Script for Picking Up / Dropping Objects in iGibson

This project is built based on iGibson, a Simulation Environment designed by Stanford Vision and Learning Lab (SVL) for training robots in large, realistic, interactive scenes.

I have written scripts to control the Fetch robot, enabling it to pick up an object from a table and drop it at a specified location.

To use the script, please follow the instructions in the iGibson Documentation to quickly start and download the required assets and datasets for an interactive scene.

Installing

Building from source

it is useful to setup a conda environment with Python 3.8

git clone https://github.com/boshenzh/iGibson.git --recursive
cd iGibson

# if you didn't create the conda environment before:
conda create -y -n igibson python=3.8
conda activate igibson

pip install -e . # This step takes about 4 minutes

Code Structure Overview

igibson/scripts contains:

• move_object_to.py: instantiates a Fetch robot in an iGibson interactive scene. It plans and executes a trajectory generated by RRT to a graspable object location. Then, it closes the gripper, grasps the object, plans and executes another trajectory to the target location, and drops the object.

• move_arm_to_object.py: move Fetch robot arm to specific position using user keyboard command. Also enabling gripper control.

igibson/configs contains:

• objectname_id.yaml:configuration file for each object to be loaded in the scene and to be grabed/droped using move_object_to.py.

igibson/motion_planning_wrapper.py : contains motion planing helper methods including IK and RRT

Usage

to use the script, first initialize the object in the scene by specifying object yaml file like following:

name: bowl_1  #same as file name
category: bowl 
model: "68_0" 
pos: [0.6, -0.7, 0.535]
orn: [0, 0, 0]
offset: [-0.05, 0, 0.04]  #grasp point offset from pos, differ by object,

offset of each object can be obtained by playing with move_arm_to_object.py with keyboard to find a graspable position.

python -m igibson.script.move_arm_to_object --keyboard 

after creating object configuration file, we can use script move_object_to.py with target object and specified location x, y, and z

python -m igibson.script.move_object_to bowl1 0.5 0.5 0.5