forked from isaac-sim/IsaacGymEnvs
-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathfactory_env_insertion.py
320 lines (268 loc) · 17.8 KB
/
factory_env_insertion.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
# Copyright (c) 2021-2023, NVIDIA Corporation
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
"""Factory: class for insertion env.
Inherits base class and abstract environment class. Inherited by insertion task class. Not directly executed.
Configuration defined in FactoryEnvInsertion.yaml. Asset info defined in factory_asset_info_insertion.yaml.
"""
import hydra
import numpy as np
import os
import torch
from isaacgym import gymapi
from isaacgymenvs.tasks.factory.factory_base import FactoryBase
from isaacgymenvs.tasks.factory.factory_schema_class_env import FactoryABCEnv
from isaacgymenvs.tasks.factory.factory_schema_config_env import FactorySchemaConfigEnv
class FactoryEnvInsertion(FactoryBase, FactoryABCEnv):
def __init__(self, cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render):
"""Initialize instance variables. Initialize environment superclass. Acquire tensors."""
self._get_env_yaml_params()
super().__init__(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)
self.acquire_base_tensors() # defined in superclass
self._acquire_env_tensors()
self.refresh_base_tensors() # defined in superclass
self.refresh_env_tensors()
def _get_env_yaml_params(self):
"""Initialize instance variables from YAML files."""
cs = hydra.core.config_store.ConfigStore.instance()
cs.store(name='factory_schema_config_env', node=FactorySchemaConfigEnv)
config_path = 'task/FactoryEnvInsertion.yaml' # relative to Gym's Hydra search path (cfg dir)
self.cfg_env = hydra.compose(config_name=config_path)
self.cfg_env = self.cfg_env['task'] # strip superfluous nesting
asset_info_path = '../../assets/factory/yaml/factory_asset_info_insertion.yaml' # relative to Gym's Hydra search path (cfg dir)
self.asset_info_insertion = hydra.compose(config_name=asset_info_path)
self.asset_info_insertion = self.asset_info_insertion['']['']['']['']['']['']['assets']['factory']['yaml'] # strip superfluous nesting
def create_envs(self):
"""Set env options. Import assets. Create actors."""
lower = gymapi.Vec3(-self.cfg_base.env.env_spacing, -self.cfg_base.env.env_spacing, 0.0)
upper = gymapi.Vec3(self.cfg_base.env.env_spacing, self.cfg_base.env.env_spacing, self.cfg_base.env.env_spacing)
num_per_row = int(np.sqrt(self.num_envs))
self.print_sdf_warning()
franka_asset, table_asset = self.import_franka_assets()
plug_assets, socket_assets = self._import_env_assets()
self._create_actors(lower, upper, num_per_row, franka_asset, plug_assets, socket_assets, table_asset)
def _import_env_assets(self):
"""Set plug and socket asset options. Import assets."""
