update

README.md

@@ -22,11 +22,13 @@ Below is an interactive demo for the simulated tabletop manipulation domain, see
 1. Obtain an [OpenAI API Key](https://openai.com/blog/openai-api/)
 
 ## Usage 
-1. Type in desired task name in the box.
-
+1. Type in desired task name in the box. Then GenSim will try to run through the pipeline
+2. The task name has the form word separated by dash. For instance, 'place-blue-in-yellow' and 'align-rainbow-along-line'.
 
 ## Known Limitations
 1. The code generation can fail or generate infeasible tasks. 
+2. The low-level pick place primitive does not do collision checking and cannot pick up certain objects.
+3. Top-down generation is typically more challenging if the task name is too vague or too distant from motions such as stacking.
 
-## Acknowledgemetn
+## Acknowledgement
 Thanks to Jacky's [code-as-policies](https://huggingface.co/spaces/jackyliang42/code-as-policies/tree/main) demo.

app.py

@@ -9,8 +9,7 @@ from omegaconf import OmegaConf
 from moviepy.editor import ImageSequenceClip
 import gradio as gr
 
-from lmp import LMP, LMPFGen
-from sim import PickPlaceEnv, LMP_wrapper
+
 from consts import ALL_BLOCKS, ALL_BOWLS
 from md_logger import MarkdownLogger
 
@@ -139,4 +138,4 @@ if __name__ == '__main__':
             outputs=[info_run, img_setup, video_run]
         )
         
-    demo.launch(debug=True)
+    demo.queue().launch(show_error=True)

bowl/bowl.urdf

@@ -1,29 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="bowl.urdf">
-  <link name="baseLink">
-    <contact>
-      <lateral_friction value="1.0"/>
-      <inertia_scaling value="3.0"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.025 0 0.02"/>
-       <mass value=".1"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-				<mesh filename="textured-0008192.obj" scale="1.25 1.25 0.25"/>
-      </geometry>
-      <material name="green">
-        <color rgba="0.34901961 0.6627451 0.30980392 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	    <mesh filename="cup.obj" scale="1.25 1.25 0.25"/>
-      </geometry>
-    </collision>
-  </link>
-</robot>

bowl/cup.obj

@@ -1,1413 +0,0 @@
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-# www.blender.org
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-f 479 466 481
-f 459 479 481
-f 457 453 482
-f 453 466 482
-f 474 457 482
-f 466 474 482
-f 449 463 483
-f 463 473 483
-f 483 473 484
-f 458 449 484
-f 473 460 484
-f 478 458 484
-f 460 478 484

