diff --git a/.gitignore b/.gitignore index fed241df53..f1dfd369f8 100644 --- a/.gitignore +++ b/.gitignore @@ -25,6 +25,9 @@ machines.txt tests/_fake_trajs tests/_fake_results sas_plan +.vscode +Gymnasium-Robotics/ +downward/ # Jetbrains IDEs .idea/ diff --git a/predicators/envs/assets/urdf/cup.urdf b/predicators/envs/assets/urdf/cup.urdf new file mode 100644 index 0000000000..41b4dcef41 --- /dev/null +++ b/predicators/envs/assets/urdf/cup.urdf @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/predicators/envs/assets/urdf/kettle.urdf b/predicators/envs/assets/urdf/kettle.urdf new file mode 100644 index 0000000000..e16b649124 --- /dev/null +++ b/predicators/envs/assets/urdf/kettle.urdf @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/predicators/envs/assets/urdf/meshes/cup.dae b/predicators/envs/assets/urdf/meshes/cup.dae new file mode 100644 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113//9 122//9 +f 122//10 113//10 124//10 +f 124//241 119//242 123//245 +f 123//246 119//243 124//244 +f 120//237 124//241 123//245 +f 123//246 124//244 120//240 +f 120//237 123//245 121//238 +f 121//239 123//246 120//240 diff --git a/predicators/envs/coffee.py b/predicators/envs/coffee.py index 109fee4750..21887cdf5a 100644 --- a/predicators/envs/coffee.py +++ b/predicators/envs/coffee.py @@ -56,6 +56,7 @@ class CoffeeEnv(BaseEnv): button_y: ClassVar[float] = machine_y button_z: ClassVar[float] = 3 * machine_z_len / 4 button_radius: ClassVar[float] = 0.2 * machine_x_len + button_press_threshold: ClassVar[float] = button_radius # Jug settings. jug_radius: ClassVar[float] = (0.8 * machine_x_len) / 2.0 jug_height: ClassVar[float] = 0.15 * (z_ub - z_lb) @@ -65,6 +66,8 @@ class CoffeeEnv(BaseEnv): init_padding jug_init_y_ub: ClassVar[ float] = machine_y - machine_y_len - jug_radius - init_padding + jug_init_rot_lb: ClassVar[float] = -2 * np.pi / 3 + jug_init_rot_ub: ClassVar[float] = 2 * np.pi / 3 jug_handle_offset: ClassVar[float] = 1.05 * jug_radius jug_handle_height: ClassVar[float] = 3 * jug_height / 4 jug_handle_radius: ClassVar[float] = 1e-1 # just for rendering @@ -143,9 +146,6 @@ def __init__(self, use_gui: bool = True) -> None: self._robot = Object("robby", self._robot_type) self._jug = Object("juggy", self._jug_type) self._machine = Object("coffee_machine", self._machine_type) - # Settings from CFG. - self.jug_init_rot_lb = -CFG.coffee_jug_init_rot_amt - self.jug_init_rot_ub = CFG.coffee_jug_init_rot_amt @classmethod def get_name(cls) -> str: @@ -618,7 +618,7 @@ def _PressingButton_holds(self, state: State, y = state.get(robot, "y") z = state.get(robot, "z") sq_dist_to_button = np.sum(np.subtract(button_pos, (x, y, z))**2) - return sq_dist_to_button < self.button_radius + return sq_dist_to_button < self.button_press_threshold @staticmethod def _NotSameCup_holds(state: State, objects: Sequence[Object]) -> bool: @@ -644,7 +644,7 @@ def _get_jug_handle_grasp(cls, state: State, rot = state.get(jug, "rot") - np.pi / 2 target_x = state.get(jug, "x") + np.cos(rot) * cls.jug_handle_offset target_y = state.get(jug, "y") + np.sin(rot) * cls.jug_handle_offset - target_z = cls.jug_handle_height + target_z = cls.z_lb + cls.jug_handle_height return (target_x, target_y, target_z) def _get_pour_position(self, state: State, diff --git a/predicators/envs/pybullet_coffee.py b/predicators/envs/pybullet_coffee.py new file mode 100644 index 0000000000..6d932bd7f1 --- /dev/null +++ b/predicators/envs/pybullet_coffee.py @@ -0,0 +1,725 @@ +"""A PyBullet version of CoffeeEnv.""" + +import logging +from pathlib import Path +from typing import Any, ClassVar, Dict, List, Optional, Set, Tuple + +import numpy as np +import pybullet as p + +from predicators import utils +from predicators.envs.coffee import CoffeeEnv +from predicators.envs.pybullet_env import PyBulletEnv, create_pybullet_block +from predicators.pybullet_helpers.geometry import Pose, Pose3D, Quaternion +from predicators.pybullet_helpers.robots import SingleArmPyBulletRobot, \ + create_single_arm_pybullet_robot +from predicators.settings import CFG +from predicators.structs import Action, Array, EnvironmentTask, Object, State + + +class PyBulletCoffeeEnv(PyBulletEnv, CoffeeEnv): + """PyBullet Coffee domain.""" + + # Need to override a number of settings to conform to the actual dimensions + # of the robots, table, etc. + grasp_finger_tol: ClassVar[float] = 1e-2 + grasp_position_tol: ClassVar[float] = 1e-2 + dispense_tol: ClassVar[float] = 1e-2 + pour_angle_tol: ClassVar[float] = 1e-1 + pour_pos_tol: ClassVar[float] = 1.0 + init_padding: ClassVar[float] = 0.05 + pick_jug_y_padding: ClassVar[float] = 0.05 + pick_jug_rot_tol: ClassVar[float] = np.pi / 3 + safe_z_tol: ClassVar[float] = 1e-2 + place_jug_in_machine_tol: ClassVar[float] = 1e-3 + jug_twist_offset: ClassVar[float] = 0.025 + init_padding: ClassVar[float] = 0.05 + x_lb: ClassVar[float] = 0.4 + x_ub: ClassVar[float] = 1.1 + y_lb: ClassVar[float] = 1.1 + y_ub: ClassVar[float] = 1.6 + z_lb: ClassVar[float] = 0.2 + z_ub: ClassVar[float] = 0.75 + robot_init_x: ClassVar[float] = (x_ub + x_lb) / 2.0 + robot_init_y: ClassVar[float] = (y_ub + y_lb) / 2.0 + robot_init_z: ClassVar[float] = z_ub - 0.1 + robot_base_pos: ClassVar[Pose3D] = (0.75, 0.72, 0.0) + robot_base_orn: ClassVar[Quaternion] = p.getQuaternionFromEuler( + [0.0, 0.0, np.pi / 2]) + robot_init_tilt: ClassVar[float] = np.pi / 2 + robot_init_wrist: ClassVar[float] = -np.pi / 2 + tilt_lb: ClassVar[float] = robot_init_tilt + tilt_ub: ClassVar[float] = tilt_lb - np.pi / 4 + # Machine settings. + machine_x_len: ClassVar[float] = 0.2 * (x_ub - x_lb) + machine_y_len: ClassVar[float] = 0.15 * (y_ub - y_lb) + machine_z_len: ClassVar[float] = 0.5 * (z_ub - z_lb) + machine_x: ClassVar[float] = x_ub - machine_x_len / 2 - init_padding + machine_y: ClassVar[float] = y_ub - machine_y_len / 2 - init_padding + button_x: ClassVar[float] = machine_x + button_y: ClassVar[float] = machine_y - machine_y_len / 2 + button_z: ClassVar[float] = z_lb + 3 * machine_z_len / 4 + button_radius: ClassVar[float] = 0.2 * machine_y_len + button_press_threshold: ClassVar[float] = 1e-3 + button_color_on: ClassVar[Tuple[float, float, float, + float]] = (0.2, 0.5, 0.2, 1.0) + plate_color_on: ClassVar[Tuple[float, float, float, + float]] = (0.9, 0.3, 0.0, 0.7) + button_color_off: ClassVar[Tuple[float, float, float, + float]] = (0.5, 0.2, 0.2, 1.0) + plate_color_off: ClassVar[Tuple[float, float, float, + float]] = (0.6, 0.6, 0.6, 0.5) + # Jug settings. + jug_radius: ClassVar[float] = 0.3 * machine_y_len + jug_height: ClassVar[float] = 0.15 * (z_ub - z_lb) + jug_init_x_lb: ClassVar[ + float] = machine_x - machine_x_len / 2 + init_padding + jug_init_x_ub: ClassVar[ + float] = machine_x + machine_x_len / 2 - init_padding + jug_init_y_lb: ClassVar[float] = y_lb + 3 * jug_radius + init_padding + jug_init_y_ub: ClassVar[ + float] = machine_y - machine_y_len - 3 * jug_radius - init_padding + jug_handle_offset: ClassVar[float] = 3 * jug_radius + jug_handle_height: ClassVar[float] = jug_height + # NOTE: twisting not implemented. + jug_init_rot_lb: ClassVar[float] = -1e-5 + jug_init_rot_ub: ClassVar[float] = 1e-5 + # Dispense area settings. + dispense_area_x: ClassVar[float] = machine_x + dispense_area_y: ClassVar[float] = machine_y - 4 * jug_radius + # Cup settings. + cup_radius: ClassVar[float] = 0.6 * jug_radius + cup_init_x_lb: ClassVar[float] = x_lb + cup_radius + init_padding + cup_init_x_ub: ClassVar[ + float] = machine_x - machine_x_len / 2 - cup_radius - init_padding + cup_init_y_lb: ClassVar[float] = jug_init_y_lb + cup_init_y_ub: ClassVar[float] = jug_init_y_ub + cup_capacity_lb: ClassVar[float] = 0.075 * (z_ub - z_lb) + cup_capacity_ub: ClassVar[float] = 0.15 * (z_ub - z_lb) + cup_target_frac: ClassVar[float] = 0.75 # fraction of the capacity + cup_colors: ClassVar[List[Tuple[float, float, float, float]]] = [ + (244 / 255, 27 / 255, 63 / 255, 1.), + (121 / 255, 37 / 255, 117 / 255, 1.), + (35 / 255, 100 / 255, 54 / 255, 1.), + ] + pour_x_offset: ClassVar[float] = cup_radius + pour_y_offset: ClassVar[float] = -3 * (cup_radius + jug_radius) + pour_z_offset: ClassVar[float] = 2.5 * (cup_capacity_ub + jug_height - \ + jug_handle_height) + pour_velocity: ClassVar[float] = cup_capacity_ub / 10.0 + # Table settings. + table_pose: ClassVar[Pose3D] = (0.75, 1.35, 0.0) + table_orientation: ClassVar[Quaternion] = p.getQuaternionFromEuler( + [0.0, 0.0, np.pi / 2]) + # Camera parameters. + _camera_distance: ClassVar[float] = 0.8 + _camera_yaw: ClassVar[float] = 70 + _camera_pitch: ClassVar[float] = -48 + _camera_target: ClassVar[Pose3D] = (0.75, 1.35, 0.42) + + def __init__(self, use_gui: bool = True) -> None: + super().