├── Cameraoutput ├── Dataset │ └── images │ │ └── image-0.png ├── basicGripper │ ├── basicGripper-1.png │ ├── basicGripper-10.png │ ├── basicGripper-11.png │ ├── basicGripper-2.png │ ├── basicGripper-3.png │ ├── basicGripper-4.png │ ├── basicGripper-5.png │ ├── basicGripper-6.png │ ├── basicGripper-7.png │ ├── basicGripper-8.png │ └── basicGripper-9.png └── virtualSuction │ ├── SuctionGripper-1.png │ ├── SuctionGripper-10.png │ ├── SuctionGripper-100.png │ ├── SuctionGripper-101.png │ ├── SuctionGripper-102.png │ ├── SuctionGripper-103.png │ ├── SuctionGripper-104.png │ ├── SuctionGripper-105.png │ ├── SuctionGripper-106.png │ ├── SuctionGripper-107.png │ ├── SuctionGripper-108.png │ ├── SuctionGripper-109.png │ ├── SuctionGripper-11.png │ ├── SuctionGripper-110.png │ ├── SuctionGripper-111.png │ ├── SuctionGripper-112.png │ ├── SuctionGripper-113.png │ ├── SuctionGripper-114.png │ ├── SuctionGripper-115.png │ ├── SuctionGripper-116.png │ ├── SuctionGripper-117.png │ ├── SuctionGripper-118.png │ ├── SuctionGripper-119.png │ ├── SuctionGripper-12.png │ ├── SuctionGripper-120.png │ ├── SuctionGripper-121.png │ ├── SuctionGripper-122.png │ ├── SuctionGripper-123.png │ ├── SuctionGripper-124.png │ ├── SuctionGripper-125.png │ ├── SuctionGripper-126.png │ ├── SuctionGripper-127.png │ ├── SuctionGripper-128.png │ ├── SuctionGripper-129.png │ ├── SuctionGripper-13.png │ ├── SuctionGripper-130.png │ ├── SuctionGripper-131.png │ ├── SuctionGripper-132.png │ ├── SuctionGripper-133.png │ ├── SuctionGripper-134.png │ ├── SuctionGripper-135.png │ ├── SuctionGripper-136.png │ ├── SuctionGripper-137.png │ ├── SuctionGripper-138.png │ ├── SuctionGripper-139.png │ ├── SuctionGripper-14.png │ ├── SuctionGripper-140.png │ ├── SuctionGripper-141.png │ ├── SuctionGripper-142.png │ ├── SuctionGripper-143.png │ ├── SuctionGripper-144.png │ ├── SuctionGripper-145.png │ ├── SuctionGripper-146.png │ ├── SuctionGripper-147.png │ ├── SuctionGripper-148.png │ ├── SuctionGripper-149.png │ ├── SuctionGripper-15.png │ ├── SuctionGripper-150.png │ ├── SuctionGripper-151.png │ ├── SuctionGripper-152.png │ ├── SuctionGripper-153.png │ ├── SuctionGripper-154.png │ ├── SuctionGripper-155.png │ ├── SuctionGripper-156.png │ ├── SuctionGripper-157.png │ ├── SuctionGripper-158.png │ ├── SuctionGripper-159.png │ ├── SuctionGripper-16.png │ ├── SuctionGripper-160.png │ ├── SuctionGripper-161.png │ ├── SuctionGripper-162.png │ ├── SuctionGripper-163.png │ ├── SuctionGripper-164.png │ ├── SuctionGripper-165.png │ ├── SuctionGripper-166.png │ ├── SuctionGripper-167.png │ ├── SuctionGripper-168.png │ ├── SuctionGripper-169.png │ ├── SuctionGripper-17.png │ ├── SuctionGripper-170.png │ ├── SuctionGripper-171.png │ ├── SuctionGripper-172.png │ ├── SuctionGripper-173.png │ ├── SuctionGripper-174.png │ ├── SuctionGripper-175.png │ ├── SuctionGripper-176.png │ ├── SuctionGripper-177.png │ ├── SuctionGripper-178.png │ ├── SuctionGripper-179.png │ ├── SuctionGripper-18.png │ ├── SuctionGripper-180.png │ ├── SuctionGripper-181.png │ ├── SuctionGripper-182.png │ ├── SuctionGripper-183.png │ ├── SuctionGripper-184.png │ ├── SuctionGripper-185.png │ ├── SuctionGripper-186.png │ ├── SuctionGripper-187.png │ ├── SuctionGripper-188.png │ ├── SuctionGripper-189.png │ ├── SuctionGripper-19.png │ ├── SuctionGripper-190.png │ ├── SuctionGripper-191.png │ ├── SuctionGripper-192.png │ ├── SuctionGripper-193.png │ ├── SuctionGripper-194.png │ ├── SuctionGripper-195.png │ ├── SuctionGripper-196.png │ ├── SuctionGripper-197.png │ ├── SuctionGripper-198.png │ ├── SuctionGripper-199.png │ ├── SuctionGripper-2.png │ ├── SuctionGripper-20.png │ ├── SuctionGripper-200.png │ ├── SuctionGripper-201.png │ ├── SuctionGripper-202.png │ ├── SuctionGripper-203.png │ ├── SuctionGripper-204.png │ ├── SuctionGripper-205.png │ ├── SuctionGripper-206.png │ ├── SuctionGripper-207.png │ ├── SuctionGripper-208.png │ ├── SuctionGripper-209.png │ ├── SuctionGripper-21.png │ ├── SuctionGripper-210.png │ ├── SuctionGripper-211.png │ ├── SuctionGripper-212.png │ ├── SuctionGripper-213.png │ ├── SuctionGripper-214.png │ ├── SuctionGripper-215.png │ ├── SuctionGripper-216.png │ ├── SuctionGripper-217.png │ ├── SuctionGripper-218.png │ ├── SuctionGripper-219.png │ ├── SuctionGripper-22.png │ ├── SuctionGripper-220.png │ ├── SuctionGripper-221.png │ ├── SuctionGripper-222.png │ ├── SuctionGripper-223.png │ ├── SuctionGripper-224.png │ ├── SuctionGripper-225.png │ ├── SuctionGripper-226.png │ ├── SuctionGripper-227.png │ ├── SuctionGripper-228.png │ ├── SuctionGripper-229.png │ ├── SuctionGripper-23.png │ ├── SuctionGripper-230.png │ ├── SuctionGripper-231.png │ ├── SuctionGripper-232.png │ ├── SuctionGripper-233.png │ ├── SuctionGripper-234.png │ ├── SuctionGripper-235.png │ ├── SuctionGripper-236.png │ ├── SuctionGripper-237.png │ ├── SuctionGripper-238.png │ ├── SuctionGripper-239.png │ ├── SuctionGripper-24.png │ ├── SuctionGripper-240.png │ ├── SuctionGripper-241.png │ ├── SuctionGripper-242.png │ ├── SuctionGripper-243.png │ ├── SuctionGripper-244.png │ ├── SuctionGripper-245.png │ ├── SuctionGripper-246.png │ ├── SuctionGripper-247.png │ ├── SuctionGripper-248.png │ ├── SuctionGripper-249.png │ ├── SuctionGripper-25.png │ ├── SuctionGripper-250.png │ ├── SuctionGripper-251.png │ ├── SuctionGripper-252.png │ ├── SuctionGripper-253.png │ ├── SuctionGripper-254.png │ ├── SuctionGripper-255.png │ ├── SuctionGripper-256.png │ ├── SuctionGripper-257.png │ ├── SuctionGripper-258.png │ ├── SuctionGripper-259.png │ ├── SuctionGripper-26.png │ ├── SuctionGripper-260.png │ ├── SuctionGripper-261.png │ ├── SuctionGripper-262.png │ ├── SuctionGripper-263.png │ ├── SuctionGripper-264.png │ ├── SuctionGripper-265.png │ ├── SuctionGripper-266.png │ ├── SuctionGripper-267.png │ ├── SuctionGripper-268.png │ ├── SuctionGripper-269.png │ ├── SuctionGripper-27.png │ ├── SuctionGripper-270.png │ ├── SuctionGripper-271.png │ ├── SuctionGripper-272.png │ ├── SuctionGripper-273.png │ ├── SuctionGripper-274.png │ ├── SuctionGripper-275.png │ ├── SuctionGripper-276.png │ ├── SuctionGripper-277.png │ ├── SuctionGripper-278.png │ ├── SuctionGripper-279.png │ ├── SuctionGripper-28.png │ ├── SuctionGripper-280.png │ ├── SuctionGripper-281.png │ ├── SuctionGripper-282.png │ ├── SuctionGripper-283.png │ ├── SuctionGripper-284.png │ ├── SuctionGripper-285.png │ ├── SuctionGripper-286.png │ ├── SuctionGripper-287.png │ ├── SuctionGripper-288.png │ ├── SuctionGripper-289.png │ ├── SuctionGripper-29.png │ ├── SuctionGripper-290.png │ ├── SuctionGripper-291.png │ ├── SuctionGripper-292.png │ ├── SuctionGripper-293.png │ ├── SuctionGripper-294.png │ ├── SuctionGripper-295.png │ ├── SuctionGripper-296.png │ ├── SuctionGripper-297.png │ ├── SuctionGripper-298.png │ ├── SuctionGripper-299.png │ ├── SuctionGripper-3.png │ ├── SuctionGripper-30.png │ ├── SuctionGripper-300.png │ ├── SuctionGripper-301.png │ ├── SuctionGripper-302.png │ ├── SuctionGripper-303.png │ ├── SuctionGripper-304.png │ ├── SuctionGripper-305.png │ ├── SuctionGripper-306.png │ ├── SuctionGripper-307.png │ ├── SuctionGripper-308.png │ ├── SuctionGripper-309.png │ ├── SuctionGripper-31.png │ ├── SuctionGripper-310.png │ ├── SuctionGripper-311.png │ ├── SuctionGripper-312.png │ ├── SuctionGripper-313.png │ ├── SuctionGripper-314.png │ ├── SuctionGripper-315.png │ ├── SuctionGripper-316.png │ ├── SuctionGripper-317.png │ ├── SuctionGripper-318.png │ ├── SuctionGripper-319.png │ ├── SuctionGripper-32.png │ ├── SuctionGripper-320.png │ ├── SuctionGripper-321.png │ ├── SuctionGripper-322.png │ ├── SuctionGripper-323.png │ ├── SuctionGripper-324.png │ ├── SuctionGripper-325.png │ ├── SuctionGripper-326.png │ ├── SuctionGripper-327.png │ ├── SuctionGripper-328.png │ ├── SuctionGripper-329.png │ ├── SuctionGripper-33.png │ ├── SuctionGripper-34.png │ ├── SuctionGripper-35.png │ ├── SuctionGripper-36.png │ ├── SuctionGripper-37.png │ ├── SuctionGripper-38.png │ ├── SuctionGripper-39.png │ ├── SuctionGripper-4.png │ ├── SuctionGripper-40.png │ ├── SuctionGripper-41.png │ ├── SuctionGripper-42.png │ ├── SuctionGripper-43.png │ ├── SuctionGripper-44.png │ ├── SuctionGripper-45.png │ ├── SuctionGripper-46.png │ ├── SuctionGripper-47.png │ ├── SuctionGripper-48.png │ ├── SuctionGripper-49.png │ ├── SuctionGripper-5.png │ ├── SuctionGripper-50.png │ ├── SuctionGripper-51.png │ ├── SuctionGripper-52.png │ ├── SuctionGripper-53.png │ ├── SuctionGripper-54.png │ ├── SuctionGripper-55.png │ ├── SuctionGripper-56.png │ ├── SuctionGripper-57.png │ ├── SuctionGripper-58.png │ ├── SuctionGripper-59.png │ ├── SuctionGripper-6.png │ ├── SuctionGripper-60.png │ ├── SuctionGripper-61.png │ ├── SuctionGripper-62.png │ ├── SuctionGripper-63.png │ ├── SuctionGripper-64.png │ ├── SuctionGripper-65.png │ ├── SuctionGripper-66.png │ ├── SuctionGripper-67.png │ ├── SuctionGripper-68.png │ ├── SuctionGripper-69.png │ ├── SuctionGripper-7.png │ ├── SuctionGripper-70.png │ ├── SuctionGripper-71.png │ ├── SuctionGripper-72.png │ ├── SuctionGripper-73.png │ ├── SuctionGripper-74.png │ ├── SuctionGripper-75.png │ ├── SuctionGripper-76.png │ ├── SuctionGripper-77.png │ ├── SuctionGripper-78.png │ ├── SuctionGripper-79.png │ ├── SuctionGripper-8.png │ ├── SuctionGripper-80.png │ ├── SuctionGripper-81.png │ ├── SuctionGripper-82.png │ ├── SuctionGripper-83.png │ ├── SuctionGripper-84.png │ ├── SuctionGripper-85.png │ ├── SuctionGripper-86.png │ ├── SuctionGripper-87.png │ ├── SuctionGripper-88.png │ ├── SuctionGripper-89.png │ ├── SuctionGripper-9.png │ ├── SuctionGripper-90.png │ ├── SuctionGripper-91.png │ ├── SuctionGripper-92.png │ ├── SuctionGripper-93.png │ ├── SuctionGripper-94.png │ ├── SuctionGripper-95.png │ ├── SuctionGripper-96.png │ ├── SuctionGripper-97.png │ ├── SuctionGripper-98.png │ └── SuctionGripper-99.png ├── Configurations ├── .ipynb_checkpoints │ └── Untitled-checkpoint.ipynb ├── Simulation_Diana_SuctionGripper.py ├── Simulation_Diana_SuctionGripper.pyc ├── Simulation_UR5_BasicGripper.py ├── Simulation_UR5_BasicGripper.pyc ├── Simulation_UR5_RobotiqGripper.py ├── Simulation_UR5_RobotiqGripper.pyc ├── Simulation_UR5_SuctionGripper.py ├── Simulation_UR5_SuctionGripper.pyc └── __pycache__ │ ├── Simulation_UR5_BasicGripper.cpython-37.pyc │ ├── Simulation_UR5_RobotiqGripper.cpython-36.pyc │ ├── Simulation_UR5_RobotiqGripper.cpython-37.pyc │ └── Simulation_UR5_SuctionGripper.cpython-37.pyc ├── Demo Simulation ├── enjoy_kuka_diverse_object_grasping.py ├── kuka_diverse_object_gym_env.py ├── loadpanda_grasp.py ├── panda_sim.py └── panda_sim_grasp.py ├── Documentation ├── Documentation.odp ├── Installation Guide.md ├── Overall Process.md └── Overall_Process.pdf ├── Models ├── Robots │ ├── Panda │ │ └── panda.urdf │ ├── UR5 │ │ ├── meshes │ │ │ ├── objects │ │ │ │ ├── block.urdf │ │ │ │ ├── block_blue.urdf │ │ │ │ ├── cube.mtl │ │ │ │ ├── cube.obj │ │ │ │ ├── cube.png │ │ │ │ ├── cube_small.urdf │ │ │ │ ├── cup │ │ │ │ │ ├── Cup │ │ │ │ │ │ ├── cup_vhacd.mtl │ │ │ │ │ │ ├── cup_vhacd.obj │ │ │ │ │ │ ├── textured-0008192-diffuse_map.jpg │ │ │ │ │ │ ├── textured-0008192.mtl │ │ │ │ │ │ └── textured-0008192.obj │ │ │ │ │ └── cup_small.urdf │ │ │ │ ├── lego.obj │ │ │ │ ├── lego.urdf │ │ │ │ ├── lego_blue.urdf │ │ │ │ ├── lego_vhacd.obj │ │ │ │ ├── plate-collision01.obj │ │ │ │ ├── plate-collision02.obj │ │ │ │ ├── plate-collision03.obj │ │ │ │ ├── plate-collision04.obj │ │ │ │ ├── plate-collision05.obj │ │ │ │ ├── plate-collision06.obj │ │ │ │ ├── plate.obj │ │ │ │ ├── plate.urdf │ │ │ │ └── red.png │ │ │ ├── robotiq │ │ │ │ ├── inner_finger_coarse.STL │ │ │ │ ├── inner_finger_fine.STL │ │ │ │ ├── inner_knuckle_coarse.STL │ │ │ │ ├── inner_knuckle_fine.STL │ │ │ │ ├── outer_finger_coarse.STL │ │ │ │ ├── outer_finger_fine.STL │ │ │ │ ├── outer_knuckle_coarse.STL │ │ │ │ ├── outer_knuckle_fine.STL │ │ │ │ ├── robotiq_85_base_link_coarse.STL │ │ │ │ └── robotiq_85_base_link_fine.STL │ │ │ ├── ur10e │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ ├── ur3e │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ ├── ur5 │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ │ ├── base.obj │ │ │ │ │ ├── forearm.obj │ │ │ │ │ ├── l_gripper_tip_scaled.stl │ │ │ │ │ ├── shoulder.obj │ │ │ │ │ ├── upperarm.obj │ │ │ │ │ ├── wrist1.obj │ │ │ │ │ ├── wrist2.obj │ │ │ │ │ └── wrist3.obj │ │ │ └── ur5e │ │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── urdf │ │ │ ├── ur5.urdf │ │ │ ├── ur5e.urdf │ │ │ ├── ur5e_camera_gripper.urdf │ │ │ ├── ur5e_camera_robotiq_gripper.urdf │ │ │ ├── ur5e_camera_robotiq_gripper_old.urdf │ │ │ └── ur5e_with_camera.urdf │ └── dianaV1_description │ │ ├── CMakeLists.txt │ │ ├── config │ │ └── joint_names_DianaV1.yaml │ │ ├── export.log │ │ ├── launch │ │ ├── DianaV1_upload.launch │ │ └── view_DianaV1.launch │ │ ├── meshes │ │ ├── base_link.STL │ │ ├── link1.STL │ │ ├── link2.STL │ │ ├── link3.STL │ │ ├── link4.STL │ │ ├── link5.STL │ │ ├── link6.STL │ │ └── link7.STL │ │ ├── package.xml │ │ ├── urdf.rviz │ │ └── urdf │ │ ├── Diana.gazebo.xacro │ │ ├── Diana.transmission.xacro │ │ ├── DianaV1.urdf │ │ ├── DianaV1.urdf.xacro │ │ ├── DianaV1_joint_limited_robot.urdf │ │ ├── DianaV1_joint_limited_robot.urdf.xacro │ │ ├── DianaV1_robot.urdf │ │ ├── DianaV1_robot.urdf.xacro │ │ └── common.gazebo.xacro └── Static Objects │ ├── Table │ ├── table.mtl │ ├── table.obj │ ├── table.png │ └── table.urdf │ └── tray │ ├── tray.jpg │ ├── tray.urdf │ ├── tray_textured.mtl │ ├── tray_textured.obj │ ├── tray_textured2.mtl │ ├── tray_textured2.obj │ ├── tray_textured2.urdf │ ├── tray_textured4.mtl │ ├── tray_textured4.obj │ └── traybox.urdf ├── README.md ├── __pycache__ └── 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"""Runs a random policy for the random object KukaDiverseObjectEnv. 