lmp.py

@@ -1,258 +0,0 @@
-from time import sleep
-import ast
-import astunparse
-import openai
-from openai.error import RateLimitError, APIConnectionError
-from pygments import highlight
-from pygments.lexers import PythonLexer
-from pygments.formatters import TerminalFormatter
-
-
-class LMP:
-
-    def __init__(self, name, cfg, lmp_fgen, fixed_vars, variable_vars, md_logger):
-        self._name = name
-        self._cfg = cfg
-        self._md_logger = md_logger
-
-        with open(self._cfg['prompt_path'], 'r') as f:
-            self._base_prompt = f.read()
-
-        self._stop_tokens = list(self._cfg['stop'])
-
-        self._lmp_fgen = lmp_fgen
-
-        self._fixed_vars = fixed_vars
-        self._variable_vars = variable_vars
-        self.exec_hist = ''
-
-    def clear_exec_hist(self):
-        self.exec_hist = ''
-
-    def build_prompt(self, query, context=''):
-        if len(self._variable_vars) > 0:
-            variable_vars_imports_str = f"from utils import {', '.join(self._variable_vars.keys())}"
-        else:
-            variable_vars_imports_str = ''
-        prompt = self._base_prompt.replace('{variable_vars_imports}', variable_vars_imports_str)
-
-        if self._cfg['maintain_session']:
-            prompt += f'\n{self.exec_hist}'
-
-        if context != '':
-            prompt += f'\n{context}'
-
-        use_query = f'{self._cfg["query_prefix"]}{query}{self._cfg["query_suffix"]}'
-        prompt += f'\n{use_query}'
-
-        return prompt, use_query
-
-    def __call__(self, query, context='', **kwargs):
-        prompt, use_query = self.build_prompt(query, context=context)
-
-        while True:
-            try:
-                code_str = openai.Completion.create(
-                    prompt=prompt,
-                    stop=self._stop_tokens,
-                    temperature=self._cfg['temperature'],
-                    engine=self._cfg['engine'],
-                    max_tokens=self._cfg['max_tokens']
-                )['choices'][0]['text'].strip()
-                break
-            except (RateLimitError, APIConnectionError) as e:
-                print(f'OpenAI API got err {e}')
-                print('Retrying after 10s.')
-                sleep(10)
-
-        if self._cfg['include_context'] and context != '':
-            to_exec = f'{context}\n{code_str}'
-            to_log = f'{context}\n{use_query}\n{code_str}'
-        else:
-            to_exec = code_str
-            to_log = f'{use_query}\n{to_exec}'
-
-        to_log_pretty = highlight(to_log, PythonLexer(), TerminalFormatter())
-        print(f'LMP {self._name} generated code:\n{to_log_pretty}')
-        self._md_logger.log_text(f'LMP {self._name} Generated Code:')
-        self._md_logger.log_code(to_log)
-
-        new_fs = self._lmp_fgen.create_new_fs_from_code(code_str)
-        self._variable_vars.update(new_fs)
-
-        gvars = merge_dicts([self._fixed_vars, self._variable_vars])
-        lvars = kwargs
-
-        if not self._cfg['debug_mode']:
-            exec_safe(to_exec, gvars, lvars)
-
-        self.exec_hist += f'\n{to_exec}'
-
-        if self._cfg['maintain_session']:
-            self._variable_vars.update(lvars)
-
-        if self._cfg['has_return']:
-            return lvars[self._cfg['return_val_name']]
-
-
-class LMPFGen:
-
-    def __init__(self, cfg, fixed_vars, variable_vars, md_logger):
-        self._cfg = cfg
-
-        self._stop_tokens = list(self._cfg['stop'])
-        self._fixed_vars = fixed_vars
-        self._variable_vars = variable_vars
-        self._md_logger = md_logger
-
-        with open(self._cfg['prompt_path'], 'r') as f:
-            self._base_prompt = f.read()
-
-    def create_f_from_sig(self, f_name, f_sig, other_vars=None, fix_bugs=False, return_src=False):
-        print(f'Creating function: {f_sig}')
-
-        use_query = f'{self._cfg["query_prefix"]}{f_sig}{self._cfg["query_suffix"]}'
-        prompt = f'{self._base_prompt}\n{use_query}'
-
-        while True:
-            try:
-                f_src = openai.Completion.create(
-                    prompt=prompt, 
-                    stop=self._stop_tokens,
-                    temperature=self._cfg['temperature'],
-                    engine=self._cfg['engine'],
-                    max_tokens=self._cfg['max_tokens']
-                )['choices'][0]['text'].strip()
-                break
-            except (RateLimitError, APIConnectionError) as e:
-                print(f'OpenAI API got err {e}')
-                print('Retrying after 10s.')
-                sleep(10)
-
-        if fix_bugs:
-            f_src = openai.Edit.create(
-                model='code-davinci-edit-001',
-                input='# ' + f_src,
-                temperature=0,
-                instruction='Fix the bug if there is one. Improve readability. Keep same inputs and outputs. Only small changes. No comments.',
-            )['choices'][0]['text'].strip()
-
-        if other_vars is None:
-            other_vars = {}
-        gvars = merge_dicts([self._fixed_vars, self._variable_vars, other_vars])
-        lvars = {}
-        
-        exec_safe(f_src, gvars, lvars)
-
-        f = lvars[f_name]
-
-        to_print = f'{use_query}\n{f_src}'
-        to_print_pretty = highlight(to_print, PythonLexer(), TerminalFormatter())
-        print(f'LMPFGen generated code:\n{to_print_pretty}')
-        self._md_logger.log_text('Generated Function:')
-        self._md_logger.log_code(to_print)
-
-        if return_src:
-            return f, f_src
-        return f
-
-    def create_new_fs_from_code(self, code_str, other_vars=None, fix_bugs=False, return_src=False):
-        fs, f_assigns = {}, {}
-        f_parser = FunctionParser(fs, f_assigns)
-        f_parser.visit(ast.parse(code_str))
-        for f_name, f_assign in f_assigns.items():
-            if f_name in fs:
-                fs[f_name] = f_assign
-
-        if other_vars is None:
-            other_vars = {}
-
-        new_fs = {}
-        srcs = {}
-        for f_name, f_sig in fs.items():
-            all_vars = merge_dicts([self._fixed_vars, self._variable_vars, new_fs, other_vars])
-            if not var_exists(f_name, all_vars):
-                f, f_src = self.create_f_from_sig(f_name, f_sig, new_fs, fix_bugs=fix_bugs, return_src=True)
-
-                # recursively define child_fs in the function body if needed
-                f_def_body = astunparse.unparse(ast.parse(f_src).body[0].body)
-                child_fs, child_f_srcs = self.create_new_fs_from_code(
-                    f_def_body, other_vars=all_vars, fix_bugs=fix_bugs, return_src=True
-                )
-
-                if len(child_fs) > 0:
-                    new_fs.update(child_fs)
-                    srcs.update(child_f_srcs)
-
-                    # redefine parent f so newly created child_fs are in scope
-                    gvars = merge_dicts([self._fixed_vars, self._variable_vars, new_fs, other_vars])
-                    lvars = {}
-                    
-                    exec_safe(f_src, gvars, lvars)
-                    
-                    f = lvars[f_name]
-
-                new_fs[f_name], srcs[f_name] = f, f_src
-
-        if return_src:
-            return new_fs, srcs
-        return new_fs
-
-
-class FunctionParser(ast.NodeTransformer):
-
-    def __init__(self, fs, f_assigns):
-      super().__init__()
-      self._fs = fs
-      self._f_assigns = f_assigns
-
-    def visit_Call(self, node):
-        self.generic_visit(node)
-        if isinstance(node.func, ast.Name):
-            f_sig = astunparse.unparse(node).strip()
-            f_name = astunparse.unparse(node.func).strip()
-            self._fs[f_name] = f_sig
-        return node
-
-    def visit_Assign(self, node):
-        self.generic_visit(node)
-        if isinstance(node.value, ast.Call):
-            assign_str = astunparse.unparse(node).strip()
-            f_name = astunparse.unparse(node.value.func).strip()
-            self._f_assigns[f_name] = assign_str
-        return node
-
-
-def var_exists(name, all_vars):
-    try:
-        eval(name, all_vars)
-    except:
-        exists = False
-    else:
-        exists = True
-    return exists
-
-
-def merge_dicts(dicts):
-    return {
-        k : v 
-        for d in dicts
-        for k, v in d.items()
-    }
-    
-
-def exec_safe(code_str, gvars=None, lvars=None):
-    banned_phrases = ['import', '__']
-    for phrase in banned_phrases:
-        assert phrase not in code_str
-  
-    if gvars is None:
-        gvars = {}
-    if lvars is None:
-        lvars = {}
-    empty_fn = lambda *args, **kwargs: None
-    custom_gvars = merge_dicts([
-        gvars,
-        {'exec': empty_fn, 'eval': empty_fn}
-    ])
-    exec(code_str, custom_gvars, lvars)

