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Erwin Coumans
2020-01-12 07:03:38 -08:00
parent 2f08938110
commit 3ca233193f
8 changed files with 653 additions and 0 deletions
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examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py Normal file
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import time
import numpy as np
import math
useNullSpace = 1
ikSolver = 0
pandaEndEffectorIndex = 11 #8
pandaNumDofs = 7
ll = [-7]*pandaNumDofs
#upper limits for null space (todo: set them to proper range)
ul = [7]*pandaNumDofs
#joint ranges for null space (todo: set them to proper range)
jr = [7]*pandaNumDofs
#restposes for null space
jointPositions=[0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02]
rp = jointPositions
class PandaSim(object):
def __init__(self, bullet_client, offset):
self.bullet_client = bullet_client
self.bullet_client.setPhysicsEngineParameter(solverResidualThreshold=0)
self.offset = np.array(offset)
#print("offset=",offset)
flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES
self.legos=[]
self.bullet_client.loadURDF("tray/traybox.urdf", [0+offset[0], 0+offset[1], -0.6+offset[2]], [-0.5, -0.5, -0.5, 0.5], flags=flags)
self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.5])+self.offset, flags=flags))
self.bullet_client.changeVisualShape(self.legos[0],-1,rgbaColor=[1,0,0,1])
self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([-0.1, 0.3, -0.5])+self.offset, flags=flags))
self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.7])+self.offset, flags=flags))
self.sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.6])+self.offset, flags=flags)
self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.5])+self.offset, flags=flags)
self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.7])+self.offset, flags=flags)
orn=[-0.707107, 0.0, 0.0, 0.707107]#p.getQuaternionFromEuler([-math.pi/2,math.pi/2,0])
eul = self.bullet_client.getEulerFromQuaternion([-0.5, -0.5, -0.5, 0.5])
self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags)
index = 0
self.state = 0
self.control_dt = 1./120.
self.finger_target = 0
self.gripper_height = 0.2
#create a constraint to keep the fingers centered
c = self.bullet_client.createConstraint(self.panda,
9,
self.panda,
10,
jointType=self.bullet_client.JOINT_GEAR,
jointAxis=[1, 0, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self.bullet_client.changeConstraint(c, gearRatio=-1, erp=0.1, maxForce=50)
for j in range(self.bullet_client.getNumJoints(self.panda)):
self.bullet_client.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0)
info = self.bullet_client.getJointInfo(self.panda, j)
#print("info=",info)
jointName = info[1]
jointType = info[2]
if (jointType == self.bullet_client.JOINT_PRISMATIC):
self.bullet_client.resetJointState(self.panda, j, jointPositions[index])
index=index+1
if (jointType == self.bullet_client.JOINT_REVOLUTE):
self.bullet_client.resetJointState(self.panda, j, jointPositions[index])
index=index+1
self.t = 0.
def reset(self):
pass
def update_state(self):
keys = self.bullet_client.getKeyboardEvents()
if len(keys)>0:
for k,v in keys.items():
if v&self.bullet_client.KEY_WAS_TRIGGERED:
if (k==ord('1')):
self.state = 1
if (k==ord('2')):
self.state = 2
if (k==ord('3')):
self.state = 3
if (k==ord('4')):
self.state = 4
if (k==ord('5')):
self.state = 5
if (k==ord('6')):
self.state = 6
if v&self.bullet_client.KEY_WAS_RELEASED:
self.state = 0
def step(self):
if self.state==6:
self.finger_target = 0.01
if self.state==5:
self.finger_target = 0.04
self.bullet_client.submitProfileTiming("step")
self.update_state()
#print("self.state=",self.state)
#print("self.finger_target=",self.finger_target)
alpha = 0.9 #0.99
if self.state==1 or self.state==2 or self.state==3 or self.state==4 or self.state==7:
#gripper_height = 0.034
self.gripper_height = alpha * self.gripper_height + (1.-alpha)*0.03
if self.state == 2 or self.state == 3 or self.state == 7:
self.gripper_height = alpha * self.gripper_height + (1.-alpha)*0.2
t = self.t
self.t += self.control_dt
pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+self.gripper_height, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)]
if self.state == 3 or self.state== 4:
pos, o = self.bullet_client.getBasePositionAndOrientation(self.legos[0])
pos = [pos[0], self.gripper_height, pos[2]]
self.prev_pos = pos
if self.state == 7:
pos = self.prev_pos
diffX = pos[0] - self.offset[0]
diffZ = pos[2] - (self.offset[2]-0.6)
self.prev_pos = [self.prev_pos[0] - diffX*0.1, self.prev_pos[1], self.prev_pos[2]-diffZ*0.1]
orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.])
self.bullet_client.submitProfileTiming("IK")
jointPoses = self.bullet_client.calculateInverseKinematics(self.panda,pandaEndEffectorIndex, pos, orn, ll, ul,
jr, rp, maxNumIterations=20)
self.bullet_client.submitProfileTiming()
for i in range(pandaNumDofs):
self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.)
#target for fingers
for i in [9,10]:
self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL,self.finger_target ,force= 10)
self.bullet_client.submitProfileTiming()
class PandaSimAuto(PandaSim):
def __init__(self, bullet_client, offset):
PandaSim.__init__(self, bullet_client, offset)
self.state_t = 0
self.cur_state = 0
self.states=[0,3,5,4,6,3,7]
self.state_durations=[1,1,1,2,1,1, 10]
def update_state(self):
self.state_t += self.control_dt
if self.state_t > self.state_durations[self.cur_state]:
self.cur_state += 1
if self.cur_state>=len(self.states):
self.cur_state = 0
self.state_t = 0
self.state=self.states[self.cur_state]
#print("self.state=",self.state)