clone cap

LICENSE.md

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+Copyright 2021 Google LLC. SPDX-License-Identifier: Apache-2.0
+
+Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
+
+https://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

app.py

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+import openai
+import numpy as np
+from tempfile import NamedTemporaryFile
+import copy
+import shapely
+from shapely.geometry import *
+from shapely.affinity import *
+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
+
+
+class DemoRunner:
+        
+    def __init__(self):
+        self._cfg = OmegaConf.to_container(OmegaConf.load('cfg.yaml'), resolve=True)
+        self._env = None
+        self._md_logger = MarkdownLogger()
+
+    def make_LMP(self, env):
+        # LMP env wrapper
+        cfg = copy.deepcopy(self._cfg)
+        cfg['env'] = {
+            'init_objs': list(env.obj_name_to_id.keys()),
+            'coords': cfg['tabletop_coords']
+        }
+
+        LMP_env = LMP_wrapper(env, cfg)
+        # creating APIs that the LMPs can interact with
+        fixed_vars = {
+            'np': np
+        }
+        fixed_vars.update({
+            name: eval(name)
+            for name in shapely.geometry.__all__ + shapely.affinity.__all__
+        })
+        variable_vars = {
+            k: getattr(LMP_env, k)
+            for k in [
+                'get_bbox', 'get_obj_pos', 'get_color', 'is_obj_visible', 'denormalize_xy',
+                'put_first_on_second', 'get_obj_names',
+                'get_corner_name', 'get_side_name',
+            ]
+        }
+        variable_vars['say'] = lambda msg: self._md_logger.log_text(f'Robot says: "{msg}"')
+
+        # creating the function-generating LMP
+        lmp_fgen = LMPFGen(cfg['lmps']['fgen'], fixed_vars, variable_vars, self._md_logger)
+
+        # creating other low-level LMPs
+        variable_vars.update({
+            k: LMP(k, cfg['lmps'][k], lmp_fgen, fixed_vars, variable_vars, self._md_logger)
+            for k in ['parse_obj_name', 'parse_position', 'parse_question', 'transform_shape_pts']
+        })
+
+        # creating the LMP that deals w/ high-level language commands
+        lmp_tabletop_ui = LMP(
+            'tabletop_ui', cfg['lmps']['tabletop_ui'], lmp_fgen, fixed_vars, variable_vars, self._md_logger
+        )
+
+        return lmp_tabletop_ui
+
+    def setup(self, api_key, n_blocks, n_bowls):
+        openai.api_key = api_key
+
+        self._env = PickPlaceEnv(render=True, high_res=True, high_frame_rate=False)
+        list_idxs = np.random.choice(len(ALL_BLOCKS), size=max(n_blocks, n_bowls), replace=False)
+        block_list = [ALL_BLOCKS[i] for i in list_idxs[:n_blocks]]
+        bowl_list = [ALL_BOWLS[i] for i in list_idxs[:n_bowls]]
+        obj_list = block_list + bowl_list
+        self._env.reset(obj_list)
+
+        self._lmp_tabletop_ui = self.make_LMP(self._env)
+
+        info = '### Available Objects: \n- ' + '\n- '.join(obj_list)
+        img = self._env.get_camera_image()
+
+        return info, img
+
+    def run(self, instruction):
+        if self._env is None:
+            return 'Please run setup first!', None, None
+
+        self._env.cache_video = []
+        self._md_logger.clear()
+
+        try:
+            self._lmp_tabletop_ui(instruction, f'objects = {self._env.object_list}')
+        except Exception as e:
+            return f'Error: {e}', None, None
+
+        video_file_name = None
+        if self._env.cache_video:
+            rendered_clip = ImageSequenceClip(self._env.cache_video, fps=25)
+            video_file_name = NamedTemporaryFile(suffix='.mp4').name
+            rendered_clip.write_videofile(video_file_name, fps=25)
+
+        return self._md_logger.get_log(), self._env.get_camera_image(), video_file_name
+
+
+def setup(api_key, n_blocks, n_bowls):
+    if not api_key:
+        return 'Please enter your OpenAI API key!', None, None
+    
+    if n_blocks + n_bowls == 0:
+        return 'Please select at least one object!', None, None
+
+    demo_runner = DemoRunner()
+    
+    info, img = demo_runner.setup(api_key, n_blocks, n_bowls)
+    return info, img, demo_runner
+
+
+def run(instruction, demo_runner):
+    if demo_runner is None:
+        return 'Please run setup first!', None, None
+    return demo_runner.run(instruction)
+
+
+if __name__ == '__main__':
+    with open('README.md', 'r') as f:
+        for _ in range(12):
+            next(f)
+        readme_text = f.read()
+
+    with gr.Blocks() as demo:
+        state = gr.State(None)
+
+        gr.Markdown(readme_text)
+        gr.Markdown('# Interactive Demo')
+        with gr.Row():
+            with gr.Column():
+                with gr.Row():
+                    inp_api_key = gr.Textbox(label='OpenAI API Key (this is not stored anywhere)', lines=1)
+                with gr.Row():
+                    inp_n_blocks = gr.Slider(label='Number of Blocks', minimum=0, maximum=4, value=3, step=1)
+                    inp_n_bowls = gr.Slider(label='Number of Bowls', minimum=0, maximum=4, value=3, step=1)
+            
+                btn_setup = gr.Button("Setup/Reset Simulation")
+                info_setup = gr.Markdown(label='Setup Info')
+            with gr.Column():
+                img_setup = gr.Image(label='Current Simulation')
+
+        with gr.Row():
+            with gr.Column():
+                
+                inp_instruction = gr.Textbox(label='Instruction', lines=1) 
+                btn_run = gr.Button("Run (this may take 30+ seconds)")
+                info_run = gr.Markdown(label='Generated Code')
+            with gr.Column():
+                video_run = gr.Video(label='Video of Last Instruction')
+        
+        btn_setup.click(
+            setup, 
+            inputs=[inp_api_key, inp_n_blocks, inp_n_bowls], 
+            outputs=[info_setup, img_setup, state]
+        )
+        btn_run.click(
+            run, 
+            inputs=[inp_instruction, state], 
+            outputs=[info_run, img_setup, video_run]
+        )
+        
+    demo.launch()

