort(points[:, -1]) + points, colors = points[iz], colors[iz] + px = np.int32(np.floor((points[:, 0] - bounds[0, 0]) / pixel_size)) + py = np.int32(np.floor((points[:, 1] - bounds[1, 0]) / pixel_size)) + px = np.clip(px, 0, width - 1) + py = np.clip(py, 0, height - 1) + heightmap[py, px] = points[:, 2] - bounds[2, 0] + for c in range(colors.shape[-1]): + colormap[py, px, c] = colors[:, c] + xyzmap[py, px, c] = points[:, c] + colormap = colormap[::-1, :, :] # Flip up-down. + xv, yv = np.meshgrid(np.linspace(BOUNDS[0, 0], BOUNDS[0, 1], height), + np.linspace(BOUNDS[1, 0], BOUNDS[1, 1], width)) + xyzmap[:, :, 0] = xv + xyzmap[:, :, 1] = yv + xyzmap = xyzmap[::-1, :, :] # Flip up-down. + heightmap = heightmap[::-1, :] # Flip up-down. + return heightmap, colormap, xyzmap + + def on_top_of(self, obj_a, obj_b): + """ + check if obj_a is on top of obj_b + condition 1: l2 distance on xy plane is less than a threshold + condition 2: obj_a is higher than obj_b + """ + obj_a_pos = self.get_obj_pos(obj_a) + obj_b_pos = self.get_obj_pos(obj_b) + xy_dist = np.linalg.norm(obj_a_pos[:2] - obj_b_pos[:2]) + if obj_b in CORNER_POS: + is_near = xy_dist < 0.06 + return is_near + elif 'bowl' in obj_b: + is_near = xy_dist < 0.06 + is_higher = obj_a_pos[2] > obj_b_pos[2] + return is_near and is_higher + else: + is_near = xy_dist < 0.04 + is_higher = obj_a_pos[2] > obj_b_pos[2] + return is_near and is_higher + + def get_obj_id(self, obj_name): + try: + if obj_name in self.obj_name_to_id: + obj_id = self.obj_name_to_id[obj_name] + else: + obj_name = obj_name.replace('circle', 'bowl').replace('square', 'block').replace('small', '').strip() + obj_id = self.obj_name_to_id[obj_name] + except: + print(f'requested_name="{obj_name}"') + print(f'available_objects_and_id="{self.obj_name_to_id}') + return obj_id + + def get_obj_pos(self, obj_name): + obj_name = obj_name.replace('the', '').replace('_', ' ').strip() + if obj_name in CORNER_POS: + position = np.float32(np.array(CORNER_POS[obj_name])) + else: + pick_id = self.get_obj_id(obj_name) + pose = pybullet.getBasePositionAndOrientation(pick_id) + position = np.float32(pose[0]) + return position + + def get_bounding_box(self, obj_name): + obj_id = self.get_obj_id(obj_name) + return pybullet.getAABB(obj_id) + + +class LMP_wrapper(): + + def __init__(self, env, cfg, render=False): + self.env = env + self._cfg = cfg + self.object_names = list(self._cfg['env']['init_objs']) + + self._min_xy = np.array(self._cfg['env']['coords']['bottom_left']) + self._max_xy = np.array(self._cfg['env']['coords']['top_right']) + self._range_xy = self._max_xy - self._min_xy + + self._table_z = self._cfg['env']['coords']['table_z'] + self.render = render + + def is_obj_visible(self, obj_name): + return obj_name in self.object_names + + def get_obj_names(self): + return self.object_names[::] + + def denormalize_xy(self, pos_normalized): + return pos_normalized * self._range_xy + self._min_xy + + def get_corner_positions(self): + unit_square = box(0, 0, 1, 1) + normalized_corners = np.array(list(unit_square.exterior.coords))[:4] + corners = np.array(([self.denormalize_xy(corner) for corner in normalized_corners])) + return corners + + def get_side_positions(self): + side_xs = np.array([0, 0.5, 0.5, 1]) + side_ys = np.array([0.5, 0, 1, 0.5]) + normalized_side_positions = np.c_[side_xs, side_ys] + side_positions = np.array(([self.denormalize_xy(corner) for corner in normalized_side_positions])) + return