2 | """ 3 | 4 | import os, inspect 5 | import numpy as np 6 | 7 | currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) 8 | parentdir = os.path.dirname(os.path.dirname(currentdir)) 9 | os.sys.path.insert(0, parentdir) 10 | 11 | import gym 12 | from pybullet_envs.bullet.kuka_diverse_object_gym_env import KukaDiverseObjectEnv 13 | from gym import spaces 14 | 15 | 16 | class ContinuousDownwardBiasPolicy(object): 17 | """Policy which takes continuous actions, and is biased to move down. 18 | """ 19 | 20 | def __init__(self, height_hack_prob=0.9): 21 | """Initializes the DownwardBiasPolicy. 22 | 23 | Args: 24 | height_hack_prob: The probability of moving down at every move. 25 | """ 26 | self._height_hack_prob = height_hack_prob 27 | self._action_space = spaces.Box(low=-1, high=1, shape=(5,)) 28 | 29 | def sample_action(self, obs, explore_prob): 30 | """Implements height hack and grasping threshold hack. 31 | """ 32 | dx, dy, dz, da, close = self._action_space.sample() 33 | if np.random.random() < self._height_hack_prob: 34 | dz = -1 35 | return [dx, dy, dz, da, 0] 36 | 37 | 38 | def main(): 39 | 40 | env = KukaDiverseObjectEnv(renders=True, isDiscrete=False) 41 | policy = ContinuousDownwardBiasPolicy() 42 | 43 | while True: 44 | obs, done = env.reset(), False 45 | print("===================================") 46 | print("obs") 47 | print(obs) 48 | episode_rew = 0 49 | while not done: 50 | env.render(mode='human') 51 | act = policy.sample_action(obs, .1) 52 | print("Action") 53 | print(act) 54 | obs, rew, done, _ = env.step([0, 0, 0, 0, 0]) 55 | episode_rew += rew 56 | print("Episode reward", episode_rew) 57 | 58 | 59 | if __name__ == '__main__': 60 | main() 61 | -------------------------------------------------------------------------------- /Demo Simulation/loadpanda_grasp.py: -------------------------------------------------------------------------------- 1 | import pybullet as p 2 | import pybullet_data as pd 3 | import math 4 | import time 5 | import numpy as np 6 | import pybullet_robots.panda.panda_sim_grasp as panda_sim 7 | 8 | #video requires ffmpeg available in path 9 | createVideo=False 10 | fps=240. 11 | timeStep = 1./fps 12 | 13 | if createVideo: 14 | p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=0 --mp4=\"pybullet_grasp.mp4\" --mp4fps="+str(fps) ) 15 | else: 16 | p.connect(p.GUI) 17 | 18 | p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) 19 | p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) 20 | p.setPhysicsEngineParameter(maxNumCmdPer1ms=1000) 21 | p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0]) 22 | p.setAdditionalSearchPath(pd.getDataPath()) 23 | 24 | p.setTimeStep(timeStep) 25 | p.setGravity(0,-9.8,0) 26 | 27 | panda = panda_sim.PandaSimAuto(p,[0,0,0]) 28 | panda.control_dt = timeStep 29 | 30 | logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json") 31 | panda.bullet_client.submitProfileTiming("start") 32 | for i in range (100000): 33 | panda.bullet_client.submitProfileTiming("full_step") 34 | panda.step() 35 | p.stepSimulation() 36 | if createVideo: 37 | p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) 38 | if not createVideo: 39 | time.sleep(timeStep) 40 | panda.bullet_client.submitProfileTiming() 41 | panda.bullet_client.submitProfileTiming() 42 | panda.bullet_client.stopStateLogging(logId) 43 | -------------------------------------------------------------------------------- /Demo Simulation/panda_sim.py: -------------------------------------------------------------------------------- 1 | import time 2 | import numpy as np 3 | import math 4 | 5 | useNullSpace = 1 6 | ikSolver = 0 7 | pandaEndEffectorIndex = 11 #8 8 | pandaNumDofs = 7 9 | 10 | ll = [-7]*pandaNumDofs 11 | #upper limits for null space (todo: set them to proper range) 12 | ul = [7]*pandaNumDofs 13 | #joint ranges for null space (todo: set them to proper range) 14 | jr = [7]*pandaNumDofs 15 | #restposes for null space 16 | jointPositions=[0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02] 17 | rp = jointPositions 18 | 19 | class PandaSim(object): 20 | def __init__(self, bullet_client, offset): 21 | self.bullet_client = bullet_client 22 | self.offset = np.array(offset) 23 | 24 | #print("offset=",offset) 25 | flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES 26 | legos=[] 27 | self.bullet_client.loadURDF("tray/traybox.urdf", [0+offset[0], 0+offset[1], -0.6+offset[2]], [-0.5, -0.5, -0.5, 0.5], flags=flags) 28 | legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.5])+self.offset, flags=flags)) 29 | legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([-0.1, 0.3, -0.5])+self.offset, flags=flags)) 30 | legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.7])+self.offset, flags=flags)) 31 | sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.6])+self.offset, flags=flags) 32 | self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.5])+self.offset, flags=flags) 33 | self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.7])+self.offset, flags=flags) 34 | orn=[-0.707107, 0.0, 0.0, 0.707107]#p.getQuaternionFromEuler([-math.pi/2,math.pi/2,0]) 35 | eul = self.bullet_client.getEulerFromQuaternion([-0.5, -0.5, -0.5, 0.5]) 36 | self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) 37 | index = 0 38 | for j in range(self.bullet_client.getNumJoints(self.panda)): 39 | self.bullet_client.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0) 40 | info = self.bullet_client.getJointInfo(self.panda, j) 41 | 42 | jointName = info[1] 43 | jointType = info[2] 44 | if (jointType == self.bullet_client.JOINT_PRISMATIC): 45 | 46 | self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) 47 | index=index+1 48 | if (jointType == self.bullet_client.JOINT_REVOLUTE): 49 | self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) 50 | index=index+1 51 | self.t = 0. 52 | def reset(self): 53 | pass 54 | 55 | def step(self): 56 | t = self.t 57 | self.t += 1./60. 58 | pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+0.044, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)] 59 | orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.]) 60 | jointPoses = self.bullet_client.calculateInverseKinematics(self.panda,pandaEndEffectorIndex, pos, orn, ll, ul, 61 | jr, rp, maxNumIterations=5) 62 | for i in range(pandaNumDofs): 63 | self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.) 