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update simulators and world: get available 3D models + update render()

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This commit is contained in:
Brian Delhaisse
2019-05-04 04:18:41 +02:00
parent c237b4dd12
commit 4d5d8451c5
4 changed files with 246 additions and 27 deletions
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pyrobolearn/simulators/bullet.py
+137 -13
View File
@@ -18,15 +18,19 @@ References:
[3] PEP8: https://www.python.org/dev/peps/pep-0008/
"""
# general imports
import os
import inspect
import time
import numpy as np
import quaternion
# import pybullet
import pybullet
import pybullet_data
from pybullet_envs.bullet.bullet_client import BulletClient
from pyrobolearn.utils.converter import NumpyListConverter, QuaternionListConverter
# import PRL simulator
from pyrobolearn.simulators.simulator import Simulator
@@ -77,22 +81,30 @@ class Bullet(Simulator):
Erwin Coumans and Yunfei Bai, 2017/2018
"""
def __init__(self, render=True, **kwargs): # , converter=None):
def __init__(self, render=True, **kwargs):
super(Bullet, self).__init__()
# parse the kwargs
# Connect to pybullet
if render:
self.sim = BulletClient(connection_mode=pybullet.GUI)
if render: # GUI
self.connection_mode = pybullet.GUI
self.sim = BulletClient(connection_mode=self.connection_mode)
self.sim.configureDebugVisualizer(self.sim.COV_ENABLE_GUI, 0)
else:
self.sim = BulletClient(connection_mode=pybullet.DIRECT)
else: # without GUI
self.connection_mode = pybullet.DIRECT
self.sim = BulletClient(connection_mode=self.connection_mode)
# set simulator ID
self.id = self.sim._client
# add additional search path when loading URDFs, SDFs, MJCFs, etc.
self.sim.setAdditionalSearchPath(pybullet_data.getDataPath())
# TODO: add gazebo_models path
self.models = {}
# go through the global variables / attributes defined in pybullet and set them here
# this includes for instance: JOINT_REVOLUTE, POSITION_CONTROL, etc.
# for attribute in dir(pybullet):
@@ -136,6 +148,24 @@ class Bullet(Simulator):
# Simulators #
##############
def __init(self, connection_mode):
"""Initialize the simulator with the specified connection mode."""
# close the previous simulator
if self.sim is not None:
self.close()
# initialize the simulator (create it, set its id, and set the path to the models)
# self.sim.connect(connection_mode)
self.sim = BulletClient(connection_mode=connection_mode)
self.id = self.sim._client
self.sim.setAdditionalSearchPath(pybullet_data.getDataPath())
# reload the models
models = self.models.copy()
for idx in models:
kwargs = models[idx]
self.load_urdf(**kwargs)
def reset(self):
"""Reset the simulator.
@@ -145,10 +175,11 @@ class Bullet(Simulator):
def close(self):
"""Close the simulator."""
try:
self.sim.disconnect(physicsClientId=self.id)
except pybullet.error:
pass
del self.sim
# try:
# self.sim.disconnect(physicsClientId=self.id)
# except pybullet.error:
# pass
def step(self, sleep_time=0.):
"""Perform a step in the simulator.
@@ -170,9 +201,30 @@ class Bullet(Simulator):
flag (bool): If True, it will render the simulator by enabling the GUI.
"""
if flag:
self.sim.configureDebugVisualizer(self.sim.COV_ENABLE_RENDERING, 1)
# self.sim.configureDebugVisualizer(self.sim.COV_ENABLE_RENDERING, 1)
if self.connection_mode == pybullet.DIRECT:
# save the state of the simulator
filename = 'PYROBOLEARN_RENDERING_STATE.bullet'
self.save(filename=filename)
# change the connection mode
self.connection_mode = pybullet.GUI
self.__init(self.connection_mode)
# load the state of the world in the simulator
self.load(filename)
os.remove(filename)
else:
self.sim.configureDebugVisualizer(self.sim.COV_ENABLE_RENDERING, 0)
# self.sim.configureDebugVisualizer(self.sim.COV_ENABLE_RENDERING, 0)
if self.connection_mode == pybullet.GUI:
# save the state of the simulator
filename = 'PYROBOLEARN_RENDERING_STATE.bullet'
self.save(filename=filename)
# change the connection mode
self.connection_mode = pybullet.DIRECT
self.__init(self.connection_mode)
# load the state of the world in the simulator
self.load(filename)
os.remove(filename)
# TODO: reset the camera
def set_time_step(self, time_step):
"""Set the specified time step in the simulator.
@@ -532,7 +584,11 @@ class Bullet(Simulator):
if scale is not None:
kwargs['globalScaling'] = scale
return self.sim.loadURDF(filename, **kwargs)
model_id = self.sim.loadURDF(filename, **kwargs)
frame = inspect.currentframe()
args, _, _, values = inspect.getargvalues(frame)
self.models[model_id] = {arg: values[arg] for arg in args[1:]}
return model_id
def load_sdf(self, filename, scaling=1., *args, **kwargs):
"""Load the given SDF file.
