From ed093f889bb7e94e9584a42bc35cc1fcc3ae24d8 Mon Sep 17 00:00:00 2001 From: Jeremy Morgan Date: Sun, 15 Dec 2024 21:13:08 -0500 Subject: [PATCH] added curobo_scratchpad.py. Getting 'Floating point exception (core dumped) ' when running get_world_self_collision_distance_from_joints --- .gitignore | 3 +- poetry.lock | 374 ++++++++++++++++++----------------- pyproject.toml | 2 +- scripts/curobo_scratchpad.py | 116 +++++++++++ thirdparty/.gitkeep | 0 5 files changed, 316 insertions(+), 179 deletions(-) create mode 100644 scripts/curobo_scratchpad.py create mode 100644 thirdparty/.gitkeep diff --git a/.gitignore b/.gitignore index 3484d31..4a31ab1 100644 --- a/.gitignore +++ b/.gitignore @@ -21,4 +21,5 @@ notebooks/*.pt notebooks/images/*/ notebooks/reports/*/ PLANNER_RESULTS*.md -notebooks/*.csv \ No newline at end of file +notebooks/*.csv +thirdparty/curobo \ No newline at end of file diff --git a/poetry.lock b/poetry.lock index 51cf002..e6737f1 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand. 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"https://github.com/jstmn/jrl.git" } ikflow = { git = "https://github.com/jstmn/ikflow.git" } psutil = "5.9.8" diff --git a/scripts/curobo_scratchpad.py b/scripts/curobo_scratchpad.py new file mode 100644 index 0000000..4d6eee5 --- /dev/null +++ b/scripts/curobo_scratchpad.py @@ -0,0 +1,116 @@ +import os +import torch +from time import sleep + +# from jrl.robots import Panda +import numpy as np +from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel, CudaRobotModelConfig, CudaRobotModelState +from curobo.cuda_robot_model.types import JointLimits +from curobo.types.base import TensorDeviceType +from curobo.types.robot import RobotConfig +from curobo.util_file import get_robot_path, join_path, load_yaml, get_content_path, get_assets_path +from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig +from scipy.spatial.transform import Rotation as ScipyRotation + +from robomeshcat import Scene as RmcScene, Robot as RmcRobot, Object as RmcObject + + +def oscillate_joints(robot: RmcRobot, robot_world: RobotWorld, joint_limits: JointLimits): + """Move the robot around""" + + inc = 0.005 + time_p_loop = 1 / 60 # 60Hz, in theory + + upper = joint_limits.position[0, :] + lower = joint_limits.position[1, :] + q = (upper + lower) / 2 + ndof = 7 + + def update_robot(_q): + for i in range(ndof): + robot[i] = _q[i] + sleep(time_p_loop) + print(robot_world.get_world_self_collision_distance_from_joints(_q.view(1, 7))) + + + for i in range(ndof): + l = lower[i] + u = lower[i] + + while q[i] < u: + q[i] += inc + update_robot(q) + + while q[i] > l: + q[i] -= inc + update_robot(q) + + while q[i] < (u + l) / 2.0: + q[i] += inc + update_robot(q) + + +if __name__ == "__main__": + + tensor_args = TensorDeviceType() + config_file = load_yaml("thirdparty/curobo/src/curobo/content/configs/robot/franka.yml") + urdf_file = config_file["robot_cfg"]["kinematics"]["urdf_path"] + base_link = config_file["robot_cfg"]["kinematics"]["base_link"] + ee_link = config_file["robot_cfg"]["kinematics"]["ee_link"] + + robot_cfg: RobotConfig = RobotConfig.from_basic(urdf_file, base_link, ee_link, tensor_args) + kin_model = CudaRobotModel(robot_cfg.kinematics) + joint_limits = robot_cfg.kinematics.get_joint_limits() + + # Sample FK + # q = torch.rand((10, kin_model.get_dof()), **(tensor_args.as_torch_dict())) + # out: CudaRobotModelState = kin_model.get_state(q) + + world_config = { + "cuboid": { + # Note: CuRobo's quaternion format is wxyz + "table": {"dims": [2, 2, 0.2], "pose": [0.4, 0.0, -0.1, 1, 0, 0, 0]}, + "cube_1": {"dims": [0.1, 0.1, 0.2], "pose": [0.4, 0.0, 0.5, 1, 0, 0, 0]}, + "cube_2": {"dims": [0.1, 0.1, 0.2], "pose": [0.0, 0.4, 0.5, 1, 0, 0, 0]}, + }, + # "mesh": { + # "scene": { + # "pose": [1.5, 0.080, 1.6, 0.043, -0.471, 0.284, 0.834], + # "file_path": "scene/nvblox/srl_ur10_bins.obj", + # } + # }, + } + + config = RobotWorldConfig.load_from_config(robot_cfg, world_config, collision_activation_distance=0.0) + robot_world = RobotWorld(config) + + # Setup RoboMeshCat + rmc_scene = RmcScene() + rmc_robot = RmcRobot( + # urdf_path="/home/jstm/.cache/jrl/urdfs/panda_arm_hand_formatted_link_filepaths_absolute.urdf", + # ^ has an exact mesh filepath, so works witout mesh_folder_path + # urdf_path="/home/jstm/Projects/Jrl/jrl/urdfs/panda/panda_arm_hand_formatted.urdf", + # mesh_folder_path="/home/jstm/Projects/Jrl/jrl/urdfs/panda/" + # ^ doesn't work, b/c 'panda_arm_hand_formatted.urdf' has mesh filepaths that are interpreted as absolute + urdf_path=os.path.join(get_assets_path(), urdf_file), + mesh_folder_path=os.path.join(get_assets_path(), "robot/franka_description/") + ) + + # Visualize + vis_cuboids = [] + for _, cuboid in world_config["cuboid"].items(): + R = ScipyRotation.from_quat(quat=cuboid["pose"][3:], scalar_first=True) # scalar-first order: (w, x, y, z) + T = np.eye(4) + T[0:3, 0:3] = R.as_matrix() + T[0:3, 3] = cuboid["pose"][0:3] + vis_cuboids.append(RmcObject.create_cuboid(lengths=cuboid["dims"], pose=T)) + rmc_scene.add_object(vis_cuboids[-1]) + + rmc_scene.add_robot(rmc_robot, verbose=True) + rmc_scene.render() + sleep(1) + + oscillate_joints(rmc_robot, robot_world, joint_limits) + + + diff --git a/thirdparty/.gitkeep b/thirdparty/.gitkeep new file mode 100644 index 0000000..e69de29