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import numpy as np
import os
import glob
import re
from pathlib import Path
from pydrake.all import (
DiagramBuilder,
MultibodyPlant,
AddMultibodyPlantSceneGraph,
Parser,
RigidTransform,
StartMeshcat,
MeshcatVisualizer,
)
ROBOT_FAKE_HAND_PATH = "models/g1/g1_29dof.urdf"
ROBOT_SPHERE_HAND_PATH = "models/g1/g1_29dof_spherehand.urdf"
LARGEBOX_PATH = "models/largebox/largebox.urdf"
CHAIR_PATH = "models/chair/chair.urdf"
def create_plant(
robot_model_path: str, object_model_path: str | list[str] | None = None
):
builder = DiagramBuilder()
plant = MultibodyPlant(1e-3)
plant, scene_graph = AddMultibodyPlantSceneGraph(builder, plant=plant)
parser = Parser(plant=plant, scene_graph=scene_graph)
parser.AddModels(robot_model_path)
if object_model_path is not None:
if isinstance(object_model_path, list):
parser.SetAutoRenaming(True)
for model_path in object_model_path:
parser.AddModels(model_path)
else:
parser.AddModels(object_model_path)
parser.AddModels("models/ground_box.sdf")
plant.WeldFrames(
plant.world_frame(),
plant.GetFrameByName("ground_link"),
RigidTransform(np.array([0, 0, -0.5])),
)
plant.Finalize()
meshcat = StartMeshcat()
vis = MeshcatVisualizer.AddToBuilder(builder, scene_graph, meshcat)
diagram = builder.Build()
return plant, vis, diagram
def draw_q_knots(vis, plant, diagram, q_knots, fps):
vis.DeleteRecording()
vis.StartRecording()
t_knots = np.arange(len(q_knots)) * fps
context = diagram.CreateDefaultContext()
plant_context = plant.GetMyMutableContextFromRoot(context)
vis_context = vis.GetMyMutableContextFromRoot(context)
for t, q in zip(t_knots, q_knots):
context.SetTime(t)
plant.SetPositions(plant_context, q)
vis.ForcedPublish(vis_context)
vis.StopRecording()
vis.PublishRecording()
def _natural_sort_key(text: str):
parts = re.findall(r"\d+|\D+", text)
key = []
for part in parts:
if part.isdigit():
key.append((0, int(part)))
else:
key.append((1, part.lower()))
return tuple(key)
def find_files(base_path: str, filter: str = "", extension: str = ".npz"):
pattern = os.path.join(base_path, f"*{filter}*{extension}")
files = glob.glob(pattern)
return sorted(files, key=lambda p: _natural_sort_key(os.path.basename(p)))
def visualize_robot_object():
robot_object_files = find_files("robot-object", filter="original")
plant, vis, diagram = create_plant(ROBOT_FAKE_HAND_PATH, LARGEBOX_PATH)
for robot_object_file in robot_object_files:
print(str(Path(robot_object_file).stem))
data = np.load(robot_object_file)
q_knots = data["qpos"]
fps = data["fps"]
draw_q_knots(vis, plant, diagram, q_knots, 1 / fps)
input()
def visualize_robot_terrain():
robot_terrain_files = find_files("robot-terrain", filter="z_scale_1.0")
for robot_terrain_file in robot_terrain_files:
file_name = str(Path(robot_terrain_file).stem)
print(file_name)
object_folder_name = "models/terrain/" + file_name[:8]
z_scale = file_name[8:]
object_model_path = object_folder_name + "/multi_boxes" + z_scale + ".urdf"
plant, vis, diagram = create_plant(ROBOT_SPHERE_HAND_PATH, object_model_path)
data = np.load(robot_terrain_file)
q_knots = data["qpos"]
fps = data["fps"]
draw_q_knots(vis, plant, diagram, q_knots, 1 / fps)
input()
def visualize_robot_object_terrain():
robot_object_terrain_files = find_files("robot-object-terrain")
for robot_object_terrain_file in robot_object_terrain_files:
file_name = str(Path(robot_object_terrain_file).stem)
print(file_name)
terrain_folder_name = "models/terrain/" + file_name[:8]
if "z_scale" in file_name:
z_scale = file_name[-12:]
else:
z_scale = "_z_scale_1.0"
terrain_model_path = terrain_folder_name + "/multi_boxes" + z_scale + ".urdf"
if "original" in file_name:
object_model_path = [CHAIR_PATH, terrain_model_path]
else:
chair_scale = file_name[9:25]
chair_model_path = "models/chair/" + chair_scale + ".urdf"
object_model_path = [chair_model_path, terrain_model_path]
plant, vis, diagram = create_plant(ROBOT_SPHERE_HAND_PATH, object_model_path)
data = np.load(robot_object_terrain_file)
q_knots = data["qpos"]
fps = data["fps"]
draw_q_knots(vis, plant, diagram, q_knots, 1 / fps)
input()
if __name__ == "__main__":
task = "object-terrain"
if task == "object":
visualize_robot_object()
elif task == "terrain":
visualize_robot_terrain()
elif task == "object-terrain":
visualize_robot_object_terrain()
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