mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
408 lines
14 KiB
Python
408 lines
14 KiB
Python
import pybullet
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import gym, gym.spaces, gym.utils
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import numpy as np
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(currentdir)
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os.sys.path.insert(0, parentdir)
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import pybullet_data
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class XmlBasedRobot:
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"""
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Base class for mujoco .xml based agents.
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"""
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self_collision = True
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def __init__(self, robot_name, action_dim, obs_dim, self_collision):
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self.parts = None
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self.objects = []
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self.jdict = None
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self.ordered_joints = None
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self.robot_body = None
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high = np.ones([action_dim])
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self.action_space = gym.spaces.Box(-high, high)
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high = np.inf * np.ones([obs_dim])
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self.observation_space = gym.spaces.Box(-high, high)
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#self.model_xml = model_xml
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self.robot_name = robot_name
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self.self_collision = self_collision
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def addToScene(self, bullet_client, bodies):
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self._p = bullet_client
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if self.parts is not None:
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parts = self.parts
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else:
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parts = {}
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if self.jdict is not None:
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joints = self.jdict
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else:
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joints = {}
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if self.ordered_joints is not None:
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ordered_joints = self.ordered_joints
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else:
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ordered_joints = []
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if np.isscalar(bodies): # streamline the case where bodies is actually just one body
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bodies = [bodies]
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dump = 0
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for i in range(len(bodies)):
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if self._p.getNumJoints(bodies[i]) == 0:
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part_name, robot_name = self._p.getBodyInfo(bodies[i])
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self.robot_name = robot_name.decode("utf8")
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part_name = part_name.decode("utf8")
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parts[part_name] = BodyPart(self._p, part_name, bodies, i, -1)
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for j in range(self._p.getNumJoints(bodies[i])):
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self._p.setJointMotorControl2(bodies[i],
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j,
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pybullet.POSITION_CONTROL,
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positionGain=0.1,
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velocityGain=0.1,
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force=0)
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jointInfo = self._p.getJointInfo(bodies[i], j)
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joint_name = jointInfo[1]
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part_name = jointInfo[12]
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joint_name = joint_name.decode("utf8")
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part_name = part_name.decode("utf8")
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if dump: print("ROBOT PART '%s'" % part_name)
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if dump:
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print(
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"ROBOT JOINT '%s'" % joint_name
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) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
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parts[part_name] = BodyPart(self._p, part_name, bodies, i, j)
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if part_name == self.robot_name:
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self.robot_body = parts[part_name]
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if i == 0 and j == 0 and self.robot_body is None: # if nothing else works, we take this as robot_body
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parts[self.robot_name] = BodyPart(self._p, self.robot_name, bodies, 0, -1)
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self.robot_body = parts[self.robot_name]
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if joint_name[:6] == "ignore":
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Joint(self._p, joint_name, bodies, i, j).disable_motor()
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continue
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if joint_name[:8] != "jointfix":
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joints[joint_name] = Joint(self._p, joint_name, bodies, i, j)
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ordered_joints.append(joints[joint_name])
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joints[joint_name].power_coef = 100.0
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# TODO: Maybe we need this
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# joints[joint_name].power_coef, joints[joint_name].max_velocity = joints[joint_name].limits()[2:4]
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# self.ordered_joints.append(joints[joint_name])
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# self.jdict[joint_name] = joints[joint_name]
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return parts, joints, ordered_joints, self.robot_body
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def reset_pose(self, position, orientation):
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self.parts[self.robot_name].reset_pose(position, orientation)
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class MJCFBasedRobot(XmlBasedRobot):
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"""
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Base class for mujoco .xml based agents.