bowl/bowl.urdf

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+<?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

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+# www.blender.org
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+v -0.007160 -0.029158 0.005913
+v 0.012596 -0.015985 0.032247
+v 0.001619 -0.026962 0.034444
+v 0.016987 -0.000620 0.016888
+v -0.020333 -0.031353 0.012503
+v 0.016987 -0.007210 0.041034
+v -0.002765 -0.029158 0.030055
+v -0.000577 -0.024767 -0.000677
+v 0.012596 -0.011601 0.003717
+v -0.007160 -0.031353 0.036641
+v 0.008205 -0.020376 0.021273
+v 0.014792 -0.011601 0.030055
+v 0.008205 -0.018180 0.001520
+v 0.001619 -0.024767 0.005913
+usemtl Shape.015
+s off
+f 409 435 446
+f 411 410 412
+f 410 411 413
+f 411 412 414
+f 413 414 415
+f 415 412 416
+f 410 413 417
+f 414 412 418
+f 415 414 418
+f 417 413 420
+f 412 410 421
+f 416 412 421
+f 415 416 422
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+f 411 414 424
+f 414 413 424
+f 420 413 425
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+f 410 417 438
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+f 435 427 439
+f 419 429 440
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+f 430 419 440
+f 422 430 440
+f 422 416 441
+f 416 432 441
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+f 420 425 442
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+f 409 430 443
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+f 435 409 443
+f 434 435 443
+f 432 423 444
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+f 441 432 444
+f 434 441 444
+f 430 422 445
+f 422 441 445
+f 441 428 445
+f 443 430 445
+f 428 443 445
+f 430 409 446
+f 419 430 446
+f 435 419 446
+o ShapeIndexedFaceSet_ShapeIndexedFaceSet.015
+v 0.000000 0.000000 0.000000
+v -0.057652 -0.000620 0.021270
+v -0.022528 -0.031353 0.012498
+v -0.020333 -0.031353 0.012498
+v -0.020333 -0.031353 0.038838
+v -0.020333 0.005966 0.001520
+v -0.051066 -0.013789 -0.000677
+v -0.053261 0.005966 0.038838
+v -0.042284 -0.026962 0.038838
+v -0.020333 0.005966 0.025664
+v -0.055457 0.005966 -0.000677
+v -0.026919 -0.029158 -0.000677
+v -0.055457 -0.011601 0.038838
+v -0.037897 -0.026962 0.001520
+v -0.020333 -0.029158 -0.000677
+v -0.057652 0.005966 0.038838
+v -0.031314 -0.031353 0.030050
+v -0.020333 -0.026962 0.038838
+v -0.048870 -0.018180 0.001520
+v -0.055457 -0.005015 0.001520
+v -0.020333 -0.013789 -0.000677
+v -0.053261 -0.015985 0.036641
+v -0.040088 0.005966 -0.000677
+v -0.046671 -0.022571 0.023467
+v -0.057652 -0.005015 0.038838
+v -0.031314 -0.031353 0.038838
+v -0.033509 -0.029158 0.005911
+v -0.057652 0.005966 0.016892
+v -0.053261 -0.011601 0.005911
+v -0.037897 -0.029158 0.032247
+v -0.044476 -0.022571 0.001520
+v -0.040088 -0.024767 -0.000677
+v -0.057652 -0.005015 0.032247
+v -0.042284 -0.026962 0.034444
+v -0.055457 -0.011601 0.034444
+v -0.055457 -0.000620 -0.000677
+v -0.026919 -0.031353 0.016892
+v -0.031314 -0.029158 0.001520
+usemtl Shape.014
+s off
+f 449 483 484
+f 449 450 451
+f 451 450 452
+f 451 454 455
+f 451 452 456
+f 452 454 456
+f 454 452 457
+f 450 449 458
+f 453 457 458
+f 455 454 459
+f 452 450 461
+f 450 458 461
+f 458 457 461
+f 454 457 462
+f 459 454 462
+f 449 451 463
+f 454 451 464
+f 451 456 464
+f 456 454 464
+f 452 461 467
+f 461 457 467
+f 455 459 468
+f 457 452 469
+f 452 467 469
+f 467 457 469
+f 468 465 470
+f 462 448 471
+f 459 462 471
+f 451 455 472
+f 463 451 472
+f 448 462 474
+f 462 457 474
+f 466 448 474
+f 453 465 475
+f 466 453 475
+f 465 468 475
+f 472 455 476
+f 463 472 476
+f 460 473 476
+f 473 463 476
+f 470 465 477
+f 453 458 478
+f 465 453 478
+f 460 477 478
+f 477 465 478
+f 448 466 479
+f 471 448 479
+f 459 471 479
+f 455 468 480
+f 468 470 480
+f 476 455 480
+f 460 476 480
+f 477 460 480
+f 470 477 480
+f 468 459 481
+f 466 475 481
+f 475 468 481
+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

