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RussTedrakeRussTedrake
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add example of using scene_synthesizer to procedurally generate kitchens w/ RB-Y1 (#440)
1 parent 6b46d13 commit e11db27

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+1621
-474
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‎book/htmlbook

‎book/mobile/BUILD.bazel

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@@ -4,6 +4,7 @@
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# Copyright 2020-2024 Massachusetts Institute of Technology.
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# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
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load("@pip_deps//:requirements.bzl", "requirement")
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load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
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rt_ipynb_test(
@@ -16,7 +17,6 @@ rt_ipynb_test(
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],
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)
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rt_ipynb_test(
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name = "mobile_iiwa",
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srcs = ["mobile_iiwa.ipynb"],
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],
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)
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rt_ipynb_test(
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name = "rainbow",
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srcs = ["rainbow.ipynb"],
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tags = ["requires-network", "no-sandbox"],
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deps = [
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"//manipulation",
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"//manipulation:remotes",
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],
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)
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rt_ipynb_test(
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name = "scene_synthesizer",
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srcs = ["scene_synthesizer.ipynb"],
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tags = ["requires-network", "no-sandbox"], # for rainbow
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deps = [
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"//manipulation",
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"//manipulation:remotes",
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requirement("scene_synthesizer"),
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],
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)
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rt_ipynb_test(
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name = "spot",
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srcs = ["spot.ipynb"],

‎book/mobile/rainbow.ipynb

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{
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"cells": [
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{
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"cell_type": "markdown",
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"id": "05124c35",
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"metadata": {
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"colab_type": "text",
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"id": "EgiF12Hf1Dhs"
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},
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"source": [
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"This notebook provides examples to go along with the [textbook](http://manipulation.csail.mit.edu/robot.html). I recommend having both windows open, side-by-side!"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"id": "99268d0c",
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"metadata": {
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"colab": {},
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"colab_type": "code",
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"id": "eeMrMI0-1Dhu",
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"lines_to_end_of_cell_marker": 2
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},
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"outputs": [],
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"source": [
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"from pydrake.all import ModelVisualizer, StartMeshcat\n",
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"\n",
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"from manipulation import running_as_notebook\n",
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"from manipulation.make_drake_compatible_model import MakeDrakeCompatibleModel\n",
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"from manipulation.remotes import AddRby1Remote"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "7dec0a5e",
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"metadata": {},
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"outputs": [],
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"source": [
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"# Start the visualizer.\n",
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"meshcat = StartMeshcat()"
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]
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},
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{
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"cell_type": "markdown",
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"id": "7112a8be",
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"metadata": {},
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"source": [
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"# Rainbow's RB-Y1 mobile manipulator\n",
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"\n",
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"First we'll use the ModelVisualizer to inspect the model."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "ec925772",
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"metadata": {
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"colab": {},
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"colab_type": "code",
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"id": "5SjOClhTltPk"
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},
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"outputs": [],
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"source": [
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"visualizer = ModelVisualizer(meshcat=meshcat)\n",
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"parser = visualizer.parser()\n",
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"AddRby1Remote(parser.package_map())\n",
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"model_path = parser.package_map().ResolveUrl(\"package://rby1/urdf/model.urdf\")\n",
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"drake_model_path = model_path.replace(\".urdf\", \".drake.urdf\")\n",
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"MakeDrakeCompatibleModel(model_path, drake_model_path)\n",
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"visualizer.AddModels(drake_model_path)\n",
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"visualizer.Run(loop_once=not running_as_notebook)\n",
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"meshcat.DeleteAddedControls()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "venv",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.10.12"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}

‎book/mobile/robocasa.ipynb

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"MakeDrakeCompatibleModel(\n",
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" original_model_path,\n",
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" drake_model_path,\n",
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" overwrite=True,\n",
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" remap_mujoco_geometry_groups={0: 3},\n",
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")\n",
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"visualizer.AddModels(drake_model_path)\n",
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3.10.8 64-bit",
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"display_name": "venv",
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"language": "python",
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"name": "python3"
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},