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"""
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def __init__(self, model_xml, robot_name, action_dim, obs_dim, self_collision=True):
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XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)
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self.model_xml = model_xml
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self.doneLoading = 0
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def reset(self, bullet_client):
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self._p = bullet_client
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#print("Created bullet_client with id=", self._p._client)
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if (self.doneLoading == 0):
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self.ordered_joints = []
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self.doneLoading = 1
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if self.self_collision:
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self.objects = self._p.loadMJCF(os.path.join(pybullet_data.getDataPath(), "mjcf",
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self.model_xml),
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flags=pybullet.URDF_USE_SELF_COLLISION |
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pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
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self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
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self._p, self.objects)
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else:
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self.objects = self._p.loadMJCF(
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os.path.join(pybullet_data.getDataPath(), "mjcf", self.model_xml))
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self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
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self._p, self.objects)
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self.robot_specific_reset(self._p)
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s = self.calc_state(
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) # optimization: calc_state() can calculate something in self.* for calc_potential() to use
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return s
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def calc_potential(self):
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return 0
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class URDFBasedRobot(XmlBasedRobot):
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"""
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Base class for URDF .xml based robots.
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"""
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def __init__(self,
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model_urdf,
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robot_name,
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action_dim,
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obs_dim,
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basePosition=[0, 0, 0],
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baseOrientation=[0, 0, 0, 1],
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fixed_base=False,
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self_collision=False):
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XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)
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self.model_urdf = model_urdf
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self.basePosition = basePosition
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self.baseOrientation = baseOrientation
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self.fixed_base = fixed_base
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def reset(self, bullet_client):
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self._p = bullet_client
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self.ordered_joints = []
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print(os.path.join(os.path.dirname(__file__), "data", self.model_urdf))
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if self.self_collision:
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self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
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self._p,
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self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
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basePosition=self.basePosition,
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baseOrientation=self.baseOrientation,
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useFixedBase=self.fixed_base,
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flags=pybullet.URDF_USE_SELF_COLLISION))
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else:
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self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
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self._p,
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self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
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basePosition=self.basePosition,
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baseOrientation=self.baseOrientation,
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useFixedBase=self.fixed_base))
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self.robot_specific_reset(self._p)
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s = self.calc_state(
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) # optimization: calc_state() can calculate something in self.* for calc_potential() to use
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self.potential = self.calc_potential()
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return s
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def calc_potential(self):
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return 0
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class SDFBasedRobot(XmlBasedRobot):
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"""
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Base class for SDF robots in a Scene.
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"""
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def __init__(self,
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model_sdf,
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robot_name,
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action_dim,
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obs_dim,
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basePosition=[0, 0, 0],
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baseOrientation=[0, 0, 0, 1],
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fixed_base=False,
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self_collision=False):
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XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)
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self.model_sdf = model_sdf
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self.fixed_base = fixed_base
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def reset(self, bullet_client):
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self._p = bullet_client
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self.ordered_joints = []
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self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
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self._p, # TODO: Not sure if this works, try it with kuka
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self._p.loadSDF(os.path.join("models_robot", self.model_sdf)))
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self.robot_specific_reset(self._p)
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s = self.calc_state(
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) # optimization: calc_state() can calculate something in self.* for calc_potential() to use
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self.potential = self.calc_potential()
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return s
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def calc_potential(self):
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return 0
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class Pose_Helper: # dummy class to comply to original interface
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def __init__(self, body_part):
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self.body_part = body_part
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def xyz(self):
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return self.body_part.current_position()
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def rpy(self):
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return pybullet.getEulerFromQuaternion(self.body_part.current_orientation())
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def orientation(self):
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return self.body_part.current_orientation()
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class BodyPart:
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def __init__(self, bullet_client, body_name, bodies, bodyIndex, bodyPartIndex):
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self.bodies = bodies
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self._p = bullet_client