urdf_root = os.path.join(os.path.dirname(__file__), '..', '..', '..', 'assets', 'factory', 'urdf')
plug_options = gymapi.AssetOptions()
plug_options.flip_visual_attachments = False
plug_options.fix_base_link = False
plug_options.thickness = 0.0 # default = 0.02
plug_options.armature = 0.0 # default = 0.0
plug_options.use_physx_armature = True
plug_options.linear_damping = 0.0 # default = 0.0
plug_options.max_linear_velocity = 1000.0 # default = 1000.0
plug_options.angular_damping = 0.0 # default = 0.5
plug_options.max_angular_velocity = 64.0 # default = 64.0
plug_options.disable_gravity = False
plug_options.enable_gyroscopic_forces = True
plug_options.default_dof_drive_mode = gymapi.DOF_MODE_NONE
plug_options.use_mesh_materials = False
if self.cfg_base.mode.export_scene:
plug_options.mesh_normal_mode = gymapi.COMPUTE_PER_FACE
socket_options = gymapi.AssetOptions()
socket_options.flip_visual_attachments = False
socket_options.fix_base_link = True
socket_options.thickness = 0.0 # default = 0.02
socket_options.armature = 0.0 # default = 0.0
socket_options.use_physx_armature = True
socket_options.linear_damping = 0.0 # default = 0.0
socket_options.max_linear_velocity = 1000.0 # default = 1000.0
socket_options.angular_damping = 0.0 # default = 0.5
socket_options.max_angular_velocity = 64.0 # default = 64.0
socket_options.disable_gravity = False
socket_options.enable_gyroscopic_forces = True
socket_options.default_dof_drive_mode = gymapi.DOF_MODE_NONE
socket_options.use_mesh_materials = False
if self.cfg_base.mode.export_scene:
socket_options.mesh_normal_mode = gymapi.COMPUTE_PER_FACE
plug_assets = []
socket_assets = []
for subassembly in self.cfg_env.env.desired_subassemblies:
components = list(self.asset_info_insertion[subassembly])
plug_file = self.asset_info_insertion[subassembly][components[0]]['urdf_path'] + '.urdf'
socket_file = self.asset_info_insertion[subassembly][components[1]]['urdf_path'] + '.urdf'
plug_options.density = self.asset_info_insertion[subassembly][components[0]]['density']
socket_options.density = self.asset_info_insertion[subassembly][components[1]]['density']
plug_asset = self.gym.load_asset(self.sim, urdf_root, plug_file, plug_options)
socket_asset = self.gym.load_asset(self.sim, urdf_root, socket_file, socket_options)
plug_assets.append(plug_asset)
socket_assets.append(socket_asset)
return plug_assets, socket_assets
def _create_actors(self, lower, upper, num_per_row, franka_asset, plug_assets, socket_assets, table_asset):
"""Set initial actor poses. Create actors. Set shape and DOF properties."""
franka_pose = gymapi.Transform()
franka_pose.p.x = self.cfg_base.env.franka_depth
franka_pose.p.y = 0.0
franka_pose.p.z = 0.0
franka_pose.r = gymapi.Quat(0.0, 0.0, 1.0, 0.0)
table_pose = gymapi.Transform()
table_pose.p.x = 0.0
table_pose.p.y = 0.0
table_pose.p.z = self.cfg_base.env.table_height * 0.5
table_pose.r = gymapi.Quat(0.0, 0.0, 0.0, 1.0)
self.env_ptrs = []
self.franka_handles = []
self.plug_handles = []
self.socket_handles = []
self.table_handles = []
self.shape_ids = []
self.franka_actor_ids_sim = [] # within-sim indices
self.plug_actor_ids_sim = [] # within-sim indices
self.socket_actor_ids_sim = [] # within-sim indices
self.table_actor_ids_sim = [] # within-sim indices
actor_count = 0
for i in range(self.num_envs):
env_ptr = self.gym.create_env(self.sim, lower, upper, num_per_row)
if self.cfg_env.sim.disable_franka_collisions:
franka_handle = self.gym.create_actor(env_ptr, franka_asset, franka_pose, 'franka', i + self.num_envs,
0, 0)
else:
franka_handle = self.gym.create_actor(env_ptr, franka_asset, franka_pose, 'franka', i, 0, 0)
