356 lines
12 KiB
Python
356 lines
12 KiB
Python
#
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# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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# property and proprietary rights in and to this material, related
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# documentation and any modifications thereto. Any use, reproduction,
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# disclosure or distribution of this material and related documentation
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# without an express license agreement from NVIDIA CORPORATION or
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# its affiliates is strictly prohibited.
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#
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# Third Party
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import torch
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a = torch.zeros(4, device="cuda:0")
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# Standard Library
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import argparse
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parser = argparse.ArgumentParser()
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parser.add_argument(
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"--headless_mode",
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type=str,
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default=None,
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help="To run headless, use one of [native, websocket], webrtc might not work.",
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)
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parser.add_argument(
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"--visualize_spheres",
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action="store_true",
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help="When True, visualizes robot spheres",
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default=False,
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)
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parser.add_argument(
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"--robot", type=str, default="dual_ur10e.yml", help="robot configuration to load"
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)
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args = parser.parse_args()
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############################################################
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# Third Party
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from omni.isaac.kit import SimulationApp
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simulation_app = SimulationApp(
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{
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"headless": args.headless_mode is not None,
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"width": "1920",
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"height": "1080",
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}
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)
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# Third Party
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import carb
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import numpy as np
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from helper import add_extensions, add_robot_to_scene
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from omni.isaac.core import World
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from omni.isaac.core.objects import cuboid, sphere
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########### OV #################
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from omni.isaac.core.utils.types import ArticulationAction
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# CuRobo
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from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel
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# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
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from curobo.geom.sdf.world import CollisionCheckerType
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from curobo.geom.types import WorldConfig
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from curobo.rollout.rollout_base import Goal
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from curobo.types.base import TensorDeviceType
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from curobo.types.math import Pose
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from curobo.types.robot import JointState, RobotConfig
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from curobo.types.state import JointState
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from curobo.util.logger import setup_curobo_logger
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from curobo.util.usd_helper import UsdHelper
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from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
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from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
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############################################################
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########### OV #################;;;;;
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############################################################
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def main():
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# assuming obstacles are in objects_path:
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my_world = World(stage_units_in_meters=1.0)
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stage = my_world.stage
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xform = stage.DefinePrim("/World", "Xform")
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stage.SetDefaultPrim(xform)
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stage.DefinePrim("/curobo", "Xform")
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# my_world.stage.SetDefaultPrim(my_world.stage.GetPrimAtPath("/World"))
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stage = my_world.stage
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# stage.SetDefaultPrim(stage.GetPrimAtPath("/World"))
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# Make a target to follow
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setup_curobo_logger("warn")
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past_pose = None
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n_obstacle_cuboids = 30
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n_obstacle_mesh = 10
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# warmup curobo instance
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usd_help = UsdHelper()
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target_pose = None
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tensor_args = TensorDeviceType()
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robot_cfg = load_yaml(join_path(get_robot_configs_path(), args.robot))["robot_cfg"]
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j_names = robot_cfg["kinematics"]["cspace"]["joint_names"]
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default_config = robot_cfg["kinematics"]["cspace"]["retract_config"]
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robot, robot_prim_path = add_robot_to_scene(robot_cfg, my_world)
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articulation_controller = robot.get_articulation_controller()
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world_cfg_table = WorldConfig.from_dict(
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load_yaml(join_path(get_world_configs_path(), "collision_table.yml"))
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)
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world_cfg_table.cuboid[0].pose[2] -= 0.02
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world_cfg1 = WorldConfig.from_dict(
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load_yaml(join_path(get_world_configs_path(), "collision_table.yml"))
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).get_mesh_world()
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world_cfg1.mesh[0].name += "_mesh"
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world_cfg1.mesh[0].pose[2] = -10.5
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world_cfg = WorldConfig(cuboid=world_cfg_table.cuboid, mesh=world_cfg1.mesh)
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motion_gen_config = MotionGenConfig.load_from_robot_config(
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robot_cfg,
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world_cfg,
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tensor_args,
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trajopt_tsteps=32,
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collision_checker_type=CollisionCheckerType.MESH,
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use_cuda_graph=True,
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num_trajopt_seeds=12,
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num_graph_seeds=12,
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interpolation_dt=0.03,
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collision_cache={"obb": n_obstacle_cuboids, "mesh": n_obstacle_mesh},
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collision_activation_distance=0.025,
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acceleration_scale=1.0,
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maximum_trajectory_dt=0.2,
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fixed_iters_trajopt=True,
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)
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motion_gen = MotionGen(motion_gen_config)
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print("warming up...")