sim.py

@@ -1,655 +0,0 @@
-import pybullet
-from pybullet_utils.bullet_client import BulletClient
-import pybullet_data
-import threading
-from time import sleep
-import numpy as np
-import os
-from consts import BOUNDS, COLORS, PIXEL_SIZE, CORNER_POS
-from shapely.geometry import box
-
-
-# Gripper (Robotiq 2F85) code
-class Robotiq2F85:
-  """Gripper handling for Robotiq 2F85."""
-
-  def __init__(self, robot, tool, p):
-    self.robot = robot
-    self.tool = tool
-    self._p = p
-    pos = [0.1339999999999999, -0.49199999999872496, 0.5]
-    rot = self._p.getQuaternionFromEuler([np.pi, 0, np.pi])
-    urdf = 'robotiq_2f_85/robotiq_2f_85.urdf'
-    self.body = self._p.loadURDF(urdf, pos, rot)
-    self.n_joints = self._p.getNumJoints(self.body)
-    self.activated = False
-
-    # Connect gripper base to robot tool.
-    self._p.createConstraint(self.robot, tool, self.body, 0, jointType=self._p.JOINT_FIXED, jointAxis=[0, 0, 0], parentFramePosition=[0, 0, 0], childFramePosition=[0, 0, -0.07], childFrameOrientation=self._p.getQuaternionFromEuler([0, 0, np.pi / 2]))
-
-    # Set friction coefficients for gripper fingers.
-    for i in range(self._p.getNumJoints(self.body)):
-      self._p.changeDynamics(self.body, i, lateralFriction=10.0, spinningFriction=1.0, rollingFriction=1.0, frictionAnchor=True)
-
-    # Start thread to handle additional gripper constraints.
-    self.motor_joint = 1
-    self.constraints_thread = threading.Thread(target=self.step)
-    self.constraints_thread.daemon = True
-    self.constraints_thread.start()
-
-  # Control joint positions by enforcing hard contraints on gripper behavior.
-  # Set one joint as the open/close motor joint (other joints should mimic).
-  def step(self):
-    while True:
-      try:
-        currj = [self._p.getJointState(self.body, i)[0] for i in range(self.n_joints)]
-        indj = [6, 3, 8, 5, 10]
-        targj = [currj[1], -currj[1], -currj[1], currj[1], currj[1]]
-        self._p.setJointMotorControlArray(self.body, indj, self._p.POSITION_CONTROL, targj, positionGains=np.ones(5))
-      except:
-        return
-      sleep(0.001)
-
-  # Close gripper fingers.
-  def activate(self):
-    self._p.setJointMotorControl2(self.body, self.motor_joint, self._p.VELOCITY_CONTROL, targetVelocity=1, force=10)
-    self.activated = True
-
-  # Open gripper fingers.
-  def release(self):
-    self._p.setJointMotorControl2(self.body, self.motor_joint, self._p.VELOCITY_CONTROL, targetVelocity=-1, force=10)
-    self.activated = False
-
-  # If activated and object in gripper: check object contact.
-  # If activated and nothing in gripper: check gripper contact.
-  # If released: check proximity to surface (disabled).
-  def detect_contact(self):
-    obj, _, ray_frac = self.check_proximity()
-    if self.activated:
-      empty = self.grasp_width() < 0.01
-      cbody = self.body if empty else obj
-      if obj == self.body or obj == 0:
-        return False
-      return self.external_contact(cbody)
-  #   else:
-  #     return ray_frac < 0.14 or self.external_contact()
-
-  # Return if body is in contact with something other than gripper
-  def external_contact(self, body=None):
-    if body is None:
-      body = self.body
-    pts = self._p.getContactPoints(bodyA=body)
-    pts = [pt for pt in pts if pt[2] != self.body]
-    return len(pts) > 0  # pylint: disable=g-explicit-length-test
-
-  def check_grasp(self):
-    while self.moving():
-      sleep(0.001)
-    success = self.grasp_width() > 0.01
-    return success
-
-  def grasp_width(self):
-    lpad = np.array(self._p.getLinkState(self.body, 4)[0])
-    rpad = np.array(self._p.getLinkState(self.body, 9)[0])
-    dist = np.linalg.norm(lpad - rpad) - 0.047813
-    return dist
-
-  def check_proximity(self):
-    ee_pos = np.array(self._p.getLinkState(self.robot, self.tool)[0])
-    tool_pos = np.array(self._p.getLinkState(self.body, 0)[0])
-    vec = (tool_pos - ee_pos) / np.linalg.norm((tool_pos - ee_pos))
-    ee_targ = ee_pos + vec
-    ray_data = self._p.rayTest(ee_pos, ee_targ)[0]
-    obj, link, ray_frac = ray_data[0], ray_data[1], ray_data[2]
-    return obj, link, ray_frac
-
-
-# Gym-style environment code
-class PickPlaceEnv():
-
-  def __init__(self, render=False, high_res=False, high_frame_rate=False):
-    self.dt = 1/480
-    self.sim_step = 0
-
-    # Configure and start PyBullet
-    # self._p = pybullet.connect(pybullet.DIRECT)
-    self._p = BulletClient(connection_mode=pybullet.DIRECT)
-    self._p.configureDebugVisualizer(self._p.COV_ENABLE_GUI, 0)
-    self._p.setPhysicsEngineParameter(enableFileCaching=0)
-    assets_path = os.path.dirname(os.path.abspath(""))
-    self._p.setAdditionalSearchPath(assets_path)
-    self._p.setAdditionalSearchPath(pybullet_data.getDataPath())
-    self._p.setTimeStep(self.dt)
-
-    self.home_joints = (np.pi / 2, -np.pi / 2, np.pi / 2, -np.pi / 2, 3 * np.pi / 2, 0)  # Joint angles: (J0, J1, J2, J3, J4, J5).
-    self.home_ee_euler = (np.pi, 0, np.pi)  # (RX, RY, RZ) rotation in Euler angles.
-    self.ee_link_id = 9  # Link ID of UR5 end effector.
-    self.tip_link_id = 10  # Link ID of gripper finger tips.
-    self.gripper = None
-
-    self.render = render
-    self.high_res = high_res
-    self.high_frame_rate = high_frame_rate
-
-  def reset(self, object_list):
-    self._p.resetSimulation(self._p.RESET_USE_DEFORMABLE_WORLD)
-    self._p.setGravity(0, 0, -9.8)
-    self.cache_video = []
-
-    # Temporarily disable rendering to load URDFs faster.
-    self._p.configureDebugVisualizer(self._p.COV_ENABLE_RENDERING, 0)
-
-    # Add robot.
-    self._p.loadURDF("plane.urdf", [0, 0, -0.001])
-    self.robot_id = self._p.loadURDF("ur5e/ur5e.urdf", [0, 0, 0], flags=self._p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
-    self.ghost_id = self._p.loadURDF("ur5e/ur5e.urdf", [0, 0, -10])  # For forward kinematics.
-    self.joint_ids = [self._p.getJointInfo(self.robot_id, i) for i in range(self._p.getNumJoints(self.robot_id))]
-    self.joint_ids = [j[0] for j in self.joint_ids if j[2] == self._p.JOINT_REVOLUTE]
-
-    # Move robot to home configuration.
-    for i in range(len(self.joint_ids)):
-      self._p.resetJointState(self.robot_id, self.joint_ids[i], self.home_joints[i])
-
-    # Add gripper.
-    if self.gripper is not None:
-      while self.gripper.constraints_thread.is_alive():
-        self.constraints_thread_active = False