@@ -569,6 +625,11 @@ class Bullet(Simulator):
"""
Load a mesh in the world (only available in the simulator).
Warnings (see https://github.com/bulletphysics/bullet3/issues/1813):
- it only accepts wavefront obj files
- wavefront obj files can have at most 1 texture
- there is a limited pre-allocated memory for visual meshes
Args:
filename (str): path to file for the mesh. Currently, only Wavefront .obj. It will create convex hulls
for each object (marked as 'o') in the .obj file.
@@ -616,6 +677,69 @@ class Bullet(Simulator):
return mesh
@staticmethod
def _get_3d_models(extension, fullpath=False):
"""Return the list of 3d models (urdf, sdf, mjcf/xml, obj).
Args:
extension (str): extension of the 3D models (urdf, sdf, mjcf/xml, obj).
fullpath (bool): If True, it will return the full path to the 3D objects. If False, it will just return
the name of the files (without the extension).
"""
extension = '.' + extension
path = pybullet_data.getDataPath()
results = []
for dir_path, dir_names, filenames in os.walk(path):
for filename in filenames:
if os.path.splitext(filename)[1] == extension:
if fullpath:
results.append(os.path.join(dir_path, filename)) # append the fullpath
else:
results.append(filename[:-len(extension)]) # remove extension
return results
@staticmethod
def get_available_sdfs(fullpath=False):
"""Return the list of available SDFs from the `pybullet_data.getDataPath()` method.
Args:
fullpath (bool): If True, it will return the full path to the SDFs. If False, it will just return the
name of the SDF files (without the extension).
"""
return Bullet._get_3d_models(extension='sdf', fullpath=fullpath)
@staticmethod
def get_available_urdfs(fullpath=False):
"""Return the list of available URDFs from the `pybullet_data.getDataPath()` method.
Args:
fullpath (bool): If True, it will return the full path to the URDFs. If False, it will just return the
name of the URDF files (without the extension).
"""
return Bullet._get_3d_models(extension='urdf', fullpath=fullpath)
@staticmethod
def get_available_mjcfs(fullpath=False):
"""Return the list of available MJCFs (=XMLs) from the `pybullet_data.getDataPath()` method.
Args:
fullpath (bool): If True, it will return the full path to the MJCFs/XMLs. If False, it will just return
the name of the MJCF/XML files (without the extension).
"""
results1 = Bullet._get_3d_models(extension='mjcf', fullpath=fullpath)
results2 = Bullet._get_3d_models(extension='xml', fullpath=fullpath)
return results1 + results2
@staticmethod
def get_available_objs(fullpath=False):
"""Return the list of available OBJs from the `pybullet_data.getDataPath()` method.
Args:
fullpath (bool): If True, it will return the full path to the OBJs. If False, it will just return the
name of the OBJ files (without the extension).
"""
return Bullet._get_3d_models(extension='obj', fullpath=fullpath)
##########
# Bodies #
##########
pyrobolearn/simulators/simulator.py
+40
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@@ -406,6 +406,46 @@ class Simulator(object):
"""
pass
@staticmethod
def get_available_sdfs(fullpath=False):
"""Return the list of available SDFs in the simulator.
Args:
fullpath (bool): If True, it will return the full path to the SDFs. If False, it will just return the
name of the SDF files (without the extension).
"""
return []
@staticmethod
def get_available_urdfs(fullpath=False):
"""Return the list of available URDFs in the simulator.
Args:
fullpath (bool): If True, it will return the full path to the URDFs. If False, it will just return the
name of the URDF files (without the extension).
"""
return []
@staticmethod
def get_available_mjcfs(fullpath=False):
"""Return the list of available MJCFs in the simulator.
Args:
fullpath (bool): If True, it will return the full path to the MJCFs. If False, it will just return the
name of the MJCF files (without the extension).
"""
return []
@staticmethod
def get_available_objs(fullpath=False):
"""Return the list of available OBJs in the simulator.
Args:
fullpath (bool): If True, it will return the full path to the OBJs. If False, it will just return the
name of the OBJ files (without the extension).
"""
return []
# bodies
def create_body(self, visual_shape_id=-1, collision_shape_id=-1, mass=0., position=(0., 0., 0.),
pyrobolearn/worlds/world.py
+65 -14
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@@ -447,14 +447,14 @@ class World(object):
for joint_id, position, velocity in zip(robot.joints, positions, velocities):
self.sim.reset_joint_state(robot_id, joint_id, position, velocity)
def load_urdf(self, filename, position, orientation, fixed_base=False, scale=1., name=None):
def load_urdf(self, filename, position, orientation=(0, 0, 0, 1), fixed_base=False, scale=1., name=None):
"""
Load URDF specified by the given path. This is basically a wrapper around the simulator's `load_urdf` method.
Args:
filename (str): path to the URDF file
position (float[3]): position of the object described in the URDF
orientation (float[4]): orientation represented as a quaternion
orientation (float[4]): orientation represented as a quaternion [x,y,z,w]
fixed_base (bool): if the base of the object should be fixed or not
scale (float): scale factor for the object
name (str, None): name of the object. If None, it will extract it from the URDF.
@@ -511,6 +511,42 @@ class World(object):
raise ValueError('Extension name of the file is not known; this method only accepts URDF/SDF files.')
return object_id
def get_available_sdfs(self, fullpath=False):
"""Return the list of available SDFs from the `pybullet_data.getDataPath()` method.
Args:
fullpath (bool): If True, it will return the full path to the SDFs. If False, it will just return the
name of the SDF files (without the extension).
"""
return self.sim.get_available_sdfs(fullpath=fullpath)
def get_available_urdfs(self, fullpath=False):
"""Return the list of available URDFs from the `pybullet_data.getDataPath()` method.
Args:
fullpath (bool): If True, it will return the full path to the URDFs. If False, it will just return the
name of the URDF files (without the extension).
"""
return self.sim.get_available_urdfs(fullpath=fullpath)
def get_available_mjcfs(self, fullpath=False):
"""Return the list of available MJCFs (=XMLs) from the `pybullet_data.getDataPath()` method.
Args:
fullpath (bool): If True, it will return the full path to the MJCFs/XMLs. If False, it will just return
the name of the MJCF/XML files (without the extension).
"""
return self.sim.get_available_mjcfs(fullpath=fullpath)
def get_available_objs(self, fullpath=False):
"""Return the list of available OBJs from the `pybullet_data.getDataPath()` method.
Args:
fullpath (bool): If True, it will return the full path to the OBJs. If False, it will just return the
name of the OBJ files (without the extension).
"""
return self.sim.get_available_objs(fullpath=fullpath)
def load_object(self, object_type, path=None, position=(0, 0, 0), orientation=(0, 0, 0, 1), scaling=1.):
"""
Load the specified object. This is a method that allows you to quickly load stuffs however it is less
@@ -1102,7 +1138,7 @@ class World(object):
def create_city(self):
pass
def load_table(self, position, orientation=(0, 0, 0, 1), scaling=1.):
def load_table(self, position, orientation=None, scaling=1.):
"""
Load a table in the world.
@@ -1613,6 +1649,21 @@ class World(object):
angular_damping=angular_damping, contact_stiffness=contact_stiffness,
contact_damping=contact_damping)
def apply_texture(self, texture, body_id, link_id=-1):
"""
Apply the texture to the given object.
Args:
texture (str): path to the texture.
body_id (int): unique body id.
link_id (int): link id. If -1, it will be the base.
Returns:
"""
texture = self.sim.load_texture(texture)
self.sim.change_visual_shape(object_id=body_id, link_id=link_id, texture_id=texture)
class BasicWorld(World):
r"""Basic World class.
@@ -1667,19 +1718,19 @@ if __name__ == '__main__':
sim = BulletSim()
# create world
# world = BasicWorld(sim)
world = World(sim)
world = BasicWorld(sim)
# world = World(sim)
# world.load_bot_lab()
# load meshes
world.load_mesh('utils/terrains/terrain_map.obj',
position=[0, 0, -2],
orientation=[.707, 0, 0, .707],
mass=0.,
scale=(.1, .1, .1),
# color=[1, 0, 0, 1],
flags=1)
# world.load_visual_mesh('meshes/cube_color.dae', position=[0, 0, 1])
# world.load_mesh('utils/terrains/terrain_map.obj',
# position=[0, 0, -2],
# orientation=[.707, 0, 0, .707],
# mass=0.,
# scale=(.1, .1, .1),
# # color=[1, 0, 0, 1],
# flags=1)
# world.load_mesh('cube.obj', position=[0, 0, 2], scale=(.1, .1, .1), flags=0)
# world.load_mesh('bedroom.obj', [0, 0, 0], mass=0., color=[0.4, 0.4, 0.4, 1], flags=1) #, scale=(0.01, 0.01, 0.01))
# world.load_mesh('mtsthelens.obj', [0, 0, -8], mass=0., color=[0.2, 0.5, 0.2, 1], flags=1, scale=(0.01,0.01,0.01))
# world.load_mesh('meshes/terrain.obj', [0,0,0], mass=0., color=[1,1,1,1], flags=1)
@@ -1698,7 +1749,7 @@ if __name__ == '__main__':
# world.load_ellipsoid([0,0,2], mass=0, scale=[2.,1.,1.], color=(0,0,1,1))
world.load_visual_cone([0, 0, 0.1*0.5], orientation=(0, 1, 0, 0), scale=(0.1, 0.1, 0.1), color=(0.5, 0, 0, 0.5))
world.load_right_triangular_prism([-1, -1, 2])
# world.load_right_triangular_prism([-1, -1, 2])
# floor = world.load_mesh(filename='box', [1, 0, 2], mass=0, color=None)
# floor = world.load_floor()
scripts/install_gazebo_models.sh
Executable
+4
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@@ -0,0 +1,4 @@
#!/bin/sh
# install gazebo_models
hg clone https://bitbucket.org/osrf/gazebo_models/