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GripperTools.py
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# -*- coding: utf-8 -*-
"""Toolbox: compute reward, create scene, ...
"""
__authors__ = "emenager", "ekhairallah", "PSC"
__contact__ = "[email protected]", "[email protected]"
__version__ = "1.0.0"
__copyright__ = "(c) 2020, Inria"
__date__ = "Oct 7 2020"
import Sofa
import Sofa.Core
import Sofa.Simulation
import SofaRuntime
from math import cos, sin
import numpy as np
SofaRuntime.importPlugin("Sofa.Component")
class rewardShaper(Sofa.Core.Controller):
"""Compute the reward.
Methods:
-------
__init__: Initialization of all arguments.
getReward: Compute the reward.
update: Initialize the value of cost.
Arguments:
---------
rootNode: <Sofa.Core>
The scene.
goal_pos: coordinates
The position of the goal.
effMO: <MechanicalObject>
The mechanical object of the element to move.
cost:
Evolution of the distance between object and goal.
"""
def __init__(self, *args, **kwargs):
"""Initialization of all arguments.
Parameters:
----------
kwargs: Dictionary
Initialization of the arguments.
Returns:
-------
None.
"""
Sofa.Core.Controller.__init__(self, *args, **kwargs)
self.rootNode = None
if kwargs["rootNode"]:
self.rootNode = kwargs["rootNode"]
self.goal_pos = None
if kwargs["goalPos"]:
self.goal_pos = kwargs["goalPos"]
self.effMO = None
if kwargs["effMO"]:
self.effMO = kwargs["effMO"]
self.cost = None
def getReward(self):
"""Compute the reward.
Parameters:
----------
None.
Returns:
-------
The reward and the cost.
"""
current_cost = abs(self.effMO.position[0][1] - self.goal_pos[1])
if not self.cost:
self.cost = current_cost
return 0, self.cost
reward = self.cost - current_cost
self.cost = current_cost
return round(reward, 3)/20, self.cost
def update(self):
"""Compute the distance between object and goal.
This function is used as an initialization function.
Parameters:
----------
None.
Arguments:
---------
None.
"""
self.cost = abs(self.effMO.position[0][1] - self.goal_pos[1])
class goalSetter(Sofa.Core.Controller):
"""Compute the goal.
Methods:
-------
__init__: Initialization of all arguments.
update: Initialize the value of cost.
Arguments:
---------
goalMO: <MechanicalObject>
The mechanical object of the goal.
goalPos: coordinates
The coordinates of the goal.
"""
def __init__(self, *args, **kwargs):
"""Initialization of all arguments.
Parameters:
----------
kwargs: Dictionary
Initialization of the arguments.
Returns:
-------
None.
"""
Sofa.Core.Controller.__init__(self, *args, **kwargs)
self.goalMO = None
if kwargs["goalMO"]:
self.goalMO = kwargs["goalMO"]
self.goalPos = None
if kwargs["goalPos"]:
self.goalPos = kwargs["goalPos"]
def update(self):
"""Set the position of the goal.
This function is used as an initialization function.
Parameters:
----------
None.
Arguments:
---------
None.
"""
with self.goalMO.position.writeable() as position:
position += self.goalPos
def set_mo_pos(self, goal):
"""Modify the goal.
Not used here.
"""
pass
def _getGoalPos(root):
"""Get XYZ position of the goal.
Parameters:
----------
rootNode: <Sofa.Core>
The scene.
Returns:
-------
The position of the goal.
"""
return root.Goal.GoalMO.position[0]
def getState(root):
"""Compute the state of the environment/agent.
Note:
----
The state is normalized.
The state is composed of the position of the object, the displacement of
the cable, the tips of the finger and the position of the goal.
Parameters:
----------
rootNode: <Sofa.Core>
The scene.
Returns:
-------
State: list of float
The state of the environment/agent.
"""
cs = 3
cube_pos = [round(float(k), cs) for k in root.Cube.mstate.position.value.reshape(-1)]
finger1 = root.Gripper.Finger1
finger2 = root.Gripper.Finger2
displacement = [float((finger1.cables.cable1.aCableActuator.getData('value').value[0]-12.5)/12.5)]
goal_pos = _getGoalPos(root).tolist()
goal_pos[1] /= 30
finger_tips1 = [round(k, cs) for k in finger1.tetras.position[648].tolist()]
finger_tips1[0] /= 120
finger_tips1[1] /= 140
finger_tips1[2] /= 120
finger_tips2 = [round(k, cs) for k in finger2.tetras.position[648].tolist()]
finger_tips2[0] /= 120
finger_tips2[1] /= 140
finger_tips2[2] /= 120
finger_tips = [(finger_tips1[i] + finger_tips2[i])/2 for i in range(3)]
state = cube_pos + displacement + finger_tips + goal_pos
return state
def getReward(root):
"""Compute the reward using Reward.getReward().
Parameters:
----------
rootNode: <Sofa.Core>
The scene.