64 | pass 65 | 66 | -------------------------------------------------------------------------------- /Demo Simulation/panda_sim_grasp.py: -------------------------------------------------------------------------------- 1 | import time 2 | import numpy as np 3 | import math 4 | 5 | useNullSpace = 1 6 | ikSolver = 0 7 | pandaEndEffectorIndex = 11 #8 8 | pandaNumDofs = 7 9 | 10 | ll = [-7]*pandaNumDofs 11 | #upper limits for null space (todo: set them to proper range) 12 | ul = [7]*pandaNumDofs 13 | #joint ranges for null space (todo: set them to proper range) 14 | jr = [7]*pandaNumDofs 15 | #restposes for null space 16 | jointPositions=[0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02] 17 | rp = jointPositions 18 | 19 | class PandaSim(object): 20 | def __init__(self, bullet_client, offset): 21 | self.bullet_client = bullet_client 22 | self.bullet_client.setPhysicsEngineParameter(solverResidualThreshold=0) 23 | self.offset = np.array(offset) 24 | 25 | #print("offset=",offset) 26 | flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES 27 | self.legos=[] 28 | 29 | self.bullet_client.loadURDF("tray/traybox.urdf", [0+offset[0], 0+offset[1], -0.6+offset[2]], [-0.5, -0.5, -0.5, 0.5], flags=flags) 30 | self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.5])+self.offset, flags=flags)) 31 | self.bullet_client.changeVisualShape(self.legos[0],-1,rgbaColor=[1,0,0,1]) 32 | self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([-0.1, 0.3, -0.5])+self.offset, flags=flags)) 33 | self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.7])+self.offset, flags=flags)) 34 | self.sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.6])+self.offset, flags=flags) 35 | self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.5])+self.offset, flags=flags) 36 | self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.7])+self.offset, flags=flags) 37 | orn=[-0.707107, 0.0, 0.0, 0.707107]#p.getQuaternionFromEuler([-math.pi/2,math.pi/2,0]) 38 | eul = self.bullet_client.getEulerFromQuaternion([-0.5, -0.5, -0.5, 0.5]) 39 | self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) 40 | index = 0 41 | self.state = 0 42 | self.control_dt = 1./240. 43 | self.finger_target = 0 44 | self.gripper_height = 0.2 45 | #create a constraint to keep the fingers centered 46 | c = self.bullet_client.createConstraint(self.panda, 47 | 9, 48 | self.panda, 49 | 10, 50 | jointType=self.bullet_client.JOINT_GEAR, 51 | jointAxis=[1, 0, 0], 52 | parentFramePosition=[0, 0, 0], 53 | childFramePosition=[0, 0, 0]) 54 | self.bullet_client.changeConstraint(c, gearRatio=-1, erp=0.1, maxForce=50) 55 | 56 | for j in range(self.bullet_client.getNumJoints(self.panda)): 57 | self.bullet_client.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0) 58 | info = self.bullet_client.getJointInfo(self.panda, j) 59 | #print("info=",info) 60 | jointName = info[1] 61 | jointType = info[2] 62 | if (jointType == self.bullet_client.JOINT_PRISMATIC): 63 | 64 | self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) 65 | index=index+1 66 | if (jointType == self.bullet_client.JOINT_REVOLUTE): 67 | self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) 68 | index=index+1 69 | self.t = 0. 70 | def reset(self): 71 | pass 72 | 73 | def update_state(self): 74 | keys = self.bullet_client.getKeyboardEvents() 75 | if len(keys)>0: 76 | for k,v in keys.items(): 77 | if v&self.bullet_client.KEY_WAS_TRIGGERED: 78 | if (k==ord('1')): 79 | self.state = 1 80 | if (k==ord('2')): 81 | self.state = 2 82 | if (k==ord('3')): 83 | self.state = 3 84 | if (k==ord('4')): 85 | self.state = 4 86 | if (k==ord('5')): 87 | self.state = 5 88 | if (k==ord('6')): 89 | self.state = 6 90 | if v&self.bullet_client.KEY_WAS_RELEASED: 91 | self.state = 5 92 | def step(self): 93 | if self.state==6: 94 | self.finger_target = 0.01 95 | if self.state==5: 96 | self.finger_target = 0.04 97 | self.bullet_client.submitProfileTiming("step") 98 | self.update_state() 99 | #print("self.state=",self.state) 100 | #print("self.finger_target=",self.finger_target) 101 | alpha = 0.9 #0.99 102 | if self.state==1 or self.state==2 or self.state==3 or self.state==4 or self.state==7: 103 | #gripper_height = 0.034 104 | self.gripper_height = alpha * self.gripper_height + (1.-alpha)*0.03 105 | if self.state == 2 or self.state == 3 or self.state == 7: 106 | self.gripper_height = alpha * self.gripper_height + (1.-alpha)*0.2 107 | 108 | t = self.t 109 | self.t += self.control_dt 110 | pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+self.gripper_height, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)] 111 | if self.state == 3 or self.state== 4: 112 | pos, o = self.bullet_client.getBasePositionAndOrientation(self.legos[0]) 113 | pos = [pos[0], self.gripper_height, pos[2]] 114 | self.prev_pos = pos 115 | if self.state == 7: 116 | pos = self.prev_pos 117 | diffX = pos[0] - self.offset[0] 118 | diffZ = pos[2] - (self.offset[2]-0.6) 119 | self.prev_pos = [self.prev_pos[0] - diffX*0.1, self.prev_pos[1], self.prev_pos[2]-diffZ*0.1] 120 | 121 | orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.]) 122 | self.bullet_client.submitProfileTiming("IK") 123 | jointPoses = self.bullet_client.calculateInverseKinematics(self.panda,pandaEndEffectorIndex, pos, orn, ll, ul, 124 | jr, rp, maxNumIterations=20) 125 | self.bullet_client.submitProfileTiming() 126 | for i in range(pandaNumDofs): 127 | self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.) 128 | #target for fingers 129 | for i in [9,10]: 130 | self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL,self.finger_target ,force= 10) 131 | self.bullet_client.submitProfileTiming() 132 | 133 | 134 | class PandaSimAuto(PandaSim): 135 | def __init__(self, bullet_client, offset): 136 | PandaSim.__init__(self, bullet_client, offset) 137 | self.state_t = 0 138 | self.cur_state = 0 139 | self.states=[0,3,5,4,6,3,7] 140 | self.state_durations=[1,1,1,2,1,1, 10] 141 | 142 | def update_state(self): 143 | self.state_t += self.control_dt 144 | if self.state_t > self.state_durations[self.cur_state]: 145 | self.cur_state += 1 146 | if self.cur_state>=len(self.states): 147 | self.cur_state = 0 148 | self.state_t = 0 149 | self.state=self.states[self.cur_state] 150 | #print("self.state=",self.state) 151 | -------------------------------------------------------------------------------- /Documentation/Documentation.odp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csingh27/Bin-Picking-Simulation-using-Pybullet/21eec747a2d190482d362eeec30bfd025e8b7309/Documentation/Documentation.odp -------------------------------------------------------------------------------- /Documentation/Overall Process.md: -------------------------------------------------------------------------------- 1 | **Given** : Multiple objects are randomly arranged in a heap 2 | 3 | **Objective** : Sequentially grasp and transport each into a packing bin 4 | 5 | **Challenges** : 6 | * Reliable Robotic Grasping is challenging due to imprecision in sensing and actuation. 