self.franka_actor_ids_sim.append(actor_count)
actor_count += 1
j = np.random.randint(0, len(self.cfg_env.env.desired_subassemblies))
subassembly = self.cfg_env.env.desired_subassemblies[j]
components = list(self.asset_info_insertion[subassembly])
plug_pose = gymapi.Transform()
plug_pose.p.x = 0.0
plug_pose.p.y = self.cfg_env.env.plug_lateral_offset
plug_pose.p.z = self.cfg_base.env.table_height
plug_pose.r = gymapi.Quat(0.0, 0.0, 0.0, 1.0)
plug_handle = self.gym.create_actor(env_ptr, plug_assets[j], plug_pose, 'plug', i, 0, 0)
self.plug_actor_ids_sim.append(actor_count)
actor_count += 1
socket_pose = gymapi.Transform()
socket_pose.p.x = 0.0
socket_pose.p.y = 0.0
socket_pose.p.z = self.cfg_base.env.table_height
socket_pose.r = gymapi.Quat(0.0, 0.0, 0.0, 1.0)
socket_handle = self.gym.create_actor(env_ptr, socket_assets[j], socket_pose, 'socket', i, 0, 0)
self.socket_actor_ids_sim.append(actor_count)
actor_count += 1
table_handle = self.gym.create_actor(env_ptr, table_asset, table_pose, 'table', i, 0, 0)
self.table_actor_ids_sim.append(actor_count)
actor_count += 1
link7_id = self.gym.find_actor_rigid_body_index(env_ptr, franka_handle, 'panda_link7', gymapi.DOMAIN_ACTOR)
hand_id = self.gym.find_actor_rigid_body_index(env_ptr, franka_handle, 'panda_hand', gymapi.DOMAIN_ACTOR)
left_finger_id = self.gym.find_actor_rigid_body_index(env_ptr, franka_handle, 'panda_leftfinger',
gymapi.DOMAIN_ACTOR)
right_finger_id = self.gym.find_actor_rigid_body_index(env_ptr, franka_handle, 'panda_rightfinger',
gymapi.DOMAIN_ACTOR)
self.shape_ids = [link7_id, hand_id, left_finger_id, right_finger_id]
franka_shape_props = self.gym.get_actor_rigid_shape_properties(env_ptr, franka_handle)
for shape_id in self.shape_ids:
franka_shape_props[shape_id].friction = self.cfg_base.env.franka_friction
franka_shape_props[shape_id].rolling_friction = 0.0 # default = 0.0
franka_shape_props[shape_id].torsion_friction = 0.0 # default = 0.0
franka_shape_props[shape_id].restitution = 0.0 # default = 0.0
franka_shape_props[shape_id].compliance = 0.0 # default = 0.0
franka_shape_props[shape_id].thickness = 0.0 # default = 0.0
self.gym.set_actor_rigid_shape_properties(env_ptr, franka_handle, franka_shape_props)
plug_shape_props = self.gym.get_actor_rigid_shape_properties(env_ptr, plug_handle)
plug_shape_props[0].friction = self.asset_info_insertion[subassembly][components[0]]['friction']
plug_shape_props[0].rolling_friction = 0.0 # default = 0.0
plug_shape_props[0].torsion_friction = 0.0 # default = 0.0
plug_shape_props[0].restitution = 0.0 # default = 0.0
plug_shape_props[0].compliance = 0.0 # default = 0.0
plug_shape_props[0].thickness = 0.0 # default = 0.0
self.gym.set_actor_rigid_shape_properties(env_ptr, plug_handle, plug_shape_props)
socket_shape_props = self.gym.get_actor_rigid_shape_properties(env_ptr, socket_handle)
socket_shape_props[0].friction = self.asset_info_insertion[subassembly][components[1]]['friction']
socket_shape_props[0].rolling_friction = 0.0 # default = 0.0
socket_shape_props[0].torsion_friction = 0.0 # default = 0.0
socket_shape_props[0].restitution = 0.0 # default = 0.0
socket_shape_props[0].compliance = 0.0 # default = 0.0
socket_shape_props[0].thickness = 0.0 # default = 0.0
self.gym.set_actor_rigid_shape_properties(env_ptr, socket_handle, socket_shape_props)
table_shape_props = self.gym.get_actor_rigid_shape_properties(env_ptr, table_handle)
table_shape_props[0].friction = self.cfg_base.env.table_friction
table_shape_props[0].rolling_friction = 0.0 # default = 0.0
table_shape_props[0].torsion_friction = 0.0 # default = 0.0