Returns:
-------
done, reward
"""
reward, cost = root.Reward.getReward()
if reward >= 1.0:
reward = 1.0
elif reward < 0.0:
reward = 0.0
if cost <= 3:
reward += 1
return True, reward
return False, reward
def getTranslated(points, vec):
"""Translate a point.
Parameters:
----------
points: list
List of points [x, y, z]
vec: [vec_x, vec_y, vec_z]
Translation vector.
"""
r = []
for v in points:
x = v[0]+vec[0]
y = v[1]+vec[1]
z = v[2]+vec[2]
r.append([x, y, z])
if not (abs(x)<120 and abs(y) < 140 and abs(z) < 120):
return None
return r
def rotate_y(point, angle, rotation_center):
"""Rotate a point relatively to a center of rotation wrt y.
Parameters:
----------
point:coordinates
The coordinates of the original point.
angle: float
The rotation angle.
rotationCenter: coordinates
The coordinates of the rotation center.
Returns:
-------
The new coordinates of the point.
"""
translated = [point[0]-rotation_center[0], point[1]-rotation_center[1], point[2]-rotation_center[2]]
rotated = [translated[0]*cos(angle)+translated[2]*sin(angle),
translated[1],
-translated[0]*sin(angle)+translated[2]*cos(angle)]
return [rotated[0]+rotation_center[0], rotated[1]+rotation_center[1], rotated[2]+rotation_center[2]]
def getRotated(points, angle, rotation_center):
"""Rotate points relatively to a center of rotation wrt y.
Parameters:
----------
point:coordinates
The coordinates of the original points.
angle: float
The rotation angle.
rotationCenter: coordinates
The coordinates of the rotation center.
Returns:
-------
The new coordinates of the points.
"""
r = []
for v in points:
r.append(rotate_y(v, angle, rotation_center))
return r
def translateFingers(fingers, direction):
"""Function to translate finger.
Parameters:
----------
fingers: list
The fingers.
direction: [vec_x, vec_y, vec_z]
Translation vector.
Returns:
-------
None.
"""
res_list = []
possible = True
for finger in fingers:
mecaobject = finger.tetras
res = getTranslated(mecaobject.position.value, direction)
res_list.append(res)
if res is None:
possible = False
if possible:
for i, finger in enumerate(fingers):
mecaobject = finger.tetras
mecaobject.position.value = res_list[i]
cable = finger.cables.cable1.aCableActuator
p = cable.pullPoint
cable.pullPoint.value = [p[0]+direction[0], p[1]+direction[1], p[2]+direction[2]]
def getRotationCenter(fingers):
"""Find the rotation center.
Parameters:
----------
fingers: list
The fingers.
Returns:
-------
The rotation center.
"""
rotation_center = [0, 0, 0]
for finger in fingers:
cable = finger.cables.cable1.aCableActuator
p = cable.pullPoint
rotation_center = [rotation_center[0] + p[0]/len(fingers),
rotation_center[1] + p[1]/len(fingers),
rotation_center[2] + p[2]/len(fingers)]
return rotation_center
def rotateFingers(fingers, rot):
"""Function to rotate finger.
Parameters:
----------
fingers: list
The fingers.
rot: float
The rotation angle.
Returns:
-------
None.
"""
rotation_center = getRotationCenter(fingers)
for finger in fingers:
mecaobject = finger.tetras
mecaobject.getData('rest_position').value = getRotated(mecaobject.getData('rest_position').value, rot,
rotation_center)
cable = finger.cables.cable1.aCableActuator
p = cable.pullPoint
cable.getData("pullPoint").value = rotate_y(p, rot, rotation_center)
def displace(finger, displacement):
"""Change the value of the cable in the finger.
Parameters:
----------
fingers:
The finger.
displacement: float
The displacement.
Returns:
-------
None.
"""
cable = finger.cables.cable1.aCableActuator.getData('value')
displacement = cable.value[0] + displacement
if displacement < 0:
displacement = 0
if displacement > 25:
displacement = 25
cable.value = [displacement]
def getPos(root):
"""Return the position of the mechanical object of interest.
Parameters:
----------
root: <Sofa root>
The root of the scene.
Returns:
-------
The position(s) of the object(s) of the scene.
"""
finger1_pos = root.Gripper.Finger1.tetras.position.value.tolist()
finger2_pos = root.Gripper.Finger2.tetras.position.value.tolist()
cube_pose = root.Cube.mstate.position.value.tolist()
return [finger1_pos, finger2_pos, cube_pose]
def setPos(root, pos):
"""Set the position of the mechanical object of interest.
Parameters:
----------
root: <Sofa root>
The root of the scene.
pos: list
The position(s) of the object(s) of the scene.
Returns:
-------
None.
Note:
----
Don't forget to init the new value of the position.
"""
[finger1_pos, finger2_pos, cube_pose] = pos
root.Gripper.Finger1.tetras.position.value = np.array(finger1_pos)
root.Gripper.Finger2.tetras.position.value = np.array(finger2_pos)
root.Cube.mstate.position.value = np.array(cube_pose)