-    self.gripper = Robotiq2F85(self.robot_id, self.ee_link_id, self._p)
-    self.gripper.release()
-
-    # Add workspace.
-    plane_shape = self._p.createCollisionShape(self._p.GEOM_BOX, halfExtents=[0.3, 0.3, 0.001])
-    plane_visual = self._p.createVisualShape(self._p.GEOM_BOX, halfExtents=[0.3, 0.3, 0.001])
-    plane_id = self._p.createMultiBody(0, plane_shape, plane_visual, basePosition=[0, -0.5, 0])
-    self._p.changeVisualShape(plane_id, -1, rgbaColor=[0.2, 0.2, 0.2, 1.0])
-
-    # Load objects according to config.
-    self.object_list = object_list
-    self.obj_name_to_id = {}
-    obj_xyz = np.zeros((0, 3))
-    for obj_name in object_list:
-      if ('block' in obj_name) or ('bowl' in obj_name):
-
-        # Get random position 15cm+ from other objects.
-        while True:
-          rand_x = np.random.uniform(BOUNDS[0, 0] + 0.1, BOUNDS[0, 1] - 0.1)
-          rand_y = np.random.uniform(BOUNDS[1, 0] + 0.1, BOUNDS[1, 1] - 0.1)
-          rand_xyz = np.float32([rand_x, rand_y, 0.03]).reshape(1, 3)
-          if len(obj_xyz) == 0:
-            obj_xyz = np.concatenate((obj_xyz, rand_xyz), axis=0)
-            break
-          else:
-            nn_dist = np.min(np.linalg.norm(obj_xyz - rand_xyz, axis=1)).squeeze()
-            if nn_dist > 0.15:
-              obj_xyz = np.concatenate((obj_xyz, rand_xyz), axis=0)
-              break
-        
-        object_color = COLORS[obj_name.split(' ')[0]]
-        object_type = obj_name.split(' ')[1]
-        object_position = rand_xyz.squeeze()
-        if object_type == 'block':
-          object_shape = self._p.createCollisionShape(self._p.GEOM_BOX, halfExtents=[0.02, 0.02, 0.02])
-          object_visual = self._p.createVisualShape(self._p.GEOM_BOX, halfExtents=[0.02, 0.02, 0.02])
-          object_id = self._p.createMultiBody(0.01, object_shape, object_visual, basePosition=object_position)
-        elif object_type == 'bowl':
-          object_position[2] = 0
-          object_id = self._p.loadURDF("bowl/bowl.urdf", object_position, useFixedBase=1)
-        self._p.changeVisualShape(object_id, -1, rgbaColor=object_color)
-        self.obj_name_to_id[obj_name] = object_id
-
-    # Re-enable rendering.
-    self._p.configureDebugVisualizer(self._p.COV_ENABLE_RENDERING, 1)
-
-    for _ in range(200):
-      self._p.stepSimulation()
-
-    # record object positions at reset
-    self.init_pos = {name: self.get_obj_pos(name) for name in object_list}
-
-    return self.get_observation()
-
-  def servoj(self, joints):
-    """Move to target joint positions with position control."""
-    self._p.setJointMotorControlArray(
-      bodyIndex=self.robot_id,
-      jointIndices=self.joint_ids,
-      controlMode=self._p.POSITION_CONTROL,
-      targetPositions=joints,
-      positionGains=[0.01]*6)
-  
-  def movep(self, position):
-    """Move to target end effector position."""
-    joints = self._p.calculateInverseKinematics(
-        bodyUniqueId=self.robot_id,
-        endEffectorLinkIndex=self.tip_link_id,
-        targetPosition=position,
-        targetOrientation=self._p.getQuaternionFromEuler(self.home_ee_euler),
-        maxNumIterations=100)
-    self.servoj(joints)
-
-  def get_ee_pos(self):
-    ee_xyz = np.float32(self._p.getLinkState(self.robot_id, self.tip_link_id)[0])
-    return ee_xyz
-
-  def step(self, action=None):
-    """Do pick and place motion primitive."""
-    pick_pos, place_pos = action['pick'].copy(), action['place'].copy()
-
-    # Set fixed primitive z-heights.
-    hover_xyz = np.float32([pick_pos[0], pick_pos[1], 0.2])
-    if pick_pos.shape[-1] == 2:
-      pick_xyz = np.append(pick_pos, 0.025)
-    else:
-      pick_xyz = pick_pos
-      pick_xyz[2] = 0.025
-    if place_pos.shape[-1] == 2:
-      place_xyz = np.append(place_pos, 0.15)
-    else:
-      place_xyz = place_pos
-      place_xyz[2] = 0.15
-
-    # Move to object.
-    ee_xyz = self.get_ee_pos()
-    while np.linalg.norm(hover_xyz - ee_xyz) > 0.01:
-      self.movep(hover_xyz)
-      self.step_sim_and_render()
-      ee_xyz = self.get_ee_pos()
-
-    while np.linalg.norm(pick_xyz - ee_xyz) > 0.01:
-      self.movep(pick_xyz)
-      self.step_sim_and_render()
-      ee_xyz = self.get_ee_pos()
-
-    # Pick up object.
-    self.gripper.activate()
-    for _ in range(240):
-      self.step_sim_and_render()
-    while np.linalg.norm(hover_xyz - ee_xyz) > 0.01:
-      self.movep(hover_xyz)
-      self.step_sim_and_render()
-      ee_xyz = self.get_ee_pos()
-    
-    for _ in range(50):
-      self.step_sim_and_render()
-    
-    # Move to place location.
-    while np.linalg.norm(place_xyz - ee_xyz) > 0.01:
-      self.movep(place_xyz)
-      self.step_sim_and_render()
-      ee_xyz = self.get_ee_pos()
-
-    # Place down object.
-    while (not self.gripper.detect_contact()) and (place_xyz[2] > 0.03):
-      place_xyz[2] -= 0.001
-      self.movep(place_xyz)
-      for _ in range(3):
-        self.step_sim_and_render()
-    self.gripper.release()
-    for _ in range(240):
-      self.step_sim_and_render()
-    place_xyz[2] = 0.2
-    ee_xyz = self.get_ee_pos()
-    while np.linalg.norm(place_xyz - ee_xyz) > 0.01:
-      self.movep(place_xyz)
-      self.step_sim_and_render()
-      ee_xyz = self.get_ee_pos()
-    place_xyz = np.float32([0, -0.5, 0.2])
-    while np.linalg.norm(place_xyz - ee_xyz) > 0.01:
-      self.movep(place_xyz)
-      self.step_sim_and_render()
-      ee_xyz = self.get_ee_pos()
-
-    observation = self.get_observation()
-    reward = self.get_reward()
-    done = False
-    info = {}
-    return observation, reward, done, info
-
-  def set_alpha_transparency(self, alpha: float) -> None:
-    for id in range(20):
-      visual_shape_data = self._p.getVisualShapeData(id)
-      for i in range(len(visual_shape_data)):
-        object_id, link_index, _, _, _, _, _, rgba_color = visual_shape_data[i]
-        rgba_color = list(rgba_color[0:3]) +  [alpha]
-        self._p.changeVisualShape(
-            self.robot_id, linkIndex=i, rgbaColor=rgba_color)      
-        self._p.changeVisualShape(
-            self.gripper.body, linkIndex=i, rgbaColor=rgba_color)
-
-  def step_sim_and_render(self):
-    self._p.stepSimulation()
-    self.sim_step += 1
-
-    interval = 40 if self.high_frame_rate else 60
-    # Render current image at 8 FPS.
-    if self.sim_step % interval == 0 and self.render:
-      self.cache_video.append(self.get_camera_image())
-
-  def get_camera_image(self):