__init__(use_gui) + + # Create the cups lazily because they can change size and color. + self._cup_id_to_cup: Dict[int, Object] = {} + self._cup_to_liquid_id: Dict[Object, int] = {} + self._cup_to_capacity: Dict[Object, float] = {} + # The status of the jug is not modeled inside PyBullet. + self._jug_filled = False + + @classmethod + def initialize_pybullet( + cls, using_gui: bool + ) -> Tuple[int, SingleArmPyBulletRobot, Dict[str, Any]]: + """Run super(), then handle coffee-specific initialization.""" + physics_client_id, pybullet_robot, bodies = super( + ).initialize_pybullet(using_gui) + + # Draw the workspace on the table for clarity. + for z in [cls.z_lb, cls.z_ub]: + p.addUserDebugLine([cls.x_lb, cls.y_lb, z], + [cls.x_ub, cls.y_lb, z], [1.0, 0.0, 0.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.x_lb, cls.y_ub, z], + [cls.x_ub, cls.y_ub, z], [1.0, 0.0, 0.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.x_lb, cls.y_lb, z], + [cls.x_lb, cls.y_ub, z], [1.0, 0.0, 0.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.x_ub, cls.y_lb, z], + [cls.x_ub, cls.y_ub, z], [1.0, 0.0, 0.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + # Draw different sampling regions for reference. + p.addUserDebugLine([cls.jug_init_x_lb, cls.jug_init_y_lb, cls.z_lb], + [cls.jug_init_x_ub, cls.jug_init_y_lb, cls.z_lb], + [0.0, 0.0, 1.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.jug_init_x_lb, cls.jug_init_y_ub, cls.z_lb], + [cls.jug_init_x_ub, cls.jug_init_y_ub, cls.z_lb], + [0.0, 0.0, 1.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.jug_init_x_lb, cls.jug_init_y_lb, cls.z_lb], + [cls.jug_init_x_lb, cls.jug_init_y_ub, cls.z_lb], + [0.0, 0.0, 1.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.jug_init_x_ub, cls.jug_init_y_lb, cls.z_lb], + [cls.jug_init_x_ub, cls.jug_init_y_ub, cls.z_lb], + [0.0, 0.0, 1.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.cup_init_x_lb, cls.cup_init_y_lb, cls.z_lb], + [cls.cup_init_x_ub, cls.cup_init_y_lb, cls.z_lb], + [0.0, 0.0, 1.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.cup_init_x_lb, cls.cup_init_y_ub, cls.z_lb], + [cls.cup_init_x_ub, cls.cup_init_y_ub, cls.z_lb], + [0.0, 0.0, 1.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.cup_init_x_lb, cls.cup_init_y_lb, cls.z_lb], + [cls.cup_init_x_lb, cls.cup_init_y_ub, cls.z_lb], + [0.0, 0.0, 1.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugLine([cls.cup_init_x_ub, cls.cup_init_y_lb, cls.z_lb], + [cls.cup_init_x_ub, cls.cup_init_y_ub, cls.z_lb], + [0.0, 0.0, 1.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + # Draw coordinate frame labels for reference. + p.addUserDebugLine([0, 0, 0], [0.25, 0, 0], [1.0, 0.0, 0.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugText("x", [0.25, 0, 0], [0.0, 0.0, 0.0], + physicsClientId=physics_client_id) + p.addUserDebugLine([0, 0, 0], [0.0, 0.25, 0], [1.0, 0.0, 0.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugText("y", [0, 0.25, 0], [0.0, 0.0, 0.0], + physicsClientId=physics_client_id) + p.addUserDebugLine([0, 0, 0], [0.0, 0, 0.25], [1.0, 0.0, 0.0], + lineWidth=5.0, + physicsClientId=physics_client_id) + p.addUserDebugText("z", [0, 0, 0.25], [0.0, 0.0, 0.0], + physicsClientId=physics_client_id) + + # Load table. + table_id = p.loadURDF(utils.get_env_asset_path("urdf/table.urdf"), + useFixedBase=True, + physicsClientId=physics_client_id) + p.resetBasePositionAndOrientation(table_id, + cls.table_pose, + cls.table_orientation, + physicsClientId=physics_client_id) + bodies["table_id"] = table_id + + ## Load coffee machine. + + # Create the collision shape. + half_extents = ( + cls.machine_x_len / 2, + cls.machine_y_len / 2, + cls.machine_z_len / 2, + ) + collision_id = p.createCollisionShape( + p.GEOM_BOX, + halfExtents=half_extents, + physicsClientId=physics_client_id) + + # Create the visual_shape. + visual_id = p.createVisualShape(p.GEOM_BOX, + halfExtents=half_extents, + rgbaColor=(0.7, 0.7, 0.7, 1.0), + physicsClientId=physics_client_id) + + # Create the body. + pose = ( + cls.machine_x, + cls.machine_y, + cls.z_lb + cls.machine_z_len / 2, + ) + orientation = cls._default_orn + machine_id = p.createMultiBody(baseMass=0, + baseCollisionShapeIndex=collision_id, + baseVisualShapeIndex=visual_id, + basePosition=pose, + baseOrientation=orientation, + physicsClientId=physics_client_id) + + bodies["machine_id"] = machine_id + + ## Create the dispense area. + dispense_radius = 2 * cls.jug_radius + dispense_height = 0.005 + pose = (cls.dispense_area_x, cls.dispense_area_y, + cls.z_lb + dispense_height) + orientation = cls._default_orn + half_extents = [ + 1.1 * dispense_radius, 1.1 * dispense_radius, dispense_height + ] + + # Create a square beneath the dispense area for visual niceness. + collision_id = p.createCollisionShape( + p.GEOM_BOX, + halfExtents=half_extents, + physicsClientId=physics_client_id) + + # Create the visual_shape. + visual_id = p.createVisualShape(p.GEOM_BOX, + halfExtents=half_extents, + rgbaColor=(0.3, 0.3, 0.3, 1.0), + physicsClientId=physics_client_id) + + # Create the body. + p.createMultiBody(baseMass=0, + baseCollisionShapeIndex=collision_id, + baseVisualShapeIndex=visual_id, + basePosition=np.add(pose, (0, 0, -dispense_height)), + baseOrientation=orientation, + physicsClientId=physics_client_id) + + # Create the collision shape. + collision_id = p.createCollisionShape( + p.GEOM_CYLINDER, + radius=dispense_radius, + height=dispense_height, + physicsClientId=physics_client_id) + + # Create the visual_shape. + visual_id = p.createVisualShape(p.GEOM_CYLINDER, + radius=dispense_radius, + length=dispense_height, + rgbaColor=(0.6, 0.6, 0.6, 0.8), + physicsClientId=physics_client_id) + + # Create the body. + dispense_area_id = p.createMultiBody( + baseMass=0, + baseCollisionShapeIndex=collision_id, + baseVisualShapeIndex=visual_id, + basePosition=pose, + baseOrientation=orientation, + physicsClientId=physics_client_id) + + bodies["dispense_area_id"] = dispense_area_id + + # Add a button. Could do this as a link on the machine, but since + # both never move, it doesn't matter. + button_height = cls.button_radius / 2 + collision_id = p.createCollisionShape( + p.GEOM_CYLINDER, + radius=cls.button_radius, + height=button_height, + physicsClientId=physics_client_id) + + # Create the visual_shape. + visual_id = p.createVisualShape(p.GEOM_CYLINDER, + radius=cls.button_radius, + length=button_height, + rgbaColor=(0.5, 0.2, 0.2, 1.0), + physicsClientId=physics_client_id) + + # Create the body. + pose = ( + cls.button_x, + cls.button_y, + cls.button_z, + ) + + # Facing outward. + orientation = p.getQuaternionFromEuler([0.0, np.pi / 2, np.pi / 2]) + button_id = p.createMultiBody(baseMass=0, + baseCollisionShapeIndex=collision_id, + baseVisualShapeIndex=visual_id, + basePosition=pose, + baseOrientation=orientation, + physicsClientId=physics_client_id) + + bodies["button_id"] = button_id + + # Load coffee jug. + + # Create the body. + # This pose doesn't matter because it gets overwritten in reset. + jug_pose = ((cls.jug_init_x_lb + cls.jug_init_x_ub) / 2, + (cls.jug_init_y_lb + cls.jug_init_y_ub) / 2, + cls.z_lb + cls.jug_height / 2) + # The jug orientation updates based on the rotation of the state. + rot = (cls.jug_init_rot_lb + cls.jug_init_rot_ub) / 2 + jug_orientation = p.getQuaternionFromEuler([0.0, 0.0, rot - np.pi / 2]) + + jug_id = p.loadURDF(utils.get_env_asset_path("urdf/kettle.urdf"), + useFixedBase=True, + globalScaling=0.075, + physicsClientId=physics_client_id) + p.resetBasePositionAndOrientation(jug_id, + jug_pose, + jug_orientation, + physicsClientId=physics_client_id) + bodies["jug_id"] = jug_id + + return physics_client_id, pybullet_robot, bodies + + def _store_pybullet_bodies(self, pybullet_bodies: Dict[str, Any]) -> None: + self._table_id = pybullet_bodies["table_id"] + self._jug_id = pybullet_bodies["jug_id"] + self._machine_id = pybullet_bodies["machine_id"] + self._dispense_area_id = pybullet_bodies["dispense_area_id"] + self._button_id = pybullet_bodies["button_id"] + + @classmethod + def _create_pybullet_robot( + cls, physics_client_id: int) -> SingleArmPyBulletRobot: + robot_ee_orn = cls.get_robot_ee_home_orn() + ee_home = Pose((cls.robot_init_x, cls.robot_init_y, cls.robot_init_z), + robot_ee_orn) + base_pose = Pose(cls.robot_base_pos, cls.robot_base_orn) + return create_single_arm_pybullet_robot(CFG.pybullet_robot, + physics_client_id, ee_home, + base_pose) + + def _extract_robot_state(self, state: State) -> Array: + qx, qy, qz, qw = self._state_to_gripper_orn(state) + f = state.get(self._robot, "fingers") + f = self.fingers_state_to_joint(self._pybullet_robot, f) + x = state.get(self._robot, "x") + y = state.get(self._robot, "y") + z = state.get(self._robot, "z") + return np.array([x, y, z, qx, qy, qz, qw, f], dtype=np.float32) + + @classmethod + def get_name(cls) -> str: + return "pybullet_coffee" + + def _reset_state(self, state: State) -> None: + """Run super(), then handle coffee-specific resetting.""" + super()._reset_state(state) + self._jug_filled = bool(state.get(self._jug, "is_filled") > 0.5) + + # Reset cups based on the state. + cup_objs = state.get_objects(self._cup_type) + + # Remove the old cups. + for old_cup_id in self._cup_id_to_cup: + p.removeBody(old_cup_id, physicsClientId=self._physics_client_id) + # Make new cups. + self._cup_id_to_cup = {} + self._cup_to_capacity = {} + for cup_idx, cup_obj in enumerate(cup_objs): + cup_cap = state.get(cup_obj, "capacity_liquid") + cup_height = cup_cap + cx = state.get(cup_obj, "x") + cy = state.get(cup_obj, "y") + cz = self.z_lb + cup_height / 2 + global_scale = 0.5 * cup_cap / self.cup_capacity_ub + self._cup_to_capacity[cup_obj] = cup_cap + + cup_id = p.loadURDF(utils.get_env_asset_path("urdf/cup.urdf"), + useFixedBase=True, + globalScaling=global_scale, + physicsClientId=self._physics_client_id) + # Rotate so handles face robot. + cup_orn = p.getQuaternionFromEuler([np.pi, np.pi, 0.0]) + p.resetBasePositionAndOrientation( + cup_id, (cx, cy, cz), + cup_orn, + physicsClientId=self._physics_client_id) + + # Create the visual_shape. + color = self.cup_colors[cup_idx % len(self.cup_colors)] + p.changeVisualShape(cup_id, + -1, + rgbaColor=color, + physicsClientId=self._physics_client_id) + + self._cup_id_to_cup[cup_id] = cup_obj + + # Create liquid in cups. + for liquid_id in self._cup_to_liquid_id.values(): + if liquid_id is not None: + p.removeBody(liquid_id, physicsClientId=self._physics_client_id) + self._cup_to_liquid_id.clear() + + for cup in state.get_objects(self._cup_type): + liquid_id = self._create_pybullet_liquid_for_cup(cup, state) + self._cup_to_liquid_id[cup] = liquid_id + + # NOTE: if the jug is held, the parent class should take care of it. + if not self._Holding_holds(state, [self._robot, self._jug]): + assert self._held_obj_to_base_link is None + jx = state.get(self._jug, "x") + jy = state.get(self._jug, "y") + jz = self._get_jug_z(state, self._jug) + self.jug_height / 2 + rot = state.get(self._jug, "rot") + jug_orientation = p.getQuaternionFromEuler( + [0.0, 0.0, rot - np.pi / 2]) + p.resetBasePositionAndOrientation( + self._jug_id, [jx, jy, jz], + jug_orientation, + physicsClientId=self._physics_client_id) + + # Update the button color. + if self._MachineOn_holds(state, [self._machine]) and \ + self._JugInMachine_holds(state, [self._jug, self._machine]): + button_color = self.button_color_on + plate_color = self.plate_color_on + else: + button_color = self.button_color_off + plate_color = self.plate_color_off + p.changeVisualShape(self._button_id, + -1, + rgbaColor=button_color, + physicsClientId=self._physics_client_id) + p.changeVisualShape(self._dispense_area_id, + -1, + rgbaColor=plate_color, + physicsClientId=self._physics_client_id) + + # Assert that the state was properly reconstructed. + reconstructed_state = self._get_state() + if not reconstructed_state.allclose(state): + logging.debug("Desired state:") + logging.debug(state.pretty_str()) + logging.debug("Reconstructed state:") + logging.debug(reconstructed_state.pretty_str()) + raise ValueError("Could not reconstruct state.") + + def _get_state(self) -> State: + """Create a State based on the current PyBullet state.""" + state_dict = {} + + # Get robot state. + rx, ry, rz, qx, qy, qz, qw, rf = self._pybullet_robot.get_state() + tilt, wrist = self._gripper_orn_to_tilt_wrist((qx, qy, qz, qw)) + fingers = self._fingers_joint_to_state(self._pybullet_robot, rf) + state_dict[self._robot] = { + "x": rx, + "y": ry, + "z": rz, + "tilt": tilt, + "wrist": wrist, + "fingers": fingers + } + joint_positions = self._pybullet_robot.get_joints() + + # Get cup states. + for cup_id, cup in self._cup_id_to_cup.items(): + + (x, y, _), _ = p.getBasePositionAndOrientation( + cup_id, physicsClientId=self._physics_client_id) + + capacity = self._cup_to_capacity[cup] + target_liquid = capacity * self.cup_target_frac + + # No liquid object is created if the current liquid is 0. + if self._cup_to_liquid_id.get(cup, None) is not None: + liquid_id = self._cup_to_liquid_id[cup] + liquid_height = p.getVisualShapeData( + liquid_id, + physicsClientId=self._physics_client_id, + )[0][3][0] + current_liquid = self._cup_liquid_height_to_liquid( + liquid_height, capacity) + else: + current_liquid = 0.0 + + state_dict[cup] = { + "x": x, + "y": y, + "capacity_liquid": capacity, + "target_liquid": target_liquid, + "current_liquid": current_liquid, + } + + # Get jug state. + (x, y, _), quat = p.getBasePositionAndOrientation( + self._jug_id, physicsClientId=self._physics_client_id) + rot = utils.wrap_angle(p.getEulerFromQuaternion(quat)[2] + np.pi / 2) + held = (self._jug_id == self._held_obj_id) + filled = float(self._jug_filled) + state_dict[self._jug] = { + "x": x, + "y": y, + "rot": rot, + "is_held": held, + "is_filled": filled, + } + + # Get machine state. + button_color = p.getVisualShapeData( + self._button_id, physicsClientId=self._physics_client_id)[0][-1] + button_color_on_dist = sum( + np.subtract(button_color, self.button_color_on)**2) + button_color_off_dist = sum( + np.subtract(button_color, self.button_color_off)**2) + machine_on = float(button_color_on_dist < button_color_off_dist) + state_dict[self._machine] = { + "is_on": machine_on, + } + + state = utils.create_state_from_dict(state_dict) + state = utils.PyBulletState(state.data, + simulator_state=joint_positions) + assert set(state) == set(self._current_state), \ + (f"Reconstructed state has objects {set(state)}, but " + f"self._current_state has objects {set(self._current_state)}.") + + return state + + def step(self, action: Action) -> State: + state = super().step(action) + # If the robot is sufficiently close to the button, turn on the machine + # and update the status of the jug. + if self._PressingButton_holds(state, [self._robot, self._machine]): + p.changeVisualShape(self._button_id, + -1, + rgbaColor=self.button_color_on, + physicsClientId=self._physics_client_id) + p.changeVisualShape(self._dispense_area_id, + -1, + rgbaColor=self.plate_color_on, + physicsClientId=self._physics_client_id) + self._jug_filled = True + self._current_observation = self._get_state() + state = self._current_observation.copy() + # If the robot is pouring into a cup, raise the liquid in it. + if abs(state.get(self._robot, "tilt") - + self.tilt_ub) < self.pour_angle_tol: + # Find the cup to pour into, if any. + cup = self._get_cup_to_pour(state) + # If pouring into nothing, noop. + if cup is None: + return state + # Increase the liquid in the cup. + current_liquid = state.get(cup, "current_liquid") + new_liquid = current_liquid + self.pour_velocity + state.set(cup, "current_liquid", new_liquid) + old_liquid_id = self._cup_to_liquid_id[cup] + if old_liquid_id is not None: + p.removeBody(old_liquid_id, + physicsClientId=self._physics_client_id) + self._cup_to_liquid_id[cup] = self._create_pybullet_liquid_for_cup( + cup, state) + self._current_observation = self._get_state() + state = self._current_observation.copy() + return state + + def _get_tasks(self, num: int, num_cups_lst: List[int], + rng: np.random.Generator) -> List[EnvironmentTask]: + tasks = super()._get_tasks(num, num_cups_lst, rng) + return self._add_pybullet_state_to_tasks(tasks) + + def _load_task_from_json(self, json_file: Path) -> EnvironmentTask: + task = super()._load_task_from_json(json_file) + return self._add_pybullet_state_to_tasks([task])[0] + + def _get_object_ids_for_held_check(self) -> List[int]: + return {self._jug_id} + + def _get_expected_finger_normals(self) -> Dict[int, Array]: + if CFG.pybullet_robot == "fetch": + # gripper parallel to y-axis + normal = np.array([0., 1., 0.], dtype=np.float32) + else: # pragma: no cover + # Shouldn't happen unless we introduce a new robot. + raise ValueError(f"Unknown robot {CFG.pybullet_robot}") + + return { + self._pybullet_robot.left_finger_id: normal, + self._pybullet_robot.right_finger_id: -1 * normal, + } + + def _state_to_gripper_orn(self, state: State) -> Quaternion: + wrist = state.get(self._robot, "wrist") + tilt = state.get(self._robot, "tilt") + return self.tilt_wrist_to_gripper_orn(tilt, wrist) + + @classmethod + def tilt_wrist_to_gripper_orn(cls, tilt: float, + wrist: float) -> Quaternion: + """Public for oracle options.""" + return p.getQuaternionFromEuler([0.0, tilt, wrist]) + + def _gripper_orn_to_tilt_wrist(self, + orn: Quaternion) -> Tuple[float, float]: + _, tilt, wrist = p.getEulerFromQuaternion(orn) + return (tilt, wrist) + + @classmethod + def fingers_state_to_joint(cls, pybullet_robot: SingleArmPyBulletRobot, + finger_state: float) -> float: + """Map the fingers in the given State to joint values for PyBullet.""" + subs = { + cls.open_fingers: pybullet_robot.open_fingers, + cls.closed_fingers: pybullet_robot.closed_fingers, + } + match = min(subs, key=lambda k: abs(k - finger_state)) + return subs[match] + + @classmethod + def _fingers_joint_to_state(cls, pybullet_robot: SingleArmPyBulletRobot, + finger_joint: float) -> float: + """Inverse of _fingers_state_to_joint().""" + subs = { + pybullet_robot.open_fingers: cls.open_fingers, + pybullet_robot.closed_fingers: cls.closed_fingers, + } + match = min(subs, key=lambda k: abs(k - finger_joint)) + return subs[match] + + def _cup_liquid_to_liquid_height(self, liquid: float, + capacity: float) -> float: + scale = 0.5 * np.sqrt(capacity / self.cup_capacity_ub) + return liquid * scale + + def _cup_liquid_height_to_liquid(self, height: float, + capacity: float) -> float: + scale = 0.5 * np.sqrt(capacity / self.cup_capacity_ub) + return height / scale + + def _cup_to_liquid_radius(self, capacity: float) -> float: + scale = 1.5 * np.sqrt(capacity / self.cup_capacity_ub) + return self.cup_radius * scale + + def _create_pybullet_liquid_for_cup(self, cup: Object, + state: State) -> Optional[int]: + current_liquid = state.get(cup, "current_liquid") + cup_cap = state.get(cup, "capacity_liquid") + liquid_height = self._cup_liquid_to_liquid_height( + current_liquid, cup_cap) + liquid_radius = self._cup_to_liquid_radius(cup_cap) + if current_liquid == 0: + return None + cx = state.get(cup, "x") + cy = state.get(cup, "y") + cz = self.z_lb + current_liquid / 2 + 0.025 + + collision_id = p.createCollisionShape( + p.GEOM_CYLINDER, + radius=liquid_radius, + height=liquid_height, + physicsClientId=self._physics_client_id) + + visual_id = p.createVisualShape( + p.GEOM_CYLINDER, + radius=liquid_radius, + length=liquid_height, + rgbaColor=(0.35, 0.1, 0.0, 1.0), + physicsClientId=self._physics_client_id) + + pose = (cx, cy, cz) + orientation = self._default_orn + return p.createMultiBody(baseMass=0, + baseCollisionShapeIndex=collision_id, + baseVisualShapeIndex=visual_id, + basePosition=pose, + baseOrientation=orientation, + physicsClientId=self._physics_client_id) diff --git a/predicators/envs/pybullet_env.py b/predicators/envs/pybullet_env.py index 02c6822d33..73054b8031 100644 --- a/predicators/envs/pybullet_env.py +++ b/predicators/envs/pybullet_env.py @@ -197,6 +197,7 @@ def _reset_state(self, state: State) -> None: p.removeConstraint(self._held_constraint_id, physicsClientId=self._physics_client_id) self._held_constraint_id = None + self._held_obj_to_base_link = None self._held_obj_id = None # Reset robot. @@ -241,6 +242,7 @@ def render(self, return [rgb_array] def step(self, action: Action) -> Observation: + # Send the action to the robot. target_joint_positions = action.arr.tolist() self._pybullet_robot.set_motors(target_joint_positions) diff --git a/predicators/ground_truth_models/coffee/__init__.py b/predicators/ground_truth_models/coffee/__init__.py index ccb267865f..753898c72b 100644 --- a/predicators/ground_truth_models/coffee/__init__.py +++ b/predicators/ground_truth_models/coffee/__init__.py @@ -1,6 +1,10 @@ """Ground-truth models for coffee environment and variants.""" from .nsrts import CoffeeGroundTruthNSRTFactory -from .options import CoffeeGroundTruthOptionFactory +from .options import CoffeeGroundTruthOptionFactory, \ + PyBulletCoffeeGroundTruthOptionFactory -__all__ = ["CoffeeGroundTruthNSRTFactory", "CoffeeGroundTruthOptionFactory"] +__all__ = [ + "CoffeeGroundTruthNSRTFactory", "CoffeeGroundTruthOptionFactory", + "PyBulletCoffeeGroundTruthOptionFactory" +] diff --git a/predicators/ground_truth_models/coffee/nsrts.py b/predicators/ground_truth_models/coffee/nsrts.py index abff92a94c..d4dec9861a 100644 --- a/predicators/ground_truth_models/coffee/nsrts.py +++ b/predicators/ground_truth_models/coffee/nsrts.py @@ -15,7 +15,7 @@ class CoffeeGroundTruthNSRTFactory(GroundTruthNSRTFactory): @classmethod def get_env_names(cls) -> Set[str]: - return {"coffee"} + return {"coffee", "pybullet_coffee"} @staticmethod def get_nsrts(env_name: str, types: Dict[str, Type], diff --git a/predicators/ground_truth_models/coffee/options.py b/predicators/ground_truth_models/coffee/options.py index ff5bafba8d..dfc77484a6 100644 --- a/predicators/ground_truth_models/coffee/options.py +++ b/predicators/ground_truth_models/coffee/options.py @@ -1,12 +1,20 @@ """Ground-truth options for the coffee environment.""" +from functools import lru_cache from typing import ClassVar, Dict, Sequence, Set, Tuple +from typing import Type as TypingType import numpy as np from gym.spaces import Box +from predicators import utils from predicators.envs.coffee import CoffeeEnv +from predicators.envs.pybullet_coffee import PyBulletCoffeeEnv from predicators.ground_truth_models import GroundTruthOptionFactory +from predicators.pybullet_helpers.controllers import \ + get_change_fingers_action, get_move_end_effector_to_pose_action +from predicators.pybullet_helpers.geometry import Pose +from predicators.pybullet_helpers.robots import SingleArmPyBulletRobot from predicators.settings import CFG from predicators.structs import Action, Array, Object, ParameterizedOption, \ ParameterizedPolicy, Predicate, State, Type @@ -19,6 +27,7 @@ class CoffeeGroundTruthOptionFactory(GroundTruthOptionFactory): twist_policy_tol: ClassVar[float] = 1e-1 pick_policy_tol: ClassVar[float] = 1e-1 pour_policy_tol: ClassVar[float] = 1e-1 + env_cls: ClassVar[TypingType[CoffeeEnv]] = CoffeeEnv @classmethod def get_env_names(cls) -> Set[str]: @@ -165,16 +174,16 @@ def policy(state: State, memory: Dict, objects: Sequence[Object], robot_pos = (x, y, z) jug_x = state.get(jug, "x") jug_y = state.get(jug, "y") - jug_z = CoffeeEnv.jug_height + jug_z = cls.env_cls.jug_height jug_top = (jug_x, jug_y, jug_z) xy_sq_dist = (jug_x - x)**2 + (jug_y - y)**2 # If at the correct x and y position, move directly toward the # target. if xy_sq_dist < cls.twist_policy_tol: - return cls._get_move_action(jug_top, robot_pos) + return cls._get_move_action(state, jug_top, robot_pos) # Move to the position above the jug. - return cls._get_move_action((jug_x, jug_y, CoffeeEnv.robot_init_z), - robot_pos) + return cls._get_move_action( + state, (jug_x, jug_y, cls.env_cls.robot_init_z), robot_pos) return policy @@ -191,19 +200,19 @@ def policy(state: State, memory: Dict, objects: Sequence[Object], norm_desired_rot, = params desired_rot = norm_desired_rot * CFG.coffee_jug_init_rot_amt delta_rot = np.clip(desired_rot - current_rot, - -CoffeeEnv.max_angular_vel, - CoffeeEnv.max_angular_vel) + -cls.env_cls.max_angular_vel, + cls.env_cls.max_angular_vel) if abs(delta_rot) < cls.twist_policy_tol: # Move up to stop twisting. x = state.get(robot, "x") y = state.get(robot, "y") z = state.get(robot, "z") robot_pos = (x, y, z) - return cls._get_move_action((x, y, CoffeeEnv.robot_init_z), + return cls._get_move_action(state, + (x, y, cls.env_cls.robot_init_z), robot_pos) - dtwist = delta_rot / CoffeeEnv.max_angular_vel - return Action( - np.array([0.0, 0.0, 0.0, 0.0, dtwist, 0.0], dtype=np.float32)) + dtwist = delta_rot / cls.env_cls.max_angular_vel + return cls._get_twist_action(dtwist) return policy @@ -225,33 +234,34 @@ def policy(state: State, memory: Dict, objects: Sequence[Object], # If close enough, pick. sq_dist_to_handle = np.sum(np.subtract(handle_pos, robot_pos)**2) if sq_dist_to_handle < cls.pick_policy_tol: - return Action( - np.array([0.0, 0.0, 0.0, 0.0, 0.0, -1.0], - dtype=np.float32)) + return cls._get_pick_action(state) target_x, target_y, target_z = handle_pos # Distance to the handle in the x/z plane. xz_handle_sq_dist = (target_x - x)**2 + (target_z - z)**2 # Distance to the penultimate waypoint in the x/y plane. - waypoint_y = target_y - CoffeeEnv.pick_jug_y_padding + waypoint_y = target_y - cls.env_cls.pick_jug_y_padding # Distance in the z direction to a safe move distance. - safe_z_sq_dist = (CoffeeEnv.robot_init_z - z)**2 + safe_z_sq_dist = (cls.env_cls.robot_init_z - z)**2 xy_waypoint_sq_dist = (target_x - x)**2 + (waypoint_y - y)**2 # If at the correct x and z position and behind in the y direction, # move directly toward the target. if target_y > y and xz_handle_sq_dist < cls.pick_policy_tol: - return cls._get_move_action(handle_pos, robot_pos) + return cls._get_move_action(state, handle_pos, robot_pos) # If close enough to the penultimate waypoint in the x/y plane, # move to the waypoint (in the z direction). if xy_waypoint_sq_dist < cls.pick_policy_tol: - return cls._get_move_action((target_x, waypoint_y, target_z), + return cls._get_move_action(state, + (target_x, waypoint_y, target_z), robot_pos) # If at a safe height, move to the position above the penultimate # waypoint, still at a safe height. - if safe_z_sq_dist < CoffeeEnv.safe_z_tol: + if safe_z_sq_dist < cls.env_cls.safe_z_tol: return cls._get_move_action( - (target_x, waypoint_y, CoffeeEnv.robot_init_z), robot_pos) + state, (target_x, waypoint_y, cls.env_cls.robot_init_z), + robot_pos) # Move up to a safe height. - return cls._get_move_action((x, y, CoffeeEnv.robot_init_z), + return cls._get_move_action(state, + (x, y, cls.env_cls.robot_init_z), robot_pos) return policy @@ -261,29 +271,39 @@ def _create_place_jug_in_machine_policy(cls) -> ParameterizedPolicy: def policy(state: State, memory: Dict, objects: Sequence[Object], params: Array) -> Action: - # This policy picks the jug up slightly above the table to avoid - # worrying about friction, then moves directly to the place - # position, then places the jug. + # This policy moves directly to place the jug. del memory, params # unused robot, jug, _ = objects + + # Get the current robot position. + x = state.get(robot, "x") + y = state.get(robot, "y") + z = state.get(robot, "z") + robot_pos = (x, y, z) + + # Get the difference between the jug location and the target. # Use the jug position as the origin. - x = state.get(jug, "x") - y = state.get(jug, "y") - z = state.get(robot, "z") - CoffeeEnv.jug_handle_height - jug_pos = (x, y, z) - place_pos = (CoffeeEnv.dispense_area_x, CoffeeEnv.dispense_area_y, - CoffeeEnv.z_lb) + jx = state.get(jug, "x") + jy = state.get(jug, "y") + jz = cls.env_cls.z_lb + cls.env_cls.jug_height + current_jug_pos = (jx, jy, jz) + target_jug_pos = (cls.env_cls.dispense_area_x, + cls.env_cls.dispense_area_y, + cls.env_cls.z_lb + cls.env_cls.jug_handle_height) + dx, dy, dz = np.subtract(target_jug_pos, current_jug_pos) + + # Get the target robot position. + target_robot_pos = (x + dx, y + dy, z + dz) # If close enough, place. - sq_dist_to_place = np.sum(np.subtract(jug_pos, place_pos)**2) - if sq_dist_to_place < CoffeeEnv.place_jug_in_machine_tol: - return Action( - np.array([0.0, 0.0, 0.0, 0.0, 0.0, 1.0], dtype=np.float32)) + sq_dist_to_place = np.sum( + np.subtract(robot_pos, target_robot_pos)**2) + if sq_dist_to_place < cls.env_cls.place_jug_in_machine_tol: + return cls._get_place_action(state) # If already above the table, move directly toward the place pos. - if z > CoffeeEnv.z_lb: - return cls._get_move_action(place_pos, jug_pos) - # Move up. - return cls._get_move_action((x, y, z + CoffeeEnv.max_position_vel), - jug_pos) + return cls._get_move_action(state, + target_robot_pos, + robot_pos, + finger_status="closed") return policy @@ -300,13 +320,14 @@ def policy(state: State, memory: Dict, objects: Sequence[Object], y = state.get(robot, "y") z = state.get(robot, "z") robot_pos = (x, y, z) - button_pos = (CoffeeEnv.button_x, CoffeeEnv.button_y, - CoffeeEnv.button_z) - if (CoffeeEnv.button_z - z)**2 < CoffeeEnv.button_radius**2: + button_pos = (cls.env_cls.button_x, cls.env_cls.button_y, + cls.env_cls.button_z) + if (cls.env_cls.button_z - z)**2 < cls.env_cls.button_radius**2: # Move directly toward the button. - return cls._get_move_action(button_pos, robot_pos) + return cls._get_move_action(state, button_pos, robot_pos) # Move only in the z direction. - return cls._get_move_action((x, y, CoffeeEnv.button_z), robot_pos) + return cls._get_move_action(state, (x, y, cls.env_cls.button_z), + robot_pos) return policy @@ -320,8 +341,8 @@ def policy(state: State, memory: Dict, objects: Sequence[Object], # pour, we need to start by rotating the cup to prevent any further # pouring until we've moved over the next cup. del memory, params # unused - move_tilt = CoffeeEnv.tilt_lb - pour_tilt = CoffeeEnv.tilt_ub + move_tilt = cls.env_cls.tilt_lb + pour_tilt = cls.env_cls.tilt_ub robot, jug, cup = objects robot_x = state.get(robot, "x") robot_y = state.get(robot, "y") @@ -333,26 +354,41 @@ def policy(state: State, memory: Dict, objects: Sequence[Object], jug_z = cls._get_jug_z(state, robot, jug) jug_pos = (jug_x, jug_y, jug_z) pour_x, pour_y, _ = pour_pos = cls._get_pour_position(state, cup) + dx, dy, dz = np.subtract(pour_pos, jug_pos) + # Get the target robot position. + robot_pour_pos = (robot_x + dx, robot_y + dy, robot_z + dz) # If we're close enough to the pour position, pour. sq_dist_to_pour = np.sum(np.subtract(jug_pos, pour_pos)**2) if sq_dist_to_pour < cls.pour_policy_tol: dtilt = pour_tilt - tilt - return cls._get_move_action(jug_pos, jug_pos, dtilt=dtilt) + return cls._get_move_action(state, + robot_pos, + robot_pos, + dtilt=dtilt, + finger_status="closed") dtilt = move_tilt - tilt # If we're above the pour position, move down to pour. xy_pour_sq_dist = (jug_x - pour_x)**2 + (jug_y - pour_y)**2 - if xy_pour_sq_dist < CoffeeEnv.safe_z_tol: - return cls._get_move_action(pour_pos, jug_pos, dtilt=dtilt) + if xy_pour_sq_dist < cls.env_cls.safe_z_tol: + return cls._get_move_action(state, + robot_pour_pos, + robot_pos, + dtilt=0.0, + finger_status="closed") # If we're at a safe height, move toward above the pour position. - if (robot_z - CoffeeEnv.robot_init_z)**2 < CoffeeEnv.safe_z_tol: - return cls._get_move_action((pour_x, pour_y, jug_z), - jug_pos, - dtilt=dtilt) - # Move to a safe moving height. + if (robot_z - + cls.env_cls.robot_init_z)**2 < cls.env_cls.safe_z_tol: + return cls._get_move_action( + state, (robot_pour_pos[0], robot_pour_pos[1], robot_z), + robot_pos, + dtilt=0.0, + finger_status="closed") + # Move backward and to a safe moving height. return cls._get_move_action( - (robot_x, robot_y, CoffeeEnv.robot_init_z), + state, (robot_x, robot_y - 1e-1, cls.env_cls.robot_init_z), robot_pos, - dtilt=dtilt) + dtilt=0.0, + finger_status="closed") return policy @@ -360,10 +396,13 @@ def policy(state: State, memory: Dict, objects: Sequence[Object], @classmethod def _get_move_action(cls, + state: State, target_pos: Tuple[float, float, float], robot_pos: Tuple[float, float, float], dtilt: float = 0.0, - dwrist: float = 0.0) -> Action: + dwrist: float = 0.0, + finger_status: str = "open") -> Action: + del state, finger_status # used in PyBullet subclass # We want to move in this direction. delta = np.subtract(target_pos, robot_pos) # But we can only move at most max_position_vel in one step. @@ -371,36 +410,303 @@ def _get_move_action(cls, pos_norm = float(np.linalg.norm(delta)) # If the norm is more than max_position_vel, rescale the delta so # that its norm is max_position_vel. - if pos_norm > CoffeeEnv.max_position_vel: - delta = CoffeeEnv.max_position_vel * (delta / pos_norm) - pos_norm = CoffeeEnv.max_position_vel + if pos_norm > cls.env_cls.max_position_vel: + delta = cls.env_cls.max_position_vel * (delta / pos_norm) + pos_norm = cls.env_cls.max_position_vel # Now normalize so that the action values are between -1 and 1, as # expected by simulate and the action space. if pos_norm > 0: - delta = delta / CoffeeEnv.max_position_vel + delta = delta / cls.env_cls.max_position_vel dx, dy, dz = delta - dtilt = np.clip(dtilt, -CoffeeEnv.max_angular_vel, - CoffeeEnv.max_angular_vel) - dtilt = dtilt / CoffeeEnv.max_angular_vel + dtilt = np.clip(dtilt, -cls.env_cls.max_angular_vel, + cls.env_cls.max_angular_vel) + dtilt = dtilt / cls.env_cls.max_angular_vel return Action( np.array([dx, dy, dz, dtilt, dwrist, 0.0], dtype=np.float32)) + @classmethod + def _get_twist_action(cls, dtwist: float) -> Action: + return Action( + np.array([0.0, 0.0, 0.0, 0.0, dtwist, 0.0], dtype=np.float32)) + + @classmethod + def _get_pick_action(cls, state: State) -> Action: + del state # used by PyBullet subclass + return Action( + np.array([0.0, 0.0, 0.0, 0.0, 0.0, -1.0], dtype=np.float32)) + + @classmethod + def _get_place_action(cls) -> Action: + del state # used by PyBullet subclass + return Action( + np.array([0.0, 0.0, 0.0, 0.0, 0.0, 1.0], dtype=np.float32)) + @classmethod def _get_jug_handle_grasp(cls, state: State, jug: Object) -> Tuple[float, float, float]: # Hack to avoid duplicate code. - return CoffeeEnv._get_jug_handle_grasp(state, jug) # pylint: disable=protected-access + return cls.env_cls._get_jug_handle_grasp(state, jug) # pylint: disable=protected-access @classmethod def _get_jug_z(cls, state: State, robot: Object, jug: Object) -> float: assert state.get(jug, "is_held") > 0.5 # Offset to account for handle. - return state.get(robot, "z") - CoffeeEnv.jug_handle_height + return state.get(robot, "z") - cls.env_cls.jug_handle_height - @staticmethod - def _get_pour_position(state: State, + @classmethod + def _get_pour_position(cls, state: State, cup: Object) -> Tuple[float, float, float]: - target_x = state.get(cup, "x") + CoffeeEnv.pour_x_offset - target_y = state.get(cup, "y") + CoffeeEnv.pour_y_offset - target_z = CoffeeEnv.pour_z_offset + target_x = state.get(cup, "x") + cls.env_cls.pour_x_offset + target_y = state.get(cup, "y") + cls.env_cls.pour_y_offset + target_z = cls.env_cls.z_lb + cls.env_cls.pour_z_offset return (target_x, target_y, target_z) + + +@lru_cache +def _get_pybullet_robot() -> SingleArmPyBulletRobot: + _, pybullet_robot, _ = \ + PyBulletCoffeeEnv.initialize_pybullet(using_gui=False) + return pybullet_robot + + +class PyBulletCoffeeGroundTruthOptionFactory(CoffeeGroundTruthOptionFactory): + """Ground-truth options for the pybullet_coffee environment.""" + + env_cls: ClassVar[TypingType[CoffeeEnv]] = PyBulletCoffeeEnv + twist_policy_tol: ClassVar[float] = 1e-3 + pick_policy_tol: ClassVar[float] = 1e-3 + pour_policy_tol: ClassVar[float] = 1e-3 + _finger_action_nudge_magnitude: ClassVar[float] = 1e-3 + + @classmethod + def get_env_names(cls) -> Set[str]: + return {"pybullet_coffee"} + + @classmethod + def _get_move_action(cls, + state: State, + target_pos: Tuple[float, float, float], + robot_pos: Tuple[float, float, float], + dtilt: float = 0.0, + dwrist: float = 0.0, + finger_status: str = "open") -> Action: + pybullet_robot = _get_pybullet_robot() + + # Determine orientations. + robots = [r for r in state if r.type.name == "robot"] + assert len(robots) == 1 + robot = robots[0] + current_tilt = state.get(robot, "tilt") + current_wrist = state.get(robot, "wrist") + current_quat = PyBulletCoffeeEnv.tilt_wrist_to_gripper_orn( + current_tilt, current_wrist) + target_quat = PyBulletCoffeeEnv.tilt_wrist_to_gripper_orn( + current_tilt + dtilt, current_wrist + dwrist) + assert dwrist == 0.0 # temp + current_pose = Pose(robot_pos, current_quat) + target_pose = Pose(target_pos, target_quat) + assert isinstance(state, utils.PyBulletState) + current_joint_positions = state.joint_positions + + # import pybullet as p + # p.addUserDebugText("+", robot_pos, + # [0.0, 1.0, 0.0], + # physicsClientId=pybullet_robot.physics_client_id) + # p.addUserDebugText("*", target_pos, + # [1.0, 0.0, 0.0], + # physicsClientId=pybullet_robot.physics_client_id) + + # import time + # time.sleep(1.0) + + return get_move_end_effector_to_pose_action( + pybullet_robot, current_joint_positions, current_pose, target_pose, + finger_status, CFG.pybullet_max_vel_norm, + cls._finger_action_nudge_magnitude) + + @classmethod + def _get_twist_action(cls, dtwist: float) -> Action: + import ipdb + ipdb.set_trace() + + @classmethod + def _get_finger_action(cls, state: State, + target_pybullet_fingers: float) -> Action: + pybullet_robot = _get_pybullet_robot() + robots = [r for r in state if r.type.name == "robot"] + assert len(robots) == 1 + robot = robots[0] + current_finger_state = state.get(robot, "fingers") + current_finger_joint = PyBulletCoffeeEnv.fingers_state_to_joint( + pybullet_robot, current_finger_state) + assert isinstance(state, utils.PyBulletState) + current_joint_positions = state.joint_positions + + return get_change_fingers_action( + pybullet_robot, + current_joint_positions, + current_finger_joint, + target_pybullet_fingers, + CFG.pybullet_max_vel_norm, + ) + + @classmethod + def _get_pick_action(cls, state: State) -> Action: + pybullet_robot = _get_pybullet_robot() + return cls._get_finger_action(state, pybullet_robot.closed_fingers) + + @classmethod + def _get_place_action(cls, state: State) -> Action: + pybullet_robot = _get_pybullet_robot() + return cls._get_finger_action(state, pybullet_robot.open_fingers) + + +# class PyBulletCoffeeGroundTruthOptionFactory(GroundTruthOptionFactory): +# """Ground-truth options for the pybullet_coffee environment.""" + +# @classmethod +# def get_env_names(cls) -> Set[str]: +# return {"pybullet_coffee"} + +# @classmethod +# def get_options(cls, env_name: str, types: Dict[str, Type], +# predicates: Dict[str, Predicate], +# action_space: Box) -> Set[ParameterizedOption]: + +# # The options are the same as in the regular coffee environment, except +# # for the policies. +# coffee_options = CoffeeGroundTruthOptionFactory.get_options( +# "coffee", types, predicates, action_space) +# coffee_option_name_to_option = {o.name: o for o in coffee_options} + +# # MoveToTwistJug +# coffee_MoveToTwistJug = coffee_option_name_to_option["MoveToTwistJug"] +# MoveToTwistJug = ParameterizedOption( +# coffee_MoveToTwistJug.name, +# types=coffee_MoveToTwistJug.types, +# params_space=coffee_MoveToTwistJug.params_space, +# policy=cls._create_move_to_twist_policy(), +# initiable=coffee_MoveToTwistJug.initiable, +# terminal=coffee_MoveToTwistJug.terminal) + +# # TwistJug +# coffee_TwistJug = coffee_option_name_to_option["TwistJug"] +# TwistJug = ParameterizedOption( +# coffee_TwistJug.name, +# types=coffee_TwistJug.types, +# params_space=coffee_TwistJug.params_space, +# policy=cls._create_twist_jug_policy(), +# initiable=coffee_TwistJug.initiable, +# terminal=coffee_TwistJug.terminal, +# ) + +# # PickJug +# coffee_PickJug = coffee_option_name_to_option["PickJug"] +# PickJug = ParameterizedOption( +# coffee_PickJug.name, +# types=coffee_PickJug.types, +# params_space=coffee_PickJug.params_space, +# policy=cls._create_pick_jug_policy(), +# initiable=coffee_PickJug.initiable, +# terminal=coffee_PickJug.terminal, +# ) + +# # PlaceJugInMachine +# coffee_PlaceJugInMachine = \ +# coffee_option_name_to_option["PlaceJugInMachine"] +# PlaceJugInMachine = ParameterizedOption( +# coffee_PlaceJugInMachine.name, +# types=coffee_PlaceJugInMachine.types, +# params_space=coffee_PlaceJugInMachine.params_space, +# policy=cls._create_place_jug_in_machine_policy(), +# initiable=coffee_PlaceJugInMachine.initiable, +# terminal=coffee_PlaceJugInMachine.terminal, +# ) + +# # TurnMachineOn +# coffee_TurnMachineOn = coffee_option_name_to_option["TurnMachineOn"] +# TurnMachineOn = ParameterizedOption( +# coffee_TurnMachineOn.name, +# types=coffee_TurnMachineOn.types, +# params_space=coffee_TurnMachineOn.params_space, +# policy=cls._create_turn_machine_on_policy(), +# initiable=coffee_TurnMachineOn.initiable, +# terminal=coffee_TurnMachineOn.terminal, +# ) + +# # Pour +# coffee_Pour = coffee_option_name_to_option["Pour"] +# Pour = ParameterizedOption( +# coffee_Pour.name, +# types=coffee_Pour.types, +# params_space=coffee_Pour.params_space, +# policy=cls._create_pour_policy(), +# initiable=coffee_Pour.initiable, +# terminal=coffee_Pour.terminal, +# ) + +# return { +# TwistJug, PickJug, PlaceJugInMachine, TurnMachineOn, Pour, +# MoveToTwistJug +# } + +# @classmethod +# def _create_move_to_twist_policy(cls) -> ParameterizedPolicy: + +# def policy(state: State, memory: Dict, objects: Sequence[Object], +# params: Array) -> Action: +# import ipdb +# ipdb.set_trace() + +# return policy + +# @classmethod +# def _create_twist_jug_policy(cls) -> ParameterizedPolicy: + +# def policy(state: State, memory: Dict, objects: Sequence[Object], +# params: Array) -> Action: + +# import ipdb +# ipdb.set_trace() + +# return policy + +# @classmethod +# def _create_pick_jug_policy(cls) -> ParameterizedPolicy: + +# def policy(state: State, memory: Dict, objects: Sequence[Object], +# params: Array) -> Action: +# import ipdb +# ipdb.set_trace() + +# return policy + +# @classmethod +# def _create_place_jug_in_machine_policy(cls) -> ParameterizedPolicy: + +# def policy(state: State, memory: Dict, objects: Sequence[Object], +# params: Array) -> Action: +# import ipdb +# ipdb.set_trace() + +# return policy + +# @classmethod +# def _create_turn_machine_on_policy(cls) -> ParameterizedPolicy: + +# def policy(state: State, memory: Dict, objects: Sequence[Object], +# params: Array) -> Action: +# import ipdb +# ipdb.set_trace() + +# return policy + +# @classmethod +# def _create_pour_policy(cls) -> ParameterizedPolicy: + +# def policy(state: State, memory: Dict, objects: Sequence[Object], +# params: Array) -> Action: +# import ipdb +# ipdb.set_trace() + +# return policy diff --git a/predicators/pybullet_helpers/controllers.py b/predicators/pybullet_helpers/controllers.py index 8151e972b3..bb3e012bad 100644 --- a/predicators/pybullet_helpers/controllers.py +++ b/predicators/pybullet_helpers/controllers.py @@ -8,6 +8,7 @@ from predicators.pybullet_helpers.geometry import Pose from predicators.pybullet_helpers.inverse_kinematics import \ InverseKinematicsError +from predicators.pybullet_helpers.joint import JointPositions from predicators.pybullet_helpers.robots.single_arm import \ SingleArmPyBulletRobot from predicators.structs import Action, Array, Object, ParameterizedOption, \ @@ -16,6 +17,72 @@ _SUPPORTED_ROBOTS: Set[str] = {"fetch", "panda"} +def get_move_end_effector_to_pose_action( + robot: SingleArmPyBulletRobot, + current_joint_positions: JointPositions, + current_pose: Pose, + target_pose: Pose, + finger_status: str, + max_vel_norm: float, + finger_action_nudge_magnitude: float, +) -> Action: + """Get an action for moving the end effector to a target pose. + + See create_move_end_effector_to_pose_option() for more info. + """ + # Sync the joints. + robot.set_joints(current_joint_positions) + # First handle the main arm joints. + orn = target_pose.orientation + current = current_pose.position + target = target_pose.position + # Run IK to determine the target joint positions. + ee_delta = np.subtract(target, current) + # Reduce the target to conform to the max velocity constraint. + ee_norm = np.linalg.norm(ee_delta) + if ee_norm > max_vel_norm: + ee_delta = ee_delta * max_vel_norm / ee_norm + dx, dy, dz = np.add(current, ee_delta) + ee_action = Pose((dx, dy, dz), orn) + # Keep validate as False because validate=True would update the + # state of the robot during simulation, which overrides physics. + try: + # For the panda, always set the joints after running IK because + # IKFast is very sensitive to initialization, and it's easier to + # find good solutions on subsequent calls if we are already near + # a solution from the previous call. The fetch robot does not + # use IKFast, and in fact gets screwed up if we set joints here. + validate = robot.get_name() != "panda" + joint_positions = robot.inverse_kinematics( + ee_action, + validate=validate, + set_joints=True) + except InverseKinematicsError: + raise utils.OptionExecutionFailure("Inverse kinematics failed.") + # Handle the fingers. Fingers drift if left alone. + # When the fingers are not explicitly being opened or closed, we + # nudge the fingers toward being open or closed according to the + # finger status. + if finger_status == "open": + finger_delta = finger_action_nudge_magnitude + else: + assert finger_status == "closed" + finger_delta = -finger_action_nudge_magnitude + # Extract the current finger state. + finger_position = current_joint_positions[robot.left_finger_joint_idx] + # The finger action is an absolute joint position for the fingers. + f_action = finger_position + finger_delta + # Override the meaningless finger values in joint_action. + joint_positions[robot.left_finger_joint_idx] = f_action + joint_positions[robot.right_finger_joint_idx] = f_action + action_arr = np.array(joint_positions, dtype=np.float32) + # This clipping is needed sometimes for the joint limits. + action_arr = np.clip(action_arr, robot.action_space.low, + robot.action_space.high) + assert robot.action_space.contains(action_arr) + return Action(action_arr) + + def create_move_end_effector_to_pose_option( robot: SingleArmPyBulletRobot, name: str, @@ -40,62 +107,19 @@ def create_move_end_effector_to_pose_option( def _policy(state: State, memory: Dict, objects: Sequence[Object], params: Array) -> Action: del memory # unused - # Sync the joints. - assert isinstance(state, utils.PyBulletState) - robot.set_joints(state.joint_positions) - # First handle the main arm joints. - current_pose, target_pose, finger_status = \ - get_current_and_target_pose_and_finger_status( + current_pose, target_pose, finger_status = get_current_and_target_pose_and_finger_status( state, objects, params) - # This option currently assumes a fixed end effector orientation. - assert np.allclose(current_pose.orientation, target_pose.orientation) - orn = current_pose.orientation - current = current_pose.position - target = target_pose.position - # Run IK to determine the target joint positions. - ee_delta = np.subtract(target, current) - # Reduce the target to conform to the max velocity constraint. - ee_norm = np.linalg.norm(ee_delta) - if ee_norm > max_vel_norm: - ee_delta = ee_delta * max_vel_norm / ee_norm - dx, dy, dz = np.add(current, ee_delta) - ee_action = Pose((dx, dy, dz), orn) - # Keep validate as False because validate=True would update the - # state of the robot during simulation, which overrides physics. - try: - # For the panda, always set the joints after running IK because - # IKFast is very sensitive to initialization, and it's easier to - # find good solutions on subsequent calls if we are already near - # a solution from the previous call. The fetch robot does not - # use IKFast, and in fact gets screwed up if we set joints here. - joint_positions = robot.inverse_kinematics(ee_action, - validate=False, - set_joints=True) - except InverseKinematicsError: - raise utils.OptionExecutionFailure("Inverse kinematics failed.") - # Handle the fingers. Fingers drift if left alone. - # When the fingers are not explicitly being opened or closed, we - # nudge the fingers toward being open or closed according to the - # finger status. - if finger_status == "open": - finger_delta = finger_action_nudge_magnitude - else: - assert finger_status == "closed" - finger_delta = -finger_action_nudge_magnitude - # Extract the current finger state. - state = cast(utils.PyBulletState, state) - finger_position = state.joint_positions[robot.left_finger_joint_idx] - # The finger action is an absolute joint position for the fingers. - f_action = finger_position + finger_delta - # Override the meaningless finger values in joint_action. - joint_positions[robot.left_finger_joint_idx] = f_action - joint_positions[robot.right_finger_joint_idx] = f_action - action_arr = np.array(joint_positions, dtype=np.float32) - # This clipping is needed sometimes for the joint limits. - action_arr = np.clip(action_arr, robot.action_space.low, - robot.action_space.high) - assert robot.action_space.contains(action_arr) - return Action(action_arr) + assert isinstance(state, utils.PyBulletState) + current_joint_positions = state.joint_positions + return get_move_end_effector_to_pose_action( + robot, + current_joint_positions, + current_pose, + target_pose, + finger_status, + max_vel_norm, + finger_action_nudge_magnitude, + ) def _terminal(state: State, memory: Dict, objects: Sequence[Object], params: Array) -> bool: @@ -118,6 +142,23 @@ def _terminal(state: State, memory: Dict, objects: Sequence[Object], terminal=_terminal) +def get_change_fingers_action(robot: SingleArmPyBulletRobot, + current_joint_positions: JointPositions, + current_val: float, target_val: float, + max_vel_norm: float) -> Action: + f_delta = target_val - current_val + f_delta = np.clip(f_delta, -max_vel_norm, max_vel_norm) + f_action = current_val + f_delta + # Don't change the rest of the joints. + target = np.array(current_joint_positions, dtype=np.float32) + target[robot.left_finger_joint_idx] = f_action + target[robot.right_finger_joint_idx] = f_action + # This clipping is needed sometimes for the joint limits. + target = np.clip(target, robot.action_space.low, robot.action_space.high) + assert robot.action_space.contains(target) + return Action(target) + + def create_change_fingers_option( robot: SingleArmPyBulletRobot, name: str, @@ -141,19 +182,8 @@ def _policy(state: State, memory: Dict, objects: Sequence[Object], del memory # unused current_val, target_val = get_current_and_target_val( state, objects, params) - f_delta = target_val - current_val - f_delta = np.clip(f_delta, -max_vel_norm, max_vel_norm) - f_action = current_val + f_delta - # Don't change the rest of the joints. - state = cast(utils.PyBulletState, state) - target = np.array(state.joint_positions, dtype=np.float32) - target[robot.left_finger_joint_idx] = f_action - target[robot.right_finger_joint_idx] = f_action - # This clipping is needed sometimes for the joint limits. - target = np.clip(target, robot.action_space.low, - robot.action_space.high) - assert robot.action_space.contains(target) - return Action(target) + return get_change_fingers_action(robot, current_val, target_val, + max_vel_norm) def _terminal(state: State, memory: Dict, objects: Sequence[Object], params: Array) -> bool: diff --git a/predicators/pybullet_helpers/robots/__init__.py b/predicators/pybullet_helpers/robots/__init__.py index 8935e7e775..fe7f6247c6 100644 --- a/predicators/pybullet_helpers/robots/__init__.py +++ b/predicators/pybullet_helpers/robots/__init__.py @@ -27,6 +27,7 @@ def create_single_arm_pybullet_robot( robot_name: str, physics_client_id: int, ee_home_pose: Optional[Pose] = None, + base_pose: Optional[Pose] = None, ) -> SingleArmPyBulletRobot: """Create a single-arm PyBullet robot.""" if robot_name not in _ROBOT_TO_CLS: @@ -37,8 +38,9 @@ def create_single_arm_pybullet_robot( f"Default home orn not specified for robot {robot_name}." ee_orientation = robot_to_ee_orn[robot_name] ee_home_pose = Pose(_DEFAULT_EE_HOME_POSITION, ee_orientation) - assert robot_name in _ROBOT_TO_BASE_POSE, \ - f"Base pose not specified for robot {robot_name}." - base_pose = _ROBOT_TO_BASE_POSE[robot_name] + if base_pose is None: + assert robot_name in _ROBOT_TO_BASE_POSE, \ + f"Base pose not specified for robot {robot_name}." + base_pose = _ROBOT_TO_BASE_POSE[robot_name] cls = _ROBOT_TO_CLS[robot_name] return cls(ee_home_pose, physics_client_id, base_pose=base_pose) diff --git a/predicators/utils.py b/predicators/utils.py index 93be4be80f..42e4e1026a 100644 --- a/predicators/utils.py +++ b/predicators/utils.py @@ -774,6 +774,11 @@ def geom2ds_intersect(geom1: _Geom2D, geom2: _Geom2D) -> bool: f"{geom1} and {geom2}") +def wrap_angle(angle: float) -> float: + """Wrap an angle in radians to [-pi, pi].""" + return np.arctan2(np.sin(angle), np.cos(angle)) + + @functools.lru_cache(maxsize=None) def unify(atoms1: FrozenSet[LiftedOrGroundAtom], atoms2: FrozenSet[LiftedOrGroundAtom]) -> Tuple[bool, EntToEntSub]: