def main(random_selection=False, headless=False, short_exec=False):
"""
Robot grasping mode demo with selection
Queries the user to select a type of grasping mode
"""
og.log.info(f"Demo {__file__}\n " + "*" * 80 + "\n Description:\n" + main.__doc__ + "*" * 80)
# Choose type of grasping
grasping_mode = choose_from_options(options=GRASPING_MODES, name="grasping mode", random_selection=random_selection)
# Create environment configuration to use
scene_cfg = dict(type="Scene")
robot0_cfg = dict(
type="Fetch",
obs_modalities=["rgb"], # we're just doing a grasping demo so we don't need all observation modalities
action_type="continuous",
action_normalize=True,
grasping_mode=grasping_mode,
)
# Define objects to load
table_cfg = dict(
type="DatasetObject",
name="table",
category="breakfast_table",
model="lcsizg",
bounding_box=[0.5, 0.5, 0.8],
fit_avg_dim_volume=False,
fixed_base=True,
position=[0.7, -0.1, 0.6],
orientation=[0, 0, 0.707, 0.707],
)
chair_cfg = dict(
type="DatasetObject",
name="chair",
category="straight_chair",
model="amgwaw",
bounding_box=None,
fit_avg_dim_volume=True,
fixed_base=False,
position=[0.45, 0.65, 0.425],
orientation=[0, 0, -0.9990215, -0.0442276],
)
box_cfg = dict(
type="PrimitiveObject",
name="box",
primitive_type="Cube",
rgba=[1.0, 0, 0, 1.0],
size=0.05,
position=[0.53, -0.1, 0.97],
)
# Compile config
cfg = dict(scene=scene_cfg, robots=[robot0_cfg], objects=[table_cfg, chair_cfg, box_cfg])
# Create the environment
env = og.Environment(configs=cfg, action_timestep=1/60., physics_timestep=1/60.)
# Reset the robot
robot = env.robots[0]
robot.set_position([0, 0, 0])
robot.reset()
robot.keep_still()
# Make the robot's camera(s) high-res
for sensor in robot.sensors.values():
if isinstance(sensor, VisionSensor):
sensor.image_height = 720
sensor.image_width = 720
# Update the simulator's viewer camera's pose so it points towards the robot
og.sim.viewer_camera.set_position_orientation(
position=np.array([-2.39951, 2.26469, 2.66227]),
orientation=np.array([-0.23898481, 0.48475231, 0.75464013, -0.37204802]),
)
# Create teleop controller
action_generator = KeyboardRobotController(robot=robot)
# Print out relevant keyboard info if using keyboard teleop
action_generator.print_keyboard_teleop_info()
# Other helpful user info
print("Running demo with grasping mode {}.".format(grasping_mode))
print("Press ESC to quit")
# Loop control until user quits
max_steps = -1 if not short_exec else 100
step = 0
while step != max_steps:
action = action_generator.get_random_action() if random_selection else action_generator.get_teleop_action()
for _ in range(10):
env.step(action)
step += 1
# Always shut down the environment cleanly at the end
env.close()