-    if not self.high_res:
-      image_size = (240, 240)
-      intrinsics = (120., 0, 120., 0, 120., 120., 0, 0, 1)
-    else:
-      image_size=(360, 360)
-      intrinsics=(180., 0, 180., 0, 180., 180., 0, 0, 1)
-    color, _, _, _, _ = self.render_image(image_size, intrinsics)
-    return color
-
-  def get_reward(self):
-    return None
-
-  def get_observation(self):
-    observation = {}
-
-    # Render current image.
-    color, depth, position, orientation, intrinsics = self.render_image()
-
-    # Get heightmaps and colormaps.
-    points = self.get_pointcloud(depth, intrinsics)
-    position = np.float32(position).reshape(3, 1)
-    rotation = self._p.getMatrixFromQuaternion(orientation)
-    rotation = np.float32(rotation).reshape(3, 3)
-    transform = np.eye(4)
-    transform[:3, :] = np.hstack((rotation, position))
-    points = self.transform_pointcloud(points, transform)
-    heightmap, colormap, xyzmap = self.get_heightmap(points, color, BOUNDS, PIXEL_SIZE)
-
-    observation["image"] = colormap
-    observation["xyzmap"] = xyzmap
-
-    return observation
-
-  def render_image(self, image_size=(720, 720), intrinsics=(360., 0, 360., 0, 360., 360., 0, 0, 1)):
-
-    # Camera parameters.
-    position = (0, -0.85, 0.4)
-    orientation = (np.pi / 4 + np.pi / 48, np.pi, np.pi)
-    orientation = self._p.getQuaternionFromEuler(orientation)
-    zrange = (0.01, 10.)
-    noise=True
-
-    # OpenGL camera settings.
-    lookdir = np.float32([0, 0, 1]).reshape(3, 1)
-    updir = np.float32([0, -1, 0]).reshape(3, 1)
-    rotation = self._p.getMatrixFromQuaternion(orientation)
-    rotm = np.float32(rotation).reshape(3, 3)
-    lookdir = (rotm @ lookdir).reshape(-1)
-    updir = (rotm @ updir).reshape(-1)
-    lookat = position + lookdir
-    focal_len = intrinsics[0]
-    znear, zfar = (0.01, 10.)
-    viewm = self._p.computeViewMatrix(position, lookat, updir)
-    fovh = (image_size[0] / 2) / focal_len
-    fovh = 180 * np.arctan(fovh) * 2 / np.pi
-
-    # Notes: 1) FOV is vertical FOV 2) aspect must be float
-    aspect_ratio = image_size[1] / image_size[0]
-    projm = self._p.computeProjectionMatrixFOV(fovh, aspect_ratio, znear, zfar)
-
-    # Render with OpenGL camera settings.
-    _, _, color, depth, segm = self._p.getCameraImage(
-        width=image_size[1],
-        height=image_size[0],
-        viewMatrix=viewm,
-        projectionMatrix=projm,
-        shadow=1,
-        flags=self._p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
-        renderer=self._p.ER_BULLET_HARDWARE_OPENGL)
-
-    # Get color image.
-    color_image_size = (image_size[0], image_size[1], 4)
-    color = np.array(color, dtype=np.uint8).reshape(color_image_size)
-    color = color[:, :, :3]  # remove alpha channel
-    if noise:
-      color = np.int32(color)
-      color += np.int32(np.random.normal(0, 3, color.shape))
-      color = np.uint8(np.clip(color, 0, 255))
-
-    # Get depth image.
-    depth_image_size = (image_size[0], image_size[1])
-    zbuffer = np.float32(depth).reshape(depth_image_size)
-    depth = (zfar + znear - (2 * zbuffer - 1) * (zfar - znear))
-    depth = (2 * znear * zfar) / depth
-    if noise:
-      depth += np.random.normal(0, 0.003, depth.shape)
-
-    intrinsics = np.float32(intrinsics).reshape(3, 3)
-    return color, depth, position, orientation, intrinsics
-
-  def get_pointcloud(self, depth, intrinsics):
-    """Get 3D pointcloud from perspective depth image.
-    Args:
-      depth: HxW float array of perspective depth in meters.
-      intrinsics: 3x3 float array of camera intrinsics matrix.
-    Returns:
-      points: HxWx3 float array of 3D points in camera coordinates.
-    """
-    height, width = depth.shape
-    xlin = np.linspace(0, width - 1, width)
-    ylin = np.linspace(0, height - 1, height)
-    px, py = np.meshgrid(xlin, ylin)
-    px = (px - intrinsics[0, 2]) * (depth / intrinsics[0, 0])
-    py = (py - intrinsics[1, 2]) * (depth / intrinsics[1, 1])
-    points = np.float32([px, py, depth]).transpose(1, 2, 0)
-    return points
-
-  def transform_pointcloud(self, points, transform):
-    """Apply rigid transformation to 3D pointcloud.
-    Args:
-      points: HxWx3 float array of 3D points in camera coordinates.
-      transform: 4x4 float array representing a rigid transformation matrix.
-    Returns:
-      points: HxWx3 float array of transformed 3D points.
-    """
-    padding = ((0, 0), (0, 0), (0, 1))
-    homogen_points = np.pad(points.copy(), padding,
-                            'constant', constant_values=1)
-    for i in range(3):
-      points[Ellipsis, i] = np.sum(transform[i, :] * homogen_points, axis=-1)
-    return points
-
-  def get_heightmap(self, points, colors, bounds, pixel_size):
-    """Get top-down (z-axis) orthographic heightmap image from 3D pointcloud.
-    Args:
-      points: HxWx3 float array of 3D points in world coordinates.
-      colors: HxWx3 uint8 array of values in range 0-255 aligned with points.
-      bounds: 3x2 float array of values (rows: X,Y,Z; columns: min,max) defining
-        region in 3D space to generate heightmap in world coordinates.
-      pixel_size: float defining size of each pixel in meters.
-    Returns:
-      heightmap: HxW float array of height (from lower z-bound) in meters.
-      colormap: HxWx3 uint8 array of backprojected color aligned with heightmap.
-      xyzmap: HxWx3 float array of XYZ points in world coordinates.
-    """
-    width = int(np.round((bounds[0, 1] - bounds[0, 0]) / pixel_size))
-    height = int(np.round((bounds[1, 1] - bounds[1, 0]) / pixel_size))
-    heightmap = np.zeros((height, width), dtype=np.float32)
-    colormap = np.zeros((height, width, colors.shape[-1]), dtype=np.uint8)
-    xyzmap = np.zeros((height, width, 3), dtype=np.float32)
-
-    # Filter out 3D points that are outside of the predefined bounds.
-    ix = (points[Ellipsis, 0] >= bounds[0, 0]) & (points[Ellipsis, 0] < bounds[0, 1])
-    iy = (points[Ellipsis, 1] >= bounds[1, 0]) & (points[Ellipsis, 1] < bounds[1, 1])
-    iz = (points[Ellipsis, 2] >= bounds[2, 0]) & (points[Ellipsis, 2] < bounds[2, 1])
-    valid = ix & iy & iz
-    points = points[valid]
-    colors = colors[valid]
-
-    # Sort 3D points by z-value, which works with array assignment to simulate
-    # z-buffering for rendering the heightmap image.
-    iz = np.argsort(points[:, -1])
-    points, colors = points[iz], colors[iz]
-    px = np.int32(np.floor((points[:, 0] - bounds[0, 0]) / pixel_size))
-    py = np.int32(np.floor((points[:, 1] - bounds[1, 0]) / pixel_size))
-    px = np.clip(px, 0, width - 1)
-    py = np.clip(py, 0, height - 1)
-    heightmap[py, px] = points[:, 2] - bounds[2, 0]
-    for c in range(colors.shape[-1]):
-      colormap[py, px, c] = colors[:, c]
-      xyzmap[py, px, c] = points[:, c]
-    colormap = colormap[::-1, :, :]  # Flip up-down.
-    xv, yv = np.meshgrid(np.linspace(BOUNDS[0, 0], BOUNDS[0, 1], height),
-                         np.linspace(BOUNDS[1, 0], BOUNDS[1, 1], width))
-    xyzmap[:, :, 0] = xv
-    xyzmap[:, :, 1] = yv
-    xyzmap = xyzmap[::-1, :, :]  # Flip up-down.
-    heightmap = heightmap[::-1, :]  # Flip up-down.
-    return heightmap, colormap, xyzmap
-  
-  def on_top_of(self, obj_a, obj_b):
-    """
-    check if obj_a is on top of obj_b
-    condition 1: l2 distance on xy plane is less than a threshold
-    condition 2: obj_a is higher than obj_b
-    """
-    obj_a_pos = self.get_obj_pos(obj_a)
-    obj_b_pos = self.get_obj_pos(obj_b)
-    xy_dist = np.linalg.norm(obj_a_pos[:2] - obj_b_pos[:2])
-    if obj_b in CORNER_POS:
-      is_near = xy_dist < 0.06
-      return is_near
-    elif 'bowl' in obj_b:
-      is_near = xy_dist < 0.06
-      is_higher = obj_a_pos[2] > obj_b_pos[2]
-      return is_near and is_higher
-    else:
-      is_near = xy_dist < 0.04
-      is_higher = obj_a_pos[2] > obj_b_pos[2]
-      return is_near and is_higher
-  
-  def get_obj_id(self, obj_name):
-    try:
-      if obj_name in self.obj_name_to_id:
-        obj_id = self.obj_name_to_id[obj_name]
-      else:
-        obj_name = obj_name.replace('circle', 'bowl').replace('square', 'block').replace('small', '').strip()
-        obj_id = self.obj_name_to_id[obj_name]
-      return obj_id
-    except:
-      raise Exception('Object name "{}" not found'.format(obj_name))
-  
-  def get_obj_pos(self, obj_name):
-    obj_name = obj_name.replace('the', '').replace('_', ' ').strip()
-    if obj_name in CORNER_POS:
-      position = np.float32(np.array(CORNER_POS[obj_name]))
-    else:
-      pick_id = self.get_obj_id(obj_name)
-      pose = self._p.getBasePositionAndOrientation(pick_id)
-      position = np.float32(pose[0])
-    return position
-  
-  def get_bounding_box(self, obj_name):
-    obj_id = self.get_obj_id(obj_name)
-    return self._p.getAABB(obj_id)
-
-
-class LMP_wrapper():
-
-  def __init__(self, env, cfg, render=False):
-    self.env = env
-    self._cfg = cfg
-    self.object_names = list(self._cfg['env']['init_objs'])
-    
-    self._min_xy = np.array(self._cfg['env']['coords']['bottom_left'])
-    self._max_xy = np.array(self._cfg['env']['coords']['top_right'])
-    self._range_xy = self._max_xy - self._min_xy
-
-    self._table_z = self._cfg['env']['coords']['table_z']
-    self.render = render
-
-  def is_obj_visible(self, obj_name):
-    return obj_name in self.object_names
-
-  def get_obj_names(self):
-    return self.object_names[::]
-
-  def denormalize_xy(self, pos_normalized):
-    return pos_normalized * self._range_xy + self._min_xy
-
-  def get_corner_positions(self):
-    unit_square = box(0, 0, 1, 1)
-    normalized_corners = np.array(list(unit_square.exterior.coords))[:4]
-    corners = np.array(([self.denormalize_xy(corner) for corner in normalized_corners]))
-    return corners
-
-  def get_side_positions(self):
-    side_xs = np.array([0, 0.5, 0.5, 1])
-    side_ys = np.array([0.5, 0, 1, 0.5])
-    normalized_side_positions = np.c_[side_xs, side_ys]
-    side_positions = np.array(([self.denormalize_xy(corner) for corner in normalized_side_positions]))
-    return side_positions
-
-  def get_obj_pos(self, obj_name):
-    # return the xy position of the object in robot base frame
-    return self.env.get_obj_pos(obj_name)[:2]
-
-  def get_obj_position_np(self, obj_name):
-    return self.get_pos(obj_name)
-
-  def get_bbox(self, obj_name):
-    # return the axis-aligned object bounding box in robot base frame (not in pixels)
-    # the format is (min_x, min_y, max_x, max_y)
-    bbox = self.env.get_bounding_box(obj_name)
-    return bbox
-
-  def get_color(self, obj_name):
-    for color, rgb in COLORS.items():
-      if color in obj_name:
-        return rgb
-
-  def pick_place(self, pick_pos, place_pos):
-    pick_pos_xyz = np.r_[pick_pos, [self._table_z]]
-    place_pos_xyz = np.r_[place_pos, [self._table_z]]
-    pass
-
-  def put_first_on_second(self, arg1, arg2):
-    # put the object with obj_name on top of target
-    # target can either be another object name, or it can be an x-y position in robot base frame
-    pick_pos = self.get_obj_pos(arg1) if isinstance(arg1, str) else arg1
-    place_pos = self.get_obj_pos(arg2) if isinstance(arg2, str) else arg2
-    self.env.step(action={'pick': pick_pos, 'place': place_pos})
-
-  def get_robot_pos(self):
-    # return robot end-effector xy position in robot base frame
-    return self.env.get_ee_pos()
-
-  def goto_pos(self, position_xy):
-    # move the robot end-effector to the desired xy position while maintaining same z
-    ee_xyz = self.env.get_ee_pos()
-    position_xyz = np.concatenate([position_xy, ee_xyz[-1]])
-    while np.linalg.norm(position_xyz - ee_xyz) > 0.01:
-      self.env.movep(position_xyz)
-      self.env.step_sim_and_render()
-      ee_xyz = self.env.get_ee_pos()
-
-  def follow_traj(self, traj):
-    for pos in traj:
-      self.goto_pos(pos)
-
-  def get_corner_positions(self):
-    normalized_corners = np.array([
-        [0, 1],
-        [1, 1],
-        [0, 0],
-        [1, 0]
-    ])
-    return np.array(([self.denormalize_xy(corner) for corner in normalized_corners]))
-
-  def get_side_positions(self):
-    normalized_sides = np.array([
-        [0.5, 1],
-        [1, 0.5],
-        [0.5, 0],
-        [0, 0.5]
-    ])
-    return np.array(([self.denormalize_xy(side) for side in normalized_sides]))
-
-  def get_corner_name(self, pos):
-    corner_positions = self.get_corner_positions()
-    corner_idx = np.argmin(np.linalg.norm(corner_positions - pos, axis=1))
-    return ['top left corner', 'top right corner', 'bottom left corner', 'botom right corner'][corner_idx]
-
-  def get_side_name(self, pos):
-    side_positions = self.get_side_positions()
-    side_idx = np.argmin(np.linalg.norm(side_positions - pos, axis=1))
-    return ['top side', 'right side', 'bottom side', 'left side'][side_idx]

