import pybullet as pb
import numpy as np
from bulletarm.pybullet.utils import constants
from bulletarm.envs.close_loop_envs.close_loop_env import CloseLoopEnv
from bulletarm.pybullet.utils import transformations
from bulletarm.planners.close_loop_block_picking_corner_planner import CloseLoopBlockPickingCornerPlanner
from bulletarm.pybullet.equipments.corner import Corner
[docs]class CloseLoopBlockPickingCornerEnv(CloseLoopEnv):
'''Close loop corner block picking task.
The robot needs to slide the block away from the corner and then pick it up.
Args:
config (dict): Intialization arguments for the env
'''
def __init__(self, config):
if 'object_scale_range' not in config:
config['object_scale_range'] = [1.2, 1.2]
super().__init__(config)
self.corner = Corner()
self.corner_rz = 0
self.corner_pos = [self.workspace[0].mean(), self.workspace[1].mean(), 0]
def resetCorner(self):
self.corner_rz = np.random.random_sample() * 2*np.pi - np.pi if self.random_orientation else 0
self.corner_pos = self._getValidPositions(0.2, 0, [], 1)[0]
self.corner_pos.append(0)
self.corner.reset(self.corner_pos, pb.getQuaternionFromEuler((0, 0, self.corner_rz)))
def initialize(self):
super().initialize()
self.corner.initialize(pos=self.corner_pos)
def reset(self):
self.resetPybulletWorkspace()
self.resetCorner()
self.robot.moveTo([self.workspace[0].mean(), self.workspace[1].mean(), 0.2], transformations.quaternion_from_euler(0, 0, 0))
pos, rot_q = self.corner.getObjPose()
self._generateShapes(constants.CUBE, 1, pos=[pos], rot=[rot_q])
return self._getObservation()
def _getValidOrientation(self, random_orientation):
if random_orientation:
orientation = pb.getQuaternionFromEuler([0., 0., np.pi/2 * (np.random.random_sample() - 0.5)])
else:
orientation = pb.getQuaternionFromEuler([0., 0., 0.])
return orientation
def _checkTermination(self):
gripper_z = self.robot._getEndEffectorPosition()[-1]
return self.robot.holding_obj == self.objects[-1] and gripper_z > 0.08
def getObjectPoses(self, objects=None):
if objects is None: objects = self.objects + [self.corner]
obj_poses = list()
for obj in objects:
pos, rot = obj.getPose()
rot = self.convertQuaternionToEuler(rot)
obj_poses.append(pos + rot)
return np.array(obj_poses)
def createCloseLoopBlockPickingCornerEnv(config):
return CloseLoopBlockPickingCornerEnv(config)