improbable-ai / airobot Goto Github PK

View Code? Open in Web Editor NEW

72.0 72.0 24.0 69.26 MB

A python library for robot learning - An extension to PyRobot

Home Page: https://airobot.readthedocs.io/

License: MIT License

Python 96.75% Shell 1.27% Dockerfile 1.98%

robot-learning

airobot's People

Contributors

Stargazers

Watchers

airobot's Issues

Python error while installation

I am facing this error error in airobot setup command: 'python_requires' must be a string containing valid version specifiers; Invalid specifier: '>=2.7.*' while installing. My python version is 3.9.18. Someone please help.

Yumi 14050 support

There is no support for simulation to Yumi IRB 14050 (single arm) robot. Could you make it happen?

[Feature Request] Upgrade ROS to Melodic version and use Python 3

The current code supports python 3 for simulation code in pybullet. But it only supports python 2 for code related to ROS. We need to upgrade the ROS version and use ubuntu 18.04.

This function has been renamed

airobot/src/airobot/utils/common.py

Line 57 in 8277fa2

return r.as_dcm()

Quick question on the CoRL 2020 paper

Hello @anthonysimeonov

Thank you for sharing this code base. I'm excited to use it.

I am looking at your CoRL 2020 paper: https://anthonysimeonov.github.io/rpo-planning-framework/

From running your YuMi code examples in simulation (in this repository here), I see a setup that looks very similar to what's in the paper. Did you use this code base in the CoRL 2020 paper? If so I'm wondering if there is some code accessible for this paper? It doesn't seem listed on the project website nor do I see it on GitHub anywhere. Thanks!

Example link broken on README

Hello,

In the "Getting Started" section of the README, it says:

A sample script is shown below. You can find more examples here

The link to the examples goes to here: https://github.com/Improbable-AI/airobot/examples

which does not exist. I'm guessing you mean:

https://github.com/Improbable-AI/airobot/tree/master/examples

Example with simulated YuMi uses outdated gripper methods

Describe the bug
If you run the simulation example with the YuMi:

python examples/yumi/sim/joint_position_control.py

It seems like there are some outdated methods, as reported later. These happen when calling:

airobot/examples/yumi/sim/joint_position_control.py

Lines 33 to 37 in 57a6b19

 robot.arm.left_arm.eetool.set_pos(0.005) 

 ar.log_info('Left gripper position: ') 

 ar.log_info(np.round(robot.arm.left_arm.eetool.get_pos(), 6)) 

 ar.log_info('\n') 

 time.sleep(3)

The end effector tool robot.arm.left_arm.eetool is calling set_pos. However, from searching the code base (e.g., using GitHub or in vscode) I only see set_pos defined in this class:

airobot/src/airobot/ee_tool/robotiq2f140_real.py

Lines 19 to 31 in 57a6b19

 class Robotiq2F140Real(EndEffectorTool): 

 """ 

  Class for interfacing with Robotiq 2F140 gripper when 

  it is attached to UR5e arm. Communication with the gripper 

  is either through ROS over through a TCP/IP socket. 

  Args: 

  cfgs (YACS CfgNode): configurations for the gripper. 

  Attributes: 

  cfgs (YACS CfgNode): configurations for the gripper. 

  jnt_names (list): list of joint names of the gripper. 

  """

For a special gripper for the UR5 robot (and not for the YuMi). The end effector tool in the examples/yumi/sim/joint_position_control.py script is from this class:

airobot/src/airobot/ee_tool/yumi_parallel_jaw_pybullet.py

Lines 4 to 27 in 57a6b19

 class YumiParallelJawPybullet(SimpleGripperMimicPybullet): 

 """ 

  Class for interfacing with the standard Yumi 

  parallel jaw gripper. 

  Args: 

  cfgs (YACS CfgNode): configurations for the gripper 

  pb_client (BulletClient): pybullet client. 

  Attributes: 

  cfgs (YACS CfgNode): configurations for the gripper. 

  gripper_close_angle (float): position value corresponding to the 

  fully closed position of the gripper. 

  gripper_open_angle (float): position value corresponding to the 

  fully open position of the gripper. 

  jnt_names (list): names of the gripper joints. 

  gripper_jnt_ids (list): pybullet joint ids of the gripper joints. 

  robot_id (int): robot id in Pybullet. 

  jnt_to_id (dict): mapping from the joint name to joint id. 

  """ 

 def __init__(self, cfgs, pb_client): 

 super(YumiParallelJawPybullet, self).__init__(cfgs=cfgs, 

 pb_client=pb_client)

and from searching the parent classes, it seems like there is no set_pos anywhere, or get_pos as well.

To Reproduce
Steps to reproduce the behavior:

Create a clean conda environment with Python 3.7. Follow instructions in the current README.
Run python examples/yumi/sim/joint_position_control.py.
The error message is as follows:

Traceback (most recent call last):
  File "examples/yumi/sim/joint_position_control.py", line 54, in <module>
    main()
  File "examples/yumi/sim/joint_position_control.py", line 39, in main
    robot.arm.left_arm.eetool.set_pos(0.005)
AttributeError: 'YumiParallelJawPybullet' object has no attribute 'set_pos'

Even if that line of code is commented out, the get_pos method also does not seem to be defined:

Traceback (most recent call last):
  File "examples/yumi/sim/joint_position_control.py", line 54, in <module>
    main()
  File "examples/yumi/sim/joint_position_control.py", line 41, in main
    ar.log_info(np.round(robot.arm.left_arm.eetool.get_pos(), 6))
AttributeError: 'YumiParallelJawPybullet' object has no attribute 'get_pos'

I was able to get the code to run without errors with these changes:

set_pos() --> set_jpos()
get_pos() --> get_jpos()

Is this the correct intended behavior?

Expected behavior
I expect to see no errors when running the script.

Desktop (please complete the following information):

OS: Ubuntu 18.04
Code version: master branch as of commit 57a6b19

Additional context
I'm sure that this is just a matter of updating the API. I just wanted to report this so that the examples all run correctly.

UR10 with 2F140

How can a new robot be added in this existing library? For example, I want to use UR10 with 2f140.
I tried to add the URDF of ur10, but it seems it requires some other changes as well.

2f140 causing segmentation fault

Describe the bug
After installing in python2.7 with virtualenv on Mac OS Sierra, I get the following error on the block_stacking example script:

pybullet build time: Mar 28 2020 16:47:39
Version = 4.1 NVIDIA-10.17.5 355.10.05.45f01
Vendor = NVIDIA Corporation
Renderer = NVIDIA GeForce GT 750M OpenGL Engine
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: ee_link
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: base
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: tool0
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: left_inner_finger_pad
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: right_inner_finger_pad
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: ee_tip
Fatal Python error: Segmentation fault

Current thread 0x000070000201a000 (most recent call first):
  File "/Users/richard/improbable/airobot_labversion2/src/airobot/ee_tool/robotiq2f140_pybullet.py", line 158 in get_pos
  File "/Users/richard/improbable/airobot_labversion2/src/airobot/ee_tool/robotiq2f140_pybullet.py", line 214 in _set_rest_joints
  File "/Users/richard/improbable/airobot_labversion2/src/airobot/ee_tool/robotiq2f140_pybullet.py", line 207 in _th_mimic_gripper
  File "/System/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/threading.py", line 763 in run
  File "/System/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/threading.py", line 810 in __bootstrap_inner
  File "/System/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/threading.py", line 783 in __bootstrap

Thread 0x00007fffb8ec43c0 (most recent call first):
  File "/Users/richard/improbable/airobot_labversion2/src/airobot/utils/common.py", line 353 in list_class_names
  File "/Users/richard/improbable/airobot_labversion2/src/airobot/sensor/camera/__init__.py", line 6 in <module>
  File "/Users/richard/improbable/airobot_labversion2/src/airobot/__init__.py", line 136 in __init__
  File "block_stacking.py", line 15 in main
  File "block_stacking.py", line 58 in <module>
Segmentation fault: 11

It only errors on "ur5e_2f140" not "ur5e_stick". The end effector is causing problems.

Additionally, when I break into the line right before the error:

File "/Users/richard/improbable/airobot_labversion2/src/airobot/ee_tool/robotiq2f140_pybullet.py", line 158 in get_pos

I can call getJointInfo successfully on the same self.robot_id and jnt_id for which getJointState fails:

self._pb.getJointInfo(self.robot_id, jnt_id)
(Pdb) (12, 'finger_joint', 0, 13, 12, 1, 0.0, 0.0, 0.0, 0.7, 1000.0, 2.0, 'left_outer_knuckle', (-1.0, 0.0, 0.0), (-8.625e-08, -0.030596341699999998, 0.023455000000000004), (0.9119033508710461, 0.0, 0.0, -0.4104050178423233), 11)

So the joint exists, is loaded from the URDF, yet we can't read the state...

Expected behavior
The script should complete the block stacking behavior in pybullet.

Desktop (please complete the following information):
Mac OSX 10.12 Sierra

improbable-ai / airobot Goto Github PK

airobot's People

Contributors

Stargazers

Watchers

Forkers

airobot's Issues

Python error while installation

Yumi 14050 support

[Feature Request] Upgrade ROS to Melodic version and use Python 3

This function has been renamed

Quick question on the CoRL 2020 paper

Example link broken on README

Example with simulated YuMi uses outdated gripper methods

UR10 with 2F140

2f140 causing segmentation fault

Recommend Projects

React

Vue.js

Typescript

TensorFlow

Django

Laravel

D3

Recommend Topics

javascript

web

server

Machine learning

Visualization

Game

Recommend Org

Facebook

Microsoft

Google

Alibaba

D3

Tencent

	robot.arm.left_arm.eetool.set_pos(0.005)
	ar.log_info('Left gripper position: ')
	ar.log_info(np.round(robot.arm.left_arm.eetool.get_pos(), 6))
	ar.log_info('\n')
	time.sleep(3)

	class Robotiq2F140Real(EndEffectorTool):
	"""
	Class for interfacing with Robotiq 2F140 gripper when
	it is attached to UR5e arm. Communication with the gripper
	is either through ROS over through a TCP/IP socket.

	Args:
	cfgs (YACS CfgNode): configurations for the gripper.

	Attributes:
	cfgs (YACS CfgNode): configurations for the gripper.
	jnt_names (list): list of joint names of the gripper.
	"""

	class YumiParallelJawPybullet(SimpleGripperMimicPybullet):
	"""
	Class for interfacing with the standard Yumi
	parallel jaw gripper.

	Args:
	cfgs (YACS CfgNode): configurations for the gripper
	pb_client (BulletClient): pybullet client.

	Attributes:
	cfgs (YACS CfgNode): configurations for the gripper.
	gripper_close_angle (float): position value corresponding to the
	fully closed position of the gripper.
	gripper_open_angle (float): position value corresponding to the
	fully open position of the gripper.
	jnt_names (list): names of the gripper joints.
	gripper_jnt_ids (list): pybullet joint ids of the gripper joints.
	robot_id (int): robot id in Pybullet.
	jnt_to_id (dict): mapping from the joint name to joint id.
	"""

	def __init__(self, cfgs, pb_client):
	super(YumiParallelJawPybullet, self).__init__(cfgs=cfgs,
	pb_client=pb_client)