side_positions + + def get_obj_pos(self, obj_name): + # return the xy position of the object in robot base frame + return self.env.get_obj_pos(obj_name)[:2] + + def get_obj_position_np(self, obj_name): + return self.get_pos(obj_name) + + def get_bbox(self, obj_name): + # return the axis-aligned object bounding box in robot base frame (not in pixels) + # the format is (min_x, min_y, max_x, max_y) + bbox = self.env.get_bounding_box(obj_name) + return bbox + + def get_color(self, obj_name): + for color, rgb in COLORS.items(): + if color in obj_name: + return rgb + + def pick_place(self, pick_pos, place_pos): + pick_pos_xyz = np.r_[pick_pos, [self._table_z]] + place_pos_xyz = np.r_[place_pos, [self._table_z]] + pass + + def put_first_on_second(self, arg1, arg2): + # put the object with obj_name on top of target + # target can either be another object name, or it can be an x-y position in robot base frame + pick_pos = self.get_obj_pos(arg1) if isinstance(arg1, str) else arg1 + place_pos = self.get_obj_pos(arg2) if isinstance(arg2, str) else arg2 + self.env.step(action={'pick': pick_pos, 'place': place_pos}) + + def get_robot_pos(self): + # return robot end-effector xy position in robot base frame + return self.env.get_ee_pos() + + def goto_pos(self, position_xy): + # move the robot end-effector to the desired xy position while maintaining same z + ee_xyz = self.env.get_ee_pos() + position_xyz = np.concatenate([position_xy, ee_xyz[-1]]) + while np.linalg.norm(position_xyz - ee_xyz) > 0.01: + self.env.movep(position_xyz) + self.env.step_sim_and_render() + ee_xyz = self.env.get_ee_pos() + + def follow_traj(self, traj): + for pos in traj: + self.goto_pos(pos) + + def get_corner_positions(self): + normalized_corners = np.array([ + [0, 1], + [1, 1], + [0, 0], + [1, 0] + ]) + return np.array(([self.denormalize_xy(corner) for corner in normalized_corners])) + + def get_side_positions(self): + normalized_sides = np.array([ + [0.5, 1], + [1, 0.5], + [0.5, 0], + [0, 0.5] + ]) + return np.array(([self.denormalize_xy(side) for side in normalized_sides])) + + def get_corner_name(self, pos): + corner_positions = self.get_corner_positions() + corner_idx = np.argmin(np.linalg.norm(corner_positions - pos, axis=1)) + return ['top left corner', 'top right corner', 'bottom left corner', 'botom right corner'][corner_idx] + + def get_side_name(self, pos): + side_positions = self.get_side_positions() + side_idx = np.argmin(np.linalg.norm(side_positions - pos, axis=1)) + return ['top side', 'right side', 'bottom side', 'left side'][side_idx] \ No newline at end of file diff --git a/ur5e/collision/base.stl b/ur5e/collision/base.stl new file mode 100644 index 0000000000000000000000000000000000000000..17532f8b2337d284b57814b0b04df1cad492e7f1 --- /dev/null +++ b/ur5e/collision/base.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a145e0d46f2130afdf2a2e8825a00a929870c4c3d6d8e4d1adc5f04db3aac1b +size 21084 diff --git a/ur5e/collision/forearm.stl b/ur5e/collision/forearm.stl new file mode 100644 index 0000000000000000000000000000000000000000..f45e03826c43012b7d691055029ff858dd11173d --- /dev/null +++ b/ur5e/collision/forearm.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e7423cab807c34160ec4f770daee5e747d70e777eb01b7beeace2b8c5751816 +size 53284 diff --git a/ur5e/collision/shoulder.stl 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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