ur5e/collision/base.stl

@@ -1,3 +0,0 @@
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-oid sha256:9a145e0d46f2130afdf2a2e8825a00a929870c4c3d6d8e4d1adc5f04db3aac1b
-size 21084

ur5e/collision/forearm.stl

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-version https://git-lfs.github.com/spec/v1
-oid sha256:2e7423cab807c34160ec4f770daee5e747d70e777eb01b7beeace2b8c5751816
-size 53284

ur5e/collision/shoulder.stl

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-version https://git-lfs.github.com/spec/v1
-oid sha256:ceb92532177daa77682f5fbd628e01c2137d168f949a7a706ce1dabe9f002387
-size 70084

ur5e/collision/upperarm.stl

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-version https://git-lfs.github.com/spec/v1
-oid sha256:ee893044caf00075cb55b4cf666d1f1311c7979786212a501009f33bee945209
-size 99684

ur5e/collision/wrist1.stl

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-version https://git-lfs.github.com/spec/v1
-oid sha256:f8c9f9337b6fd98c75f052e96de10e14a107ddb6874ba6b904e546f8a4e4f43a
-size 59584

ur5e/collision/wrist2.stl

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-version https://git-lfs.github.com/spec/v1
-oid sha256:2964a63f60ce3e3cf3ad55bcf190d7876d50e373cb64b70a57cea5885eaf3c86
-size 67584

ur5e/collision/wrist3.stl

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-version https://git-lfs.github.com/spec/v1
-oid sha256:83b3666b4ae2badd54af0d2c25a921682ecbc29e849eec646c3ed55fb74c78a3
-size 7184