table_shape_props[0].restitution = 0.0 # default = 0.0
table_shape_props[0].compliance = 0.0 # default = 0.0
table_shape_props[0].thickness = 0.0 # default = 0.0
self.gym.set_actor_rigid_shape_properties(env_ptr, table_handle, table_shape_props)
self.franka_num_dofs = self.gym.get_actor_dof_count(env_ptr, franka_handle)
self.gym.enable_actor_dof_force_sensors(env_ptr, franka_handle)
self.env_ptrs.append(env_ptr)
self.franka_handles.append(franka_handle)
self.plug_handles.append(plug_handle)
self.socket_handles.append(socket_handle)
self.table_handles.append(table_handle)
self.num_actors = int(actor_count / self.num_envs) # per env
self.num_bodies = self.gym.get_env_rigid_body_count(env_ptr) # per env
self.num_dofs = self.gym.get_env_dof_count(env_ptr) # per env
# For setting targets
self.franka_actor_ids_sim = torch.tensor(self.franka_actor_ids_sim, dtype=torch.int32, device=self.device)
self.plug_actor_ids_sim = torch.tensor(self.plug_actor_ids_sim, dtype=torch.int32, device=self.device)
self.socket_actor_ids_sim = torch.tensor(self.socket_actor_ids_sim, dtype=torch.int32, device=self.device)
# For extracting root pos/quat
self.plug_actor_id_env = self.gym.find_actor_index(env_ptr, 'plug', gymapi.DOMAIN_ENV)
self.socket_actor_id_env = self.gym.find_actor_index(env_ptr, 'socket', gymapi.DOMAIN_ENV)
# For extracting body pos/quat, force, and Jacobian
self.plug_body_id_env = self.gym.find_actor_rigid_body_index(env_ptr, plug_handle, 'plug', gymapi.DOMAIN_ENV)
self.socket_body_id_env = self.gym.find_actor_rigid_body_index(env_ptr, socket_handle, 'socket',
gymapi.DOMAIN_ENV)
self.hand_body_id_env = self.gym.find_actor_rigid_body_index(env_ptr, franka_handle, 'panda_hand',
gymapi.DOMAIN_ENV)
self.left_finger_body_id_env = self.gym.find_actor_rigid_body_index(env_ptr, franka_handle, 'panda_leftfinger',
gymapi.DOMAIN_ENV)
self.right_finger_body_id_env = self.gym.find_actor_rigid_body_index(env_ptr, franka_handle,
'panda_rightfinger', gymapi.DOMAIN_ENV)
self.fingertip_centered_body_id_env = self.gym.find_actor_rigid_body_index(env_ptr, franka_handle,
'panda_fingertip_centered',
gymapi.DOMAIN_ENV)
def _acquire_env_tensors(self):
"""Acquire and wrap tensors. Create views."""
self.plug_pos = self.root_pos[:, self.plug_actor_id_env, 0:3]
self.plug_quat = self.root_quat[:, self.plug_actor_id_env, 0:4]
self.plug_linvel = self.root_linvel[:, self.plug_actor_id_env, 0:3]
self.plug_angvel = self.root_angvel[:, self.plug_actor_id_env, 0:3]
self.socket_pos = self.root_pos[:, self.socket_actor_id_env, 0:3]
self.socket_quat = self.root_quat[:, self.socket_actor_id_env, 0:4]
# TODO: Define socket height and plug height params in asset info YAML.
# self.plug_com_pos = self.translate_along_local_z(pos=self.plug_pos,
# quat=self.plug_quat,
# offset=self.socket_heights + self.plug_heights * 0.5,
# device=self.device)
self.plug_com_quat = self.plug_quat # always equal
# self.plug_com_linvel = self.plug_linvel + torch.cross(self.plug_angvel,
# (self.plug_com_pos - self.plug_pos),
# dim=1)
self.plug_com_angvel = self.plug_angvel # always equal
def refresh_env_tensors(self):
"""Refresh tensors."""
# NOTE: Tensor refresh functions should be called once per step, before setters.
# TODO: Define socket height and plug height params in asset info YAML.
# self.plug_com_pos = self.translate_along_local_z(pos=self.plug_pos,
# quat=self.plug_quat,
# offset=self.socket_heights + self.plug_heights * 0.5,
# device=self.device)
# self.plug_com_linvel = self.plug_linvel + torch.cross(self.plug_angvel,
# (self.plug_com_pos - self.plug_pos),
# dim=1)