7 | * Difficult to infer object shapes from point clouds due to sensor noise, obstructions and occlusions when objects are placed in heaps 8 | * For deep learning model, time cost of collecting physical data too high 9 | 10 | **Ideas**: 11 | * We model bin picking with Partially Observable Markov Decision process : States of heaps, point cloud observations, rewards 12 | * Train on synthetic datasets of grasps and point clouds 13 | * It is possible to grasp a diverse set of objects from clutter using Deep CNNs. 14 | * Consider modeling uncertainty during dataset generation to learn a policy for rapid bin picking from a single view point 15 | * Modelling bin picking as a sequence of 3D objects in heap with noisy point cloud observations using POMDP 16 | * Deep neural networks trained on large datasets can predict grasp positions to a very high accuracy 17 | * DexNet - Dataset of 6.7 million poin cloud objects 18 | * GQCNNs- Grasp Quality Convolutional Neural Networks : Rapidly predicts the success of grasps from depth images 19 | * Grasps are specified as planar position, angle and depth of a gripper relative to and RGB-D Sensor 20 | * For grasping since the distance by which the gripper moves down and the opening of jaws and end effector pose of gripper jaws depend upon object position 21 | , orientation and dimensions, we can feed the object poses and dimensions + end effector poses to a network to predict new end effector poses and jaw opening 22 | * Robotiq Gripper has different modes of gripping depending on the dimensions of the object 23 | 24 | **Assumptions** : 25 | * Camera is mounted on a stationary position to capture the top view of the heap 26 | * Gripper motion can occlude camera view 27 | * Point cloud of one object selected as X for CNN 28 | * Gripping position selected as y for CNN 29 | * We perform 3D Point Cloud Segmentation 30 | 31 | **Process** : 32 | 33 | *Simulation* , Tools : Gazebo, Isaac-Sim, iGibson, Neurorobotics, **Pybullet** 34 | 35 | 1. Simulate the bin picking process (http://git.ar.int/c.singh/simulation-bin-picking-pybullet) 36 | 37 | *Machine Learning model* , Tools : Dex-Net 38 | 39 | 40 | 2. Selecting a suitable Machine Learning model 41 | 42 | *Training dataset generation* 43 | Tools : 44 | NDDS (https://github.com/NVIDIA/Dataset_Synthesizer) 45 | Dex-Net (https://berkeley.app.box.com/s/w6bmvvkp399xtjpgskwq1cytkndmm7cn) 46 | CGD (http://pr.cs.cornell.edu/grasping/rect_data/data.php) 47 | Fraunhoffer (http://www.bin-picking.ai/en/dataset.html, https://owncloud.fraunhofer.de/index.php/s/AacICuOWQVWDDfP, https://arxiv.org/abs/1912.12125) 48 | 49 | 3. Synthetic dataset generation (NDDS/ Dex-Net) 50 | * Sampling from 3D CAD Models : Dex-Net 51 | * Sampling from 3D CAD Models : NDDS 52 | * Procedurally generated random shape models 53 | * Generate heaps of models using Dynamic simulation of dropping action 54 | Dynamic Simulation options : Pybullet, Newton Dynamics, Open Dynamics Engine (ODE), Vortex Dynamics (Dex-Net used this) 55 | * Data collection using Dex-Net 56 | I. Camera data 57 | II. Robot/end effector data 58 | III. Grasp feedback 59 | * Domain randomization (random camerapositions, lighting conditions, object positions, and non-realistic textures.) 60 | I. Physical parameter (end effector, object, collision, friction etc.) 61 | II. Rendering (later) 62 | OR 63 | 3. Use Real-world dataset 64 | * CGD (Cornell grasp Dataset) 65 | 66 | *Target Specification* , Tools : NDDS, Dex-Net 67 | 4. 3D Point cloud 68 | 5. 3D Point cloud segmentation 69 | 6. Specify target object to pick from the heap 70 | 71 | *Grasp Generation* , Tools : Pybullet, Isaac-Sim, iGibson, Gazebo 72 | 7. Define a trajectory that reaches the object without occlusions 73 | 8. Gripping action so as not to damage it 74 | 9. Policy between Gripping action and point cloud 75 | 10. Reward if successful transfer of object. 76 | 11. Choose the heap state/ point of object as X and gripping position as y for a CNN only for which reward is 1 77 | 78 | *Feeding the heap and grasp dataset to a CNN* , Tools : Dex-Net (GQCNN used) 79 | 12. Feed to CNN 80 | 13. Predict trajectories for new heaps 81 | 82 | -------------------------------------------------------------------------------- /Documentation/Overall_Process.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csingh27/Bin-Picking-Simulation-using-Pybullet/21eec747a2d190482d362eeec30bfd025e8b7309/Documentation/Overall_Process.pdf -------------------------------------------------------------------------------- /Models/Robots/UR5/meshes/objects/block.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /Models/Robots/UR5/meshes/objects/block_blue.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /Models/Robots/UR5/meshes/objects/cube.mtl: -------------------------------------------------------------------------------- 1 | 2 | newmtl cube 3 | Ns 10.0000 4 | Ni 1.5000 5 | d 1.0000 6 | Tr 0.0000 7 | Tf 1.0000 1.0000 1.0000 8 | illum 2 9 | Ka 0.0000 0.0000 0.0000 10 | Kd 0.5880 0.5880 0.5880 11 | Ks 0.0000 0.0000 0.0000 12 | Ke 0.0000 0.0000 0.0000 13 | map_Ka cube.tga 14 | map_Kd red.png -------------------------------------------------------------------------------- /Models/Robots/UR5/meshes/objects/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 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-------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | 3 | project(dianaV1_description) 4 | 5 | find_package(catkin REQUIRED) 6 | 7 | catkin_package() 8 | 9 | find_package(roslaunch) 10 | 11 | foreach(dir config launch meshes urdf) 12 | install(DIRECTORY ${dir}/ 13 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) 14 | endforeach(dir) 15 | -------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/config/joint_names_DianaV1.yaml: -------------------------------------------------------------------------------- 1 | controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', ] 2 | -------------------------------------------------------------------------------- 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URDF Description package for DianaV1

6 |

This package contains configuration data, 3D models and launch files 7 | for DianaV1 robot

8 | 9 | TODO 10 | 11 | BSD 12 | catkin 13 | joint_state_publisher 14 | robot_state_publisher 15 | rviz 16 | urdf 17 | xacro 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/urdf.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 85 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | Splitter Ratio: 0.5 10 | Tree Height: 540 11 | - Class: rviz/Selection 12 | Name: Selection 13 | - Class: rviz/Tool Properties 14 | Expanded: 15 | - /2D Pose Estimate1 16 | - /2D Nav Goal1 17 | - /Publish Point1 18 | Name: Tool Properties 19 | Splitter Ratio: 0.5886790156364441 20 | - Class: rviz/Views 21 | Expanded: 22 | - /Current View1 23 | Name: Views 24 | Splitter Ratio: 0.5 25 | - Class: rviz/Time 26 | Experimental: false 27 | Name: Time 28 | SyncMode: 0 29 | SyncSource: "" 30 | Preferences: 31 | PromptSaveOnExit: true 32 | Toolbars: 33 | toolButtonStyle: 2 34 | Visualization Manager: 35 | Class: "" 36 | Displays: 37 | - Alpha: 0.5 38 | Cell Size: 1 39 | Class: rviz/Grid 40 | Color: 160; 160; 164 41 | Enabled: true 42 | Line Style: 43 | Line Width: 0.029999999329447746 44 | Value: Lines 45 | Name: Grid 46 | Normal Cell Count: 0 47 | Offset: 48 | X: 0 49 | Y: 0 50 | Z: 0 51 | Plane: XY 52 | Plane Cell Count: 10 53 | Reference Frame: 54 | Value: true 55 | - Alpha: 1 56 | Class: rviz/RobotModel 57 | Collision Enabled: false 58 | Enabled: true 59 | Links: 60 | All Links Enabled: true 61 | Expand Joint Details: false 62 | Expand Link Details: false 63 | Expand Tree: false 64 | Link Tree Style: Links in Alphabetic Order 65 | base_link: 66 | Alpha: 