ur5e/ur5e.urdf

@@ -1,279 +0,0 @@
-<?xml version="1.0" ?>
-<!-- ============================================================================================= -->
-<!-- |    This document was autogenerated by xacro from ur_description/urdf/ur5_robot.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                           | -->
-<!-- ============================================================================================= -->
-<robot name="ur5" xmlns:xacro="http://ros.org/wiki/xacro">
-  <material name="LightGrey">
-    <color rgba="0.8 0.8 0.8 1.0"/>
-  </material>
-
-  <material name="DarkGrey">
-    <color rgba="0.2 0.2 0.2 1.0"/>
-  </material>
-
-  <link name="base_link">
-    <visual>
-      <geometry>
-        <mesh filename="visual/base.dae"/>
-      </geometry>
-      <material name="LightGrey"/>
-    </visual>
-    <!-- <collision>
-      <geometry>
-      	<mesh filename="collision/base.stl"/>
-      </geometry>
-    </collision> -->
-    <inertial>
-      <mass value="4.0"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
-    </inertial>
-  </link>
-  <joint name="shoulder_pan_joint" type="revolute">
-    <parent link="base_link"/>
-    <child link="shoulder_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.163"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="shoulder_link">
-    <visual>
-      <geometry>
-        <mesh filename="visual/shoulder.dae"/>
-      </geometry>
-      <material name="DarkGrey"/>
-    </visual>
-    <!-- <collision>
-      <geometry>
-        <mesh filename="collision/shoulder.stl"/>
-      </geometry>
-    </collision> -->
-    <inertial>
-      <mass value="3.7"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
-    </inertial>
-  </link>
-  <joint name="shoulder_lift_joint" type="revolute">
-    <parent link="shoulder_link"/>
-    <child link="upper_arm_link"/>
-    <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.138 0.0"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="upper_arm_link">
-    <visual>
-      <geometry>
-        <mesh filename="visual/upperarm.dae"/>
-      </geometry>
-      <material name="LightGrey"/>
-    </visual>
-    <!-- <collision>
-      <geometry>
-        <mesh filename="collision/upperarm.stl"/>
-      </geometry>
-    </collision> -->
-    <inertial>
-      <mass value="8.393"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
-      <inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
-    </inertial>
-  </link>
-  <joint name="elbow_joint" type="revolute">
-    <parent link="upper_arm_link"/>
-    <child link="forearm_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.131 0.425"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="forearm_link">
-    <visual>
-      <geometry>
-        <mesh filename="visual/forearm.dae"/>
-      </geometry>
-      <material name="DarkGrey"/>
-    </visual>
-    <!-- <collision>
-      <geometry>
-        <mesh filename="collision/forearm.stl"/>
-      </geometry>
-    </collision> -->
-    <inertial>
-      <mass value="2.275"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
-      <inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
-    </inertial>
-  </link>
-  <joint name="wrist_1_joint" type="revolute">
-    <parent link="forearm_link"/>
-    <child link="wrist_1_link"/>
-    <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.392"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="wrist_1_link">
-    <visual>
-      <geometry>
-        <mesh filename="visual/wrist1.dae"/>
-      </geometry>
-      <material name="LightGrey"/>
-    </visual>
-    <!-- <collision>
-      <geometry>
-        <mesh filename="collision/wrist1.stl"/>
-      </geometry>
-    </collision> -->
-    <inertial>
-      <mass value="1.219"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
-    </inertial>
-  </link>
-  <joint name="wrist_2_joint" type="revolute">
-    <parent link="wrist_1_link"/>
-    <child link="wrist_2_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.127 0.0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="wrist_2_link">
-    <visual>
-      <geometry>
-        <mesh filename="visual/wrist2.dae"/>
-      </geometry>
-      <material name="DarkGrey"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="collision/wrist2.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.219"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
-    </inertial>
-  </link>
-  <joint name="wrist_3_joint" type="revolute">
-    <parent link="wrist_2_link"/>
-    <child link="wrist_3_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.100"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="wrist_3_link">
-    <visual>
-      <geometry>
-        <mesh filename="visual/wrist3.dae"/>
-      </geometry>
-      <material name="LightGrey"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="collision/wrist3.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1879"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
-    </inertial>
-  </link>
-  <joint name="ee_fixed_joint" type="fixed">
-    <parent link="wrist_3_link"/>
-    <child link="ee_link"/>
-    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.100 0.0"/>
-  </joint>
-  <link name="ee_link">
-    <!-- <collision>
-      <geometry>
-        <box size="0.01 0.01 0.01"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
-    </collision> -->
-    <inertial>
-      <mass value="0.0"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-    </inertial>
-  </link>
-  <!-- nothing to do here at the moment -->
-  <!-- ROS base_link to UR 'Base' Coordinates transform -->
-  <link name="base">
-    <inertial>
-      <mass value="0.0"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-    </inertial>
-  </link>
-  <joint name="base_link-base_fixed_joint" type="fixed">
-    <!-- NOTE: this rotation is only needed as long as base_link itself is
-                 not corrected wrt the real robot (ie: rotated over 180
-                 degrees)
-      -->
-    <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="base"/>
-  </joint>
-  <!-- Frame coincident with all-zeros TCP on UR controller -->
-  <link name="tool0">
-    <inertial>
-      <mass value="0.0"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-    </inertial>
-  </link>
-  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
-    <origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
-    <parent link="wrist_3_link"/>
-    <child link="tool0"/>
-  </joint>
-
-  <link name="tool_tip">
-    <inertial>
-      <mass value="0.0"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-    </inertial>
-    <!-- <visual>
-      <geometry>
-        <box size="0.01 0.01 0.01"/>
-      </geometry>
-      <material name="DarkGrey"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </visual> -->
-  </link>
-  <joint name="tool0_fixed_joint-tool_tip" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.175"/>
-    <parent link="tool0"/>
-    <child link="tool_tip"/>
-  </joint>
-
-  <link name="world"/>
-  <joint name="world_joint" type="fixed">
-    <parent link="world"/>
-    <child link="rotated_base_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-  </joint>
-
-  <link name="rotated_base_link">
-    <inertial>
-      <mass value="0.0"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-    </inertial>
-  </link>>
-
-  <joint name="rotated_base-base_fixed_joint" type="fixed">
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793"/>
-    <parent link="rotated_base_link"/>
-    <child link="base_link"/>
-  </joint>
-</robot>

ur5e/visual/wrist3.dae

@@ -1,100 +0,0 @@
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-      <author>Blender User</author>
-      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
-    </contributor>
-    <created>2018-08-20T16:30:31</created>
-    <modified>2018-08-20T16:30:31</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images/>
-  <library_effects>
-    <effect id="LinkGrey-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0.25 0.25 0.25 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.8203922 0.8203922 0.8203922 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">0</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="LinkGrey-material" name="LinkGrey">
-      <instance_effect url="#LinkGrey-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
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