367 lines
12 KiB
Python
367 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("--robot", type=str, default="franka.yml", help="robot configuration to load")
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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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# Standard Library
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from typing import Dict
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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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# 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 (
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get_assets_path,
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get_filename,
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get_path_of_dir,
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get_robot_configs_path,
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get_world_configs_path,
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join_path,
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load_yaml,
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)
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from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
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from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
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from curobo.wrap.reacher.mpc import MpcSolver, MpcSolverConfig
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########### OV #################
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############################################################
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########### OV #################;;;;;
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def get_pose_grid(n_x, n_y, n_z, max_x, max_y, max_z):
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x = np.linspace(-max_x, max_x, n_x)
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y = np.linspace(-max_y, max_y, n_y)
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z = np.linspace(0, max_z, n_z)
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x, y, z = np.meshgrid(x, y, z, indexing="ij")
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position_arr = np.zeros((n_x * n_y * n_z, 3))
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position_arr[:, 0] = x.flatten()
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position_arr[:, 1] = y.flatten()
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position_arr[:, 2] = z.flatten()
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return position_arr
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def draw_points(pose, success):
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# Third Party
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from omni.isaac.debug_draw import _debug_draw
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draw = _debug_draw.acquire_debug_draw_interface()
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N = 100
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# if draw.get_num_points() > 0:
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draw.clear_points()
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cpu_pos = pose.position.cpu().numpy()
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b, _ = cpu_pos.shape
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point_list = []
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colors = []
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for i in range(b):
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# get list of points:
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point_list += [(cpu_pos[i, 0], cpu_pos[i, 1], cpu_pos[i, 2])]
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if success[i].item():
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colors += [(0, 1, 0, 0.25)]
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else:
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colors += [(1, 0, 0, 0.25)]
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sizes = [40.0 for _ in range(b)]
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draw.draw_points(point_list, colors, sizes)
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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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target = cuboid.VisualCuboid(
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"/World/target",
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position=np.array([0.5, 0, 0.5]),
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orientation=np.array([0, 1, 0, 0]),
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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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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] -= 0.002
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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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ik_config = IKSolverConfig.load_from_robot_config(
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robot_cfg,
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world_cfg,
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rotation_threshold=0.05,
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position_threshold=0.005,
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num_seeds=20,
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self_collision_check=True,
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self_collision_opt=True,
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tensor_args=tensor_args,
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use_cuda_graph=True,
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collision_checker_type=CollisionCheckerType.MESH,
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collision_cache={"obb": n_obstacle_cuboids, "mesh": n_obstacle_mesh},
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# use_fixed_samples=True,
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)
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ik_solver = IKSolver(ik_config)
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# get pose grid:
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position_grid_offset = tensor_args.to_device(get_pose_grid(10, 10, 5, 0.5, 0.5, 0.5))
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# read current ik pose and warmup?
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fk_state = ik_solver.fk(ik_solver.get_retract_config().view(1, -1))
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goal_pose = fk_state.ee_pose
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goal_pose = goal_pose.repeat(position_grid_offset.shape[0])
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goal_pose.position += position_grid_offset
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result = ik_solver.solve_batch(goal_pose)
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print("Curobo is Ready")
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add_extensions(simulation_app, args.headless_mode)
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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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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 % 500 == 0.0: # and cmd_plan is None:
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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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).get_collision_check_world()
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print([x.name for x in obstacles.objects])
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ik_solver.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(ik_solver.kinematics.joint_names)
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if args.visualize_spheres and step_index % 2 == 0:
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sph_list = ik_solver.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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goal_pose.position[:] = ik_goal.position[:] + position_grid_offset
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goal_pose.quaternion[:] = ik_goal.quaternion[:]
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result = ik_solver.solve_batch(goal_pose)
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succ = torch.any(result.success)
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print(
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"IK completed: Poses: "
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+ str(goal_pose.batch)
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+ " Time(s): "
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+ str(result.solve_time)
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)
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# get spheres and flags:
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draw_points(goal_pose, result.success)
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if succ:
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# get all solutions:
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cmd_plan = result.js_solution[result.success]
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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 and step_index % 20 == 0 and True:
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cmd_state = cmd_plan[cmd_idx]
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robot.set_joint_positions(cmd_state.position.cpu().numpy(), idx_list)
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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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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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my_world.step(render=True)
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robot.set_joint_positions(default_config, idx_list)
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simulation_app.close()
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if __name__ == "__main__":
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main()
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