1 67 | Show Axes: false 68 | Show Trail: false 69 | Value: true 70 | link1: 71 | Alpha: 1 72 | Show Axes: false 73 | Show Trail: false 74 | Value: true 75 | link2: 76 | Alpha: 1 77 | Show Axes: false 78 | Show Trail: false 79 | Value: true 80 | link3: 81 | Alpha: 1 82 | Show Axes: false 83 | Show Trail: false 84 | Value: true 85 | link4: 86 | Alpha: 1 87 | Show Axes: false 88 | Show Trail: false 89 | Value: true 90 | link5: 91 | Alpha: 1 92 | Show Axes: false 93 | Show Trail: false 94 | Value: true 95 | link6: 96 | Alpha: 1 97 | Show Axes: false 98 | Show Trail: false 99 | Value: true 100 | link7: 101 | Alpha: 1 102 | Show Axes: false 103 | Show Trail: false 104 | Value: true 105 | Name: RobotModel 106 | Robot Description: robot_description 107 | TF Prefix: "" 108 | Update Interval: 0 109 | Value: true 110 | Visual Enabled: true 111 | Enabled: true 112 | Global Options: 113 | Background Color: 48; 48; 48 114 | Default Light: true 115 | Fixed Frame: base_link 116 | Frame Rate: 30 117 | Name: root 118 | Tools: 119 | - Class: rviz/Interact 120 | Hide Inactive Objects: true 121 | - Class: rviz/MoveCamera 122 | - Class: rviz/Select 123 | - Class: rviz/FocusCamera 124 | - Class: rviz/Measure 125 | - Class: rviz/SetInitialPose 126 | Theta std deviation: 0.2617993950843811 127 | Topic: /initialpose 128 | X std deviation: 0.5 129 | Y std deviation: 0.5 130 | - Class: rviz/SetGoal 131 | Topic: /move_base_simple/goal 132 | - Class: rviz/PublishPoint 133 | Single click: true 134 | Topic: /clicked_point 135 | Value: true 136 | Views: 137 | Current: 138 | Class: rviz/Orbit 139 | Distance: 2.3807337284088135 140 | Enable Stereo Rendering: 141 | Stereo Eye Separation: 0.05999999865889549 142 | Stereo Focal Distance: 1 143 | Swap Stereo Eyes: false 144 | Value: false 145 | Focal Point: 146 | X: -0.3188239634037018 147 | Y: 0.15582765638828278 148 | Z: 0.4340207576751709 149 | Focal Shape Fixed Size: true 150 | Focal Shape Size: 0.05000000074505806 151 | Invert Z Axis: false 152 | Name: Current View 153 | Near Clip Distance: 0.009999999776482582 154 | Pitch: 0.6853978037834167 155 | Target Frame: 156 | Value: Orbit (rviz) 157 | Yaw: 5.828571796417236 158 | Saved: ~ 159 | Window Geometry: 160 | Displays: 161 | collapsed: true 162 | Height: 846 163 | Hide Left Dock: true 164 | Hide Right Dock: true 165 | QMainWindow State: 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166 | Selection: 167 | collapsed: false 168 | Time: 169 | collapsed: false 170 | Tool Properties: 171 | collapsed: false 172 | Views: 173 | collapsed: true 174 | Width: 1200 175 | X: 115 176 | Y: 82 177 | -------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/urdf/Diana.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | true 8 | 9 | 10 | true 11 | 12 | 13 | true 14 | 15 | 16 | true 17 | 18 | 19 | true 20 | 21 | 22 | true 23 | 24 | 25 | true 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/urdf/Diana.transmission.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | transmission_interface/SimpleTransmission 8 | 9 | ${hw_interface} 10 | 11 | 12 | 1 13 | 14 | 15 | 16 | 17 | transmission_interface/SimpleTransmission 18 | 19 | ${hw_interface} 20 | 21 | 22 | 1 23 | 24 | 25 | 26 | 27 | transmission_interface/SimpleTransmission 28 | 29 | ${hw_interface} 30 | 31 | 32 | 1 33 | 34 | 35 | 36 | 37 | transmission_interface/SimpleTransmission 38 | 39 | ${hw_interface} 40 | 41 | 42 | 1 43 | 44 | 45 | 46 | 47 | transmission_interface/SimpleTransmission 48 | 49 | ${hw_interface} 50 | 51 | 52 | 1 53 | 54 | 55 | 56 | 57 | transmission_interface/SimpleTransmission 58 | 59 | ${hw_interface} 60 | 61 | 62 | 1 63 | 64 | 65 | 66 | 67 | transmission_interface/SimpleTransmission 68 | 69 | ${hw_interface} 70 | 71 | 72 | 1 73 | 74 | 75 | 76 | 77 | 78 | 79 | -------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/urdf/DianaV1.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/urdf/DianaV1_joint_limited_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/urdf/DianaV1_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /Models/Robots/dianaV1_description/urdf/common.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 24 | 25 | 26 | 27 | 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https://raw.githubusercontent.com/csingh27/Bin-Picking-Simulation-using-Pybullet/21eec747a2d190482d362eeec30bfd025e8b7309/Models/Static Objects/Table/table.png -------------------------------------------------------------------------------- /Models/Static Objects/Table/table.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /Models/Static Objects/tray/tray.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csingh27/Bin-Picking-Simulation-using-Pybullet/21eec747a2d190482d362eeec30bfd025e8b7309/Models/Static Objects/tray/tray.jpg -------------------------------------------------------------------------------- /Models/Static Objects/tray/tray.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /Models/Static Objects/tray/tray_textured.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.800000 0.800000 0.800000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd tray.jpg 14 | -------------------------------------------------------------------------------- /Models/Static Objects/tray/tray_textured.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.78 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib tray_textured.mtl 4 | o edge_4_Cube.001 5 | v -0.573309 0.580000 0.261247 6 | v -0.426691 0.419400 -0.002214 7 | v -0.590083 0.580000 0.250354 8 | v -0.573309 -0.580000 0.261247 9 | v -0.409917 0.419400 0.008679 10 | v -0.590083 -0.580000 0.250354 11 | v -0.409917 -0.419400 0.009162 12 | v -0.426691 -0.419400 -0.001731 13 | vt 0.9046 0.2397 14 | vt 0.7929 0.2434 15 | vt 0.9174 0.2393 16 | vt 0.9537 0.7559 17 | vt 0.7801 0.2438 18 | vt 0.9664 0.7554 19 | vt 0.8291 0.7599 20 | vt 0.8419 0.7595 21 | vn 0.2565 0.8821 -0.3950 22 | vn 0.8392 0.0002 0.5438 23 | vn 0.8395 0.0000 0.5433 24 | vn 0.8396 -0.0000 0.5432 25 | vn 0.2568 -0.8819 -0.3954 26 | vn -0.8396 -0.0002 -0.5433 27 | vn -0.8392 -0.0000 -0.5438 28 | vn -0.8391 0.0000 -0.5439 29 | vn 0.5446 -0.0005 -0.8387 30 | vn -0.5446 -0.0000 0.8387 31 | vn 0.8391 0.0003 0.5440 32 | vn -0.8397 -0.0003 -0.5430 33 | usemtl None 34 | s 1 35 | f 1/1/1 2/2/1 3/3/1 36 | f 4/4/2 5/5/3 1/1/4 37 | f 6/6/5 7/7/5 4/4/5 38 | f 3/3/6 8/8/7 6/6/8 39 | f 5/5/9 8/8/9 2/2/9 40 | f 4/4/10 3/3/10 6/6/10 41 | f 1/1/1 5/5/1 2/2/1 42 | f 4/4/2 7/7/11 5/5/3 43 | f 6/6/5 8/8/5 7/7/5 44 | f 3/3/6 2/2/12 8/8/7 45 | f 5/5/9 7/7/9 8/8/9 46 | f 4/4/10 1/1/10 3/3/10 47 | o edge_1_Cube.003 48 | v 0.580000 0.590083 0.250354 49 | v -0.419960 0.426691 -0.001860 50 | v -0.580000 0.590083 0.250354 51 | v 0.580000 0.573309 0.261247 52 | v 0.420014 0.426691 -0.001059 53 | v -0.580000 0.573309 0.261247 54 | v 0.420014 0.409917 0.009834 55 | v -0.419960 0.409917 0.009033 56 | vt 0.8346 0.9187 57 | vt 0.2203 0.8574 58 | vt 0.1480 0.9187 59 | vt 0.8346 0.9129 60 | vt 0.7623 0.8574 61 | vt 0.1480 0.9129 