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motion_gen.warmup(enable_graph=True, warmup_js_trajopt=False)
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print("Curobo is Ready")
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add_extensions(simulation_app, args.headless_mode)
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plan_config = MotionGenPlanConfig(
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enable_graph=False, enable_graph_attempt=4, max_attempts=10, enable_finetune_trajopt=True
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)
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usd_help.load_stage(my_world.stage)
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usd_help.add_world_to_stage(world_cfg, base_frame="/World")
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cmd_plan = None
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cmd_idx = 0
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my_world.scene.add_default_ground_plane()
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i = 0
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spheres = None
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# read number of targets in link names:
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link_names = motion_gen.kinematics.link_names
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ee_link_name = motion_gen.kinematics.ee_link
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# get link poses at retract configuration:
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kin_state = motion_gen.kinematics.get_state(motion_gen.get_retract_config().view(1, -1))
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link_retract_pose = kin_state.link_pose
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t_pos = np.ravel(kin_state.ee_pose.to_list())
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target = cuboid.VisualCuboid(
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"/World/target",
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position=t_pos[:3],
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orientation=t_pos[3:],
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color=np.array([1.0, 0, 0]),
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size=0.05,
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)
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# create new targets for new links:
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ee_idx = link_names.index(ee_link_name)
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target_links = {}
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names = []
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for i in link_names:
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if i != ee_link_name:
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k_pose = np.ravel(link_retract_pose[i].to_list())
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color = np.random.randn(3) * 0.2
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color[0] += 0.5
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color[1] = 0.5
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color[2] = 0.0
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target_links[i] = cuboid.VisualCuboid(
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"/World/target_" + i,
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position=np.array(k_pose[:3]),
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orientation=np.array(k_pose[3:]),
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color=color,
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size=0.05,
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)
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names.append("/World/target_" + i)
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i = 0
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while simulation_app.is_running():
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my_world.step(render=True)
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if not my_world.is_playing():
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if i % 100 == 0:
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print("**** Click Play to start simulation *****")
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i += 1
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# if step_index == 0:
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# my_world.play()
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continue
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step_index = my_world.current_time_step_index
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# print(step_index)
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if step_index <= 2:
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my_world.reset()
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idx_list = [robot.get_dof_index(x) for x in j_names]
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robot.set_joint_positions(default_config, idx_list)
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robot._articulation_view.set_max_efforts(
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values=np.array([5000 for i in range(len(idx_list))]), joint_indices=idx_list
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)
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if step_index < 20:
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continue
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if step_index == 50 or step_index % 1000 == 0.0:
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print("Updating world, reading w.r.t.", robot_prim_path)
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obstacles = usd_help.get_obstacles_from_stage(
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# only_paths=[obstacles_path],
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reference_prim_path=robot_prim_path,
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ignore_substring=[
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robot_prim_path,
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"/World/target",
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"/World/defaultGroundPlane",
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"/curobo",
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]
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+ names,
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).get_collision_check_world()
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motion_gen.update_world(obstacles)
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print("Updated World")
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carb.log_info("Synced CuRobo world from stage.")