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self.bodyIndex = bodyIndex
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self.bodyPartIndex = bodyPartIndex
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self.initialPosition = self.current_position()
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self.initialOrientation = self.current_orientation()
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self.bp_pose = Pose_Helper(self)
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def state_fields_of_pose_of(
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self, body_id,
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link_id=-1): # a method you will most probably need a lot to get pose and orientation
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if link_id == -1:
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(x, y, z), (a, b, c, d) = self._p.getBasePositionAndOrientation(body_id)
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else:
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(x, y, z), (a, b, c, d), _, _, _, _ = self._p.getLinkState(body_id, link_id)
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return np.array([x, y, z, a, b, c, d])
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def get_position(self):
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return self.current_position()
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def get_pose(self):
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return self.state_fields_of_pose_of(self.bodies[self.bodyIndex], self.bodyPartIndex)
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def speed(self):
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if self.bodyPartIndex == -1:
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(vx, vy, vz), _ = self._p.getBaseVelocity(self.bodies[self.bodyIndex])
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else:
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(x, y, z), (a, b, c, d), _, _, _, _, (vx, vy, vz), (vr, vp, vy) = self._p.getLinkState(
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self.bodies[self.bodyIndex], self.bodyPartIndex, computeLinkVelocity=1)
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return np.array([vx, vy, vz])
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def current_position(self):
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return self.get_pose()[:3]
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def current_orientation(self):
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return self.get_pose()[3:]
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def get_orientation(self):
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return self.current_orientation()
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def reset_position(self, position):
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self._p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position,
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self.get_orientation())
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def reset_orientation(self, orientation):
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self._p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(),
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orientation)
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def reset_velocity(self, linearVelocity=[0, 0, 0], angularVelocity=[0, 0, 0]):
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self._p.resetBaseVelocity(self.bodies[self.bodyIndex], linearVelocity, angularVelocity)
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def reset_pose(self, position, orientation):
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self._p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
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def pose(self):
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return self.bp_pose
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def contact_list(self):
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return self._p.getContactPoints(self.bodies[self.bodyIndex], -1, self.bodyPartIndex, -1)
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class Joint:
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def __init__(self, bullet_client, joint_name, bodies, bodyIndex, jointIndex):
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self.bodies = bodies
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self._p = bullet_client
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self.bodyIndex = bodyIndex
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self.jointIndex = jointIndex
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self.joint_name = joint_name
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jointInfo = self._p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
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self.lowerLimit = jointInfo[8]
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self.upperLimit = jointInfo[9]
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self.power_coeff = 0
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def set_state(self, x, vx):
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self._p.resetJointState(self.bodies[self.bodyIndex], self.jointIndex, x, vx)
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def current_position(self): # just some synonyme method
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return self.get_state()
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def current_relative_position(self):
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pos, vel = self.get_state()
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pos_mid = 0.5 * (self.lowerLimit + self.upperLimit)
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return (2 * (pos - pos_mid) / (self.upperLimit - self.lowerLimit), 0.1 * vel)
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def get_state(self):
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x, vx, _, _ = self._p.getJointState(self.bodies[self.bodyIndex], self.jointIndex)
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return x, vx
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def get_position(self):
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x, _ = self.get_state()
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return x
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def get_orientation(self):
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_, r = self.get_state()
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return r
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def get_velocity(self):
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_, vx = self.get_state()
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return vx
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def set_position(self, position):
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self._p.setJointMotorControl2(self.bodies[self.bodyIndex],
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self.jointIndex,
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pybullet.POSITION_CONTROL,
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targetPosition=position)
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def set_velocity(self, velocity):
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self._p.setJointMotorControl2(self.bodies[self.bodyIndex],
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self.jointIndex,
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pybullet.VELOCITY_CONTROL,
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targetVelocity=velocity)
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def set_motor_torque(self, torque): # just some synonyme method
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self.set_torque(torque)
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def set_torque(self, torque):
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self._p.setJointMotorControl2(bodyIndex=self.bodies[self.bodyIndex],
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jointIndex=self.jointIndex,
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controlMode=pybullet.TORQUE_CONTROL,
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force=torque) #, positionGain=0.1, velocityGain=0.1)
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def reset_current_position(self, position, velocity): # just some synonyme method
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self.reset_position(position, velocity)
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def reset_position(self, position, velocity):
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self._p.resetJointState(self.bodies[self.bodyIndex],
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self.jointIndex,
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targetValue=position,
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targetVelocity=velocity)
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self.disable_motor()
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def disable_motor(self):
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self._p.setJointMotorControl2(self.bodies[self.bodyIndex],
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self.jointIndex,
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controlMode=pybullet.POSITION_CONTROL,
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targetPosition=0,
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targetVelocity=0,
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positionGain=0.1,
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velocityGain=0.1,
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force=0)
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