62 | vt 0.7623 0.8511 63 | vt 0.2203 0.8511 64 | vn 0.0004 0.8386 -0.5448 65 | vn 0.0001 0.8391 -0.5439 66 | vn 0.0000 0.8393 -0.5437 67 | vn 0.8823 -0.2564 -0.3948 68 | vn -0.0004 -0.8392 0.5439 69 | vn -0.0001 -0.8386 0.5447 70 | vn 0.0000 -0.8385 0.5449 71 | vn -0.8826 -0.2560 -0.3942 72 | vn 0.0008 -0.5446 -0.8387 73 | vn 0.0000 0.5446 0.8387 74 | vn 0.0005 0.8383 -0.5452 75 | vn -0.0005 -0.8394 0.5435 76 | usemtl None 77 | s 1 78 | f 9/9/13 10/10/14 11/11/15 79 | f 12/12/16 13/13/16 9/9/16 80 | f 14/14/17 15/15/18 12/12/19 81 | f 11/11/20 16/16/20 14/14/20 82 | f 13/13/21 16/16/21 10/10/21 83 | f 12/12/22 11/11/22 14/14/22 84 | f 9/9/13 13/13/23 10/10/14 85 | f 12/12/16 15/15/16 13/13/16 86 | f 14/14/17 16/16/24 15/15/18 87 | f 11/11/20 10/10/20 16/16/20 88 | f 13/13/21 15/15/21 16/16/21 89 | f 12/12/22 9/9/22 11/11/22 90 | o edge_2_Cube 91 | v 0.590083 0.580000 0.250354 92 | v 0.409917 0.420060 0.009390 93 | v 0.573309 0.580000 0.261247 94 | v 0.590083 -0.580000 0.250354 95 | v 0.426691 0.420060 -0.001503 96 | v 0.573309 -0.580000 0.261247 97 | v 0.426691 -0.419158 -0.002053 98 | v 0.409917 -0.419158 0.008840 99 | vt 0.9410 0.8520 100 | vt 0.7523 0.8566 101 | vt 0.9234 0.8524 102 | vt 0.8896 0.1426 103 | vt 0.7698 0.8562 104 | vt 0.8721 0.1430 105 | vt 0.7185 0.1468 106 | vt 0.7009 0.1472 107 | vn -0.2561 0.8826 -0.3943 108 | vn 0.8394 0.0003 -0.5435 109 | vn 0.8390 0.0001 -0.5441 110 | vn 0.8389 0.0000 -0.5443 111 | vn -0.2569 -0.8818 -0.3956 112 | vn -0.8390 -0.0003 0.5441 113 | vn -0.8394 -0.0001 0.5436 114 | vn -0.8395 -0.0000 0.5434 115 | vn -0.5446 0.0005 -0.8387 116 | vn 0.5446 -0.0000 0.8387 117 | vn 0.8396 0.0004 -0.5433 118 | vn -0.8388 -0.0004 0.5444 119 | usemtl None 120 | s 1 121 | f 17/17/25 18/18/25 19/19/25 122 | f 20/20/26 21/21/27 17/17/28 123 | f 22/22/29 23/23/29 20/20/29 124 | f 19/19/30 24/24/31 22/22/32 125 | f 21/21/33 24/24/33 18/18/33 126 | f 20/20/34 19/19/34 22/22/34 127 | f 17/17/25 21/21/25 18/18/25 128 | f 20/20/26 23/23/35 21/21/27 129 | f 22/22/29 24/24/29 23/23/29 130 | f 19/19/30 18/18/36 24/24/31 131 | f 21/21/33 23/23/33 24/24/33 132 | f 20/20/34 17/17/34 19/19/34 133 | o base_Cube.004 134 | v 0.420000 0.420000 0.010000 135 | v -0.420000 0.420000 -0.010000 136 | v -0.420000 0.420000 0.010000 137 | v 0.420000 -0.420000 0.010000 138 | v 0.420000 0.420000 -0.010000 139 | v -0.420000 -0.420000 0.010000 140 | v 0.420000 -0.420000 -0.010000 141 | v -0.420000 -0.420000 -0.010000 142 | vt 0.7524 0.8072 143 | vt -0.3038 0.8371 144 | vt -0.3038 0.8371 145 | vt 0.7012 0.1905 146 | vt 0.7524 0.8072 147 | vt -0.3550 0.2204 148 | vt 0.7012 0.1905 149 | vt -0.3550 0.2204 150 | vn 0.0000 1.0000 0.0000 151 | vn 1.0000 -0.0000 0.0000 152 | vn 0.0000 -1.0000 0.0000 153 | vn -1.0000 -0.0000 0.0000 154 | vn 0.0000 0.0000 -1.0000 155 | vn 0.0000 -0.0000 1.0000 156 | usemtl None 157 | s 1 158 | f 25/25/37 26/26/37 27/27/37 159 | f 28/28/38 29/29/38 25/25/38 160 | f 30/30/39 31/31/39 28/28/39 161 | f 27/27/40 32/32/40 30/30/40 162 | f 29/29/41 32/32/41 26/26/41 163 | f 28/28/42 27/27/42 30/30/42 164 | f 25/25/37 29/29/37 26/26/37 165 | f 28/28/38 31/31/38 29/29/38 166 | f 30/30/39 32/32/39 31/31/39 167 | f 27/27/40 26/26/40 32/32/40 168 | f 29/29/41 31/31/41 32/32/41 169 | f 28/28/42 25/25/42 27/27/42 170 | o edge_3_Cube.002 171 | v 0.580000 -0.573309 0.261247 172 | v -0.419400 -0.409917 0.008678 173 | v -0.580000 -0.573309 0.261247 174 | v 0.580000 -0.590083 0.250354 175 | v 0.419883 -0.409917 0.009162 176 | v -0.580000 -0.590083 0.250354 177 | v 0.419883 -0.426691 -0.001731 178 | v -0.419400 -0.426691 -0.002215 179 | vt 0.8690 0.1040 180 | vt 0.1365 0.1739 181 | vt 0.0188 0.1040 182 | vt 0.8690 0.0968 183 | vt 0.7517 0.1739 184 | vt 0.0188 0.0968 185 | vt 0.7517 0.1668 186 | vt 0.1365 0.1668 187 | vn -0.0002 0.8392 0.5438 188 | vn -0.0000 0.8395 0.5433 189 | vn 0.0000 0.8396 0.5432 190 | vn 0.8825 0.2562 -0.3945 191 | vn 0.0002 -0.8396 -0.5433 192 | vn 0.0000 -0.8392 -0.5438 193 | vn 0.0000 -0.8391 -0.5439 194 | vn -0.8821 0.2565 -0.3950 195 | vn -0.8822 0.2565 -0.3950 196 | vn 0.0005 0.5446 -0.8387 197 | vn 0.0000 -0.5446 0.8387 198 | vn -0.0003 0.8391 0.5440 199 | vn 0.0003 -0.8397 -0.5430 200 | usemtl None 201 | s 1 202 | f 33/33/43 34/34/44 35/35/45 203 | f 36/36/46 37/37/46 33/33/46 204 | f 38/38/47 39/39/48 36/36/49 205 | f 35/35/50 40/40/51 38/38/51 206 | f 37/37/52 40/40/52 34/34/52 207 | f 36/36/53 35/35/53 38/38/53 208 | f 33/33/43 37/37/54 34/34/44 209 | f 36/36/46 39/39/46 37/37/46 210 | f 38/38/47 40/40/55 39/39/48 211 | f 35/35/50 34/34/51 40/40/51 212 | f 37/37/52 39/39/52 40/40/52 213 | f 36/36/53 33/33/53 35/35/53 214 | -------------------------------------------------------------------------------- /Models/Static Objects/tray/tray_textured2.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'tray_textured2.blend' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.800000 0.800000 0.800000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd tray.jpg 14 | -------------------------------------------------------------------------------- /Models/Static Objects/tray/tray_textured2.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /Models/Static Objects/tray/tray_textured4.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.800000 0.800000 0.800000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd tray.jpg 14 | -------------------------------------------------------------------------------- /Models/Static Objects/tray/traybox.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Simulation- Bin Picking- Pybullet 2 | 3 | To run the Simulation : Run "python3 main.py" 4 | 5 | To navigate the PyBullet GUI : 6 | G- Hide all open windows 7 | Mouse Scrool- Zoom In/ Zoom Out 8 | CTRL+ Left Mouse Hold - Rotate 9 | 10 | NOTE : Create a Folder Inside Models/3dnet extract 3dnet dataset OBJ files from 11 | https://repo.acin.tuwien.ac.at/tmp/permanent/3d-net.org/ 12 | 13 | STEPS : 14 | * Add UR5 Model with controls : ✔ 15 | * Add Tray Model✔ 16 | * Add Table Model✔ 17 | * Add PyBullet Objects - 1 Type✔ 18 | * Do heap simulation of objects✔ 19 | * Add Gripper to UR5✔ 20 | * Write code from scratch to control the UR5 Robot with sliders✔ 21 | * Import OBJ Models to generate heap✔ 22 | * Add Camera model external✔ 23 | * Import Robotiq Gripper with UR5 Model✔ 24 | * Perform Grasping Simulation on UR5 robot with Basic Gripper using Pybullet Objects✔ 25 | * Perform Grasping Simulation on UR5 robot with Schmalz Gripper using Dex-Net Objects✔ 26 | * Perform Grasping Simulation on UR5 robot with Robotiq Gripper using Dex-Net Objects 27 | 28 | DEPENDENCIES : 29 | 1. Pybullet https://github.com/bulletphysics/bullet3 30 | ``` 31 | Steps : 32 | pip3 install --user gym 33 | pip3 install pybullet --upgrade --user 34 | pip install attrdict 35 | *Testing the installation* : 36 | python3 -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may 37 | python3 -m pybullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul 38 | python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt 39 | In case the installation is not successful using the above steps, please follow the steps below : 40 | git clone https://github.com/Microsoft/vcpkg.git 41 | cd vcpkg 42 | ./bootstrap-vcpkg.sh 43 | ./vcpkg integrate install 44 | vcpkg install bullet3 45 | ``` 46 | 2. Attrdict 47 | Steps : 48 | * pip3 install attrdict 49 | NOTE : Clone the following repo in /home/cs/GitHub/simulation-bin-picking-pybullet/Models/Robots before starting 50 | https://github.com/a-price/robotiq_arg85_description 51 | 52 | Running Examples from Reference Repositories : 53 | 54 | **Running ur5pybullet (Uses Kuka Model- With Gripper)** 55 | * cd ur5pybullet in the terminal 56 | * Run "python arm.py --mode xyz" in the terminal 57 | Or "python arm.py --mode motors" 58 | NOTE : Run this at the root if you add another repo inside it "rm -rf -d .git rmdir .git" 59 | 60 | **Running UR5Bullet (Uses UR5 Model- Without Gripper)** 61 | * python3 UR5Sim.py 62 | 63 | Running Demo Simulation : 64 | * Navigate to '/Demo Simulation' 65 | **To run KUKA Demo** 66 | * python3 enjoy_kuka_diverse_object_grasping.py 67 | **To run Panda Demo** 68 | * python3 loadpanda_grasp.py 69 | -------------------------------------------------------------------------------- /__pycache__/definitions.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csingh27/Bin-Picking-Simulation-using-Pybullet/21eec747a2d190482d362eeec30bfd025e8b7309/__pycache__/definitions.cpython-38.pyc -------------------------------------------------------------------------------- /definitions.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csingh27/Bin-Picking-Simulation-using-Pybullet/21eec747a2d190482d362eeec30bfd025e8b7309/definitions.pyc -------------------------------------------------------------------------------- /main.py: -------------------------------------------------------------------------------- 1 | ## --IMPORT LIBRARIES-- # 2 | print("Importing Libraries ...") 3 | import pybullet as p 4 | import time 5 | import pybullet_data 6 | import os 7 | import sys 8 | import numpy as np 9 | import time 10 | import random 11 | from collections import namedtuple 12 | from attrdict import AttrDict 13 | import math 14 | from datetime import datetime 15 | print(os.environ['DISPLAY']) 16 | # --LOAD PYBULLET GUI-- # 17 | print("Loading PyBullet ...") 18 | FILE_PATH = os.path.dirname(os.path.realpath(__file__)) 19 | print(FILE_PATH) 20 | os.chdir(FILE_PATH) 21 | physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version 22 | # --SETTING REALTIME SIMULATION-- # 23 | print("Setting Realtime Simulation ...") 24 | p.setAdditionalSearchPath(pybullet_data.getDataPath()) 25 | p.setRealTimeSimulation(True) 26 | p.setGravity(0,0,-10) 27 | 28 | import definitions as d 29 | 30 | # --DEFINE THE CONTROL FUNCTIONS-- # 31 | def initialize_robot(choice): 32 | if choice==0: 33 | control=0 34 | motors_arm(control,choice,0) 35 | if choice==1: 36 | control=end_effector_add_sliders() 37 | print("End Effector control activated ...") 38 | motors_arm(control,choice,0) 39 | if choice==2: 40 | control=joint_add_sliders() 41 | print("Joint control activated ...") 42 | motors_arm(control,choice,0) 43 | elif choice==3: 44 | print("Grasp control activated ...") 45 | control=0 46 | grasp_user_input() 47 | time.sleep(2) 48 | if d.mode==9: 49 | print("EXITING ...") 50 | exit() 51 | else : 52 | # --IMPORT UR5 ROBOT WITH GRIPPER-- # 53 | print("------------------------------------- \n") 54 | print("CHOOSE A ROBOT-GRIPPER CONFIGURATION ... \n") 55 | print("1: UR5 with virtual Suction \n") 56 | print("2: UR5 with Basic Gripper \n") 57 | print("3: UR5 with Robotiq Gripper \n") 58 | print("4: Diana with virtual Suction \n") 59 | print("------------------------------------- \n") 60 | Flags=p.URDF_USE_SELF_COLLISION 61 | FILE_PATH=os.path.join(FILE_PATH,"Configurations") 62 | os.chdir(FILE_PATH) 63 | sys.path.append(FILE_PATH) 64 | robotinput=input() 65 | if robotinput==1: 66 | d.ROBOT_URDF_MODEL=d.ROBOT_URDF_MODEL_SUCTION 67 | print("Virtual Suction gripper selected \n") 68 | from Simulation_UR5_SuctionGripper import end_effector_add_sliders 69 | from Simulation_UR5_SuctionGripper import end_effector_control 70 | from Simulation_UR5_SuctionGripper import motors_arm 71 | from Simulation_UR5_SuctionGripper import joint_add_sliders 72 | from Simulation_UR5_SuctionGripper import grasp_user_input 73 | from Simulation_UR5_SuctionGripper import grasp_control 74 | elif robotinput==2: 75 | d.ROBOT_URDF_MODEL=d.ROBOT_URDF_MODEL_BASIC_GRIPPER 76 | print("Basic gripper selected \n") 77 | from Simulation_UR5_BasicGripper import end_effector_add_sliders 78 | from Simulation_UR5_BasicGripper import end_effector_control 79 | from Simulation_UR5_BasicGripper import motors_arm 80 | from Simulation_UR5_BasicGripper import joint_add_sliders 81 | from Simulation_UR5_BasicGripper import grasp_user_input 82 | from Simulation_UR5_BasicGripper import grasp_control 83 | elif robotinput==3: 84 | d.ROBOT_URDF_MODEL=d.ROBOT_URDF_MODEL_ROBOTIQ_GRIPPER 85 | print("Robotiq gripper selected \n") 86 | from Simulation_UR5_RobotiqGripper import end_effector_add_sliders 87 | from Simulation_UR5_RobotiqGripper import end_effector_control 88 | from Simulation_UR5_RobotiqGripper import motors_arm 89 | from Simulation_UR5_RobotiqGripper import joint_add_sliders 90 | from Simulation_UR5_RobotiqGripper import grasp_user_input 91 | from Simulation_UR5_RobotiqGripper import grasp_control 92 | elif robotinput==4: 93 | d.ROBOT_URDF_MODEL=d.ROBOT_URDF_MODEL_DIANA_SUCTION_GRIPPER 94 | print("Diana robot with virtual suction selected \n") 95 | from Simulation_Diana_SuctionGripper import end_effector_add_sliders 96 | from Simulation_Diana_SuctionGripper import end_effector_control 97 | from Simulation_Diana_SuctionGripper import motors_arm 98 | from Simulation_Diana_SuctionGripper import joint_add_sliders 99 | from Simulation_Diana_SuctionGripper import grasp_user_input 100 | from Simulation_Diana_SuctionGripper import grasp_control 101 | print("Importing robot ... \n") 102 | # --INITIALIZE THE ROBOT-- # 103 | print("Initializing the robot ...\n") 104 | initialize_robot(0) 105 | print("------------------------------------- \n") 106 | print("CHOOSE A ROBOT CONTROL MODE ... \n") 107 | print("1: End-effector control1 \n") 108 | print("2: Joint control \n") 109 | print("3: Grasp control \n") 110 | print("------------------------------------- \n") 111 | choice=input() 112 | if choice==1 or choice==2 or choice==3: 113 | print("In the loop...") 114 | initialize_robot(choice) 115 | else: 116 | print("Please select 1,2 or 3") 117 | choice 118 | 119 | -------------------------------------------------------------------------------- /main.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/csingh27/Bin-Picking-Simulation-using-Pybullet/21eec747a2d190482d362eeec30bfd025e8b7309/main.pyc --------------------------------------------------------------------------------