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# position and orientation of target virtual cube:
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cube_position, cube_orientation = target.get_world_pose()
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if past_pose is None:
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past_pose = cube_position
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if target_pose is None:
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target_pose = cube_position
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sim_js = robot.get_joints_state()
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sim_js_names = robot.dof_names
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cu_js = JointState(
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position=tensor_args.to_device(sim_js.positions),
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velocity=tensor_args.to_device(sim_js.velocities) * 0.0,
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acceleration=tensor_args.to_device(sim_js.velocities) * 0.0,
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jerk=tensor_args.to_device(sim_js.velocities) * 0.0,
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joint_names=sim_js_names,
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)
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cu_js = cu_js.get_ordered_joint_state(motion_gen.kinematics.joint_names)
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if args.visualize_spheres and step_index % 2 == 0:
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sph_list = motion_gen.kinematics.get_robot_as_spheres(cu_js.position)
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if spheres is None:
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spheres = []
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# create spheres:
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for si, s in enumerate(sph_list[0]):
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sp = sphere.VisualSphere(
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prim_path="/curobo/robot_sphere_" + str(si),
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position=np.ravel(s.position),
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radius=float(s.radius),
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color=np.array([0, 0.8, 0.2]),
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)
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spheres.append(sp)
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else:
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for si, s in enumerate(sph_list[0]):
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spheres[si].set_world_pose(position=np.ravel(s.position))
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spheres[si].set_radius(float(s.radius))
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# print(sim_js.velocities)
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if (
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np.linalg.norm(cube_position - target_pose) > 1e-3
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and np.linalg.norm(past_pose - cube_position) == 0.0
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and np.linalg.norm(sim_js.velocities) < 0.2
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):
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# Set EE teleop goals, use cube for simple non-vr init:
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ee_translation_goal = cube_position
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ee_orientation_teleop_goal = cube_orientation
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# compute curobo solution:
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ik_goal = Pose(
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position=tensor_args.to_device(ee_translation_goal),
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quaternion=tensor_args.to_device(ee_orientation_teleop_goal),
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)
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# add link poses:
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link_poses = {}
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for i in target_links.keys():
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c_p, c_rot = target_links[i].get_world_pose()
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link_poses[i] = Pose(
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position=tensor_args.to_device(c_p),
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quaternion=tensor_args.to_device(c_rot),
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)
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result = motion_gen.plan_single(
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cu_js.unsqueeze(0), ik_goal, plan_config.clone(), link_poses=link_poses
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)
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# ik_result = ik_solver.solve_single(ik_goal, cu_js.position.view(1,-1), cu_js.position.view(1,1,-1))
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succ = result.success.item() # ik_result.success.item()
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if succ:
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cmd_plan = result.get_interpolated_plan()
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cmd_plan = motion_gen.get_full_js(cmd_plan)
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# get only joint names that are in both:
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idx_list = []
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common_js_names = []
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for x in sim_js_names:
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if x in cmd_plan.joint_names:
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idx_list.append(robot.get_dof_index(x))
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common_js_names.append(x)
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# idx_list = [robot.get_dof_index(x) for x in sim_js_names]
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cmd_plan = cmd_plan.get_ordered_joint_state(common_js_names)
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cmd_idx = 0
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else:
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carb.log_warn("Plan did not converge to a solution. No action is being taken.")
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target_pose = cube_position
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past_pose = cube_position
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if cmd_plan is not None:
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cmd_state = cmd_plan[cmd_idx]
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# get full dof state
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art_action = ArticulationAction(
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cmd_state.position.cpu().numpy(),
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cmd_state.velocity.cpu().numpy(),
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joint_indices=idx_list,
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)
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# set desired joint angles obtained from IK:
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articulation_controller.apply_action(art_action)
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cmd_idx += 1
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for _ in range(2):
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my_world.step(render=False)
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if cmd_idx >= len(cmd_plan.position):
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cmd_idx = 0
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cmd_plan = None
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simulation_app.close()
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if __name__ == "__main__":
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main()
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