‎book/mobile/scene_synthesizer.ipynb

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{
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"cells": [
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{
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"cell_type": "markdown",
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"id": "05124c35",
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"metadata": {
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"colab_type": "text",
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"id": "EgiF12Hf1Dhs"
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},
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"source": [
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"This notebook provides examples to go along with the [textbook](http://manipulation.csail.mit.edu/robot.html). I recommend having both windows open, side-by-side!\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"id": "99268d0c",
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"metadata": {
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"colab": {},
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"colab_type": "code",
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"id": "eeMrMI0-1Dhu",
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"lines_to_end_of_cell_marker": 2
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},
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"outputs": [],
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"source": [
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"import os\n",
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"import tempfile\n",
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"\n",
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"from pydrake.all import ModelVisualizer, RigidTransform, StartMeshcat\n",
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"from scene_synthesizer import BoxAsset\n",
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"from scene_synthesizer.procedural_scenes import kitchen\n",
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"\n",
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"from manipulation.remotes import AddRby1Remote"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "7dec0a5e",
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"metadata": {},
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"outputs": [],
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"source": [
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"# Start the visualizer.\n",
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"meshcat = StartMeshcat()\n",
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"tmpdir = tempfile.TemporaryDirectory()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "780027d3",
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"metadata": {},
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"outputs": [],
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"source": [
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"def VisualizeKitchen(meshcat):\n",
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" visualizer = ModelVisualizer(meshcat=meshcat)\n",
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"\n",
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" # Generate a random kitchen.\n",
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" scene = kitchen(seed=None)\n",
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"\n",
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" # Use scene_synthesizer to figure out where to place the robot in the scene.\n",
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" rby1_bbox = BoxAsset(extents=[0.662, 0.58, 1.47])\n",
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" scene.add_object(\n",
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" rby1_bbox,\n",
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" \"rby1_bbox\",\n",
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" connect_parent_id=\"refrigerator\",\n",
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" connect_parent_anchor=(\"center\", \"front\", \"bottom\"),\n",
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" connect_obj_anchor=(\"center\", \"back\", \"bottom\"),\n",
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" translation=[0, -0.02, 0],\n",
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" )\n",
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" X_WRby1 = RigidTransform(scene.get_transform(\"rby1_bbox\")) @ RigidTransform(\n",
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" [0, 0, -1.47 / 2]\n",
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" )\n",
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" scene.remove_object(\"rby1_bbox\")\n",
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"\n",
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" # Export the kitchen to a urdf and add it to the visualizer.\n",
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" kitchen_urdf_path = os.path.join(tmpdir.name, \"kitchen.urdf\")\n",
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" scene.export(kitchen_urdf_path)\n",
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" visualizer.AddModels(kitchen_urdf_path)\n",
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"\n",
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" # Add the robot.\n",
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" AddRby1Remote(visualizer.parser().package_map())\n",
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" rby1_id = visualizer.parser().AddModels(url=\"package://rby1/urdf/model.drake.urdf\")[\n",
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" 0\n",
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" ]\n",
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" plant = visualizer.parser().plant()\n",
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" plant.SetDefaultFreeBodyPose(plant.GetBodyByName(\"base\", rby1_id), X_WRby1)\n",
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" visualizer.Run(loop_once=True)\n",
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"\n",
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"\n",
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"VisualizeKitchen(meshcat)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "fb792263",
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "venv",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.10.12"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}

‎book/robot/menagerie.ipynb

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" model_path = package_map.ResolveUrl(model_url)\n",
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" image_path = package_map.ResolveUrl(image_url)\n",
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" drake_model_path = model_path.replace(\".xml\", \".drake.xml\")\n",
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" MakeDrakeCompatibleModel(model_path, drake_model_path, overwrite=True)\n",
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" MakeDrakeCompatibleModel(model_path, drake_model_path)\n",
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" model_instances = parser.AddModels(drake_model_path)\n",
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" plant.Finalize()\n",
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" ApplyDefaultVisualization(builder.builder(), meshcat=meshcat)\n",
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" \"package://mujoco_menagerie/agility_cassie/scene.xml\"\n",
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")\n",
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"drake_model_path = model_path.replace(\".xml\", \".drake.xml\")\n",
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"MakeDrakeCompatibleModel(model_path, drake_model_path, overwrite=True)\n",
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"MakeDrakeCompatibleModel(model_path, drake_model_path)\n",
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"vis.AddModels(drake_model_path)\n",
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"vis.Run(loop_once=not running_as_notebook)"
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]

‎manipulation/BUILD.bazel

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srcs = ["remotes.py"],
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imports = [".."],
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deps = [
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"make_drake_compatible_model",
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requirement("drake"),
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],
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visibility = ["//visibility:public"],

‎manipulation/remotes.py

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from pydrake.multibody.parsing import PackageMap
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from manipulation.make_drake_compatible_model import MakeDrakeCompatibleModel
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def AddMujocoMenagerie(package_map: PackageMap) -> str:
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"""Add the remote `mujoco_menagerie` package to the given PackageMap.
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return package_name
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def AddRby1Remote(package_map: PackageMap):
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package_name = "rby1"
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package_map.AddRemote(
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package_name=package_name,
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params=PackageMap.RemoteParams(
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urls=[
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f"https://github.com/RainbowRobotics/rby1-sdk/archive/refs/tags/v0.3.0.tar.gz"
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],
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sha256=("f1cbebccc24ad2cb3d966a4816adc8394572949e2b41809b9dc1c6756e501f48"),
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strip_prefix="rby1-sdk-0.3.0/models/rby1a/",
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),
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)
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model_path = package_map.ResolveUrl("package://rby1/urdf/model.urdf")
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drake_model_path = model_path.replace(".urdf", ".drake.urdf")
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MakeDrakeCompatibleModel(model_path, drake_model_path)
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return package_name
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def PrefetchAllRemotePackages():
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"""Prefetch all remote packages in the given PackageMap.
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This is useful for CI, where the remote packages are downloaded as part of
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fetch(AddMujocoMenagerie(package_map))
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fetch(AddSpotRemote(package_map))
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fetch(AddGymnasiumRobotics(package_map))
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fetch(AddRby1Remote(package_map))

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