cfg.yaml

@@ -0,0 +1,90 @@
+
+lmps:
+  tabletop_ui:
+    prompt_path: prompts/tabletop_ui.py
+    engine: text-davinci-003
+    max_tokens: 256
+    temperature: 0
+    query_prefix: '# '
+    query_suffix: '.'
+    stop: ['#', 'objects = [']
+    maintain_session: True
+    debug_mode: False
+    include_context: True
+    has_return: False
+    return_val_name: ret_val
+  parse_obj_name:
+    prompt_path: prompts/parse_obj_name.py
+    engine: text-davinci-003
+    max_tokens: 512
+    temperature: 0
+    query_prefix: '# '
+    query_suffix: '.'
+    stop: ['#', 'objects = [']
+    maintain_session: False
+    debug_mode: False
+    include_context: True
+    has_return: True
+    return_val_name: ret_val
+  parse_position:
+    prompt_path: prompts/parse_position.py
+    engine: text-davinci-003
+    max_tokens: 512
+    temperature: 0
+    query_prefix: '# '
+    query_suffix: '.'
+    stop: ['#']
+    maintain_session: False
+    debug_mode: False
+    include_context: True
+    has_return: True
+    return_val_name: ret_val
+  parse_question:
+    prompt_path: prompts/parse_question.py
+    engine: text-davinci-003
+    max_tokens: 512
+    temperature: 0
+    query_prefix: '# '
+    query_suffix: '.'
+    stop: ['#', 'objects = [']
+    maintain_session: False
+    debug_mode: False
+    include_context: True
+    has_return: True
+    return_val_name: ret_val
+  transform_shape_pts:
+    prompt_path: prompts/transform_shape_pts.py
+    engine: text-davinci-003
+    max_tokens: 512
+    temperature: 0
+    query_prefix: '# '
+    query_suffix: '.'
+    stop: ['#']
+    maintain_session: False
+    debug_mode: False
+    include_context: True
+    has_return: True
+    return_val_name: new_shape_pts
+  fgen:
+    prompt_path: prompts/fgen.py
+    engine: text-davinci-003
+    max_tokens: 512
+    temperature: 0
+    query_prefix: '# define function: '
+    query_suffix: '.'
+    stop: ['# define', '# example']
+    maintain_session: False
+    debug_mode: False
+    include_context: True
+
+tabletop_coords:
+  top_left: [-0.25, -0.25]
+  top_side: [0, -0.25]
+  top_right: [0.25, -0.25]
+  left_side: [-0.25, -0.5]
+  middle: [0, -0.5]
+  right_side: [0.25, -0.5]
+  bottom_left: [-0.25, -0.75]
+  bottom_side: [0, -0.75]
+  bottom_right: [0.25, -0.75]
+  table_z: 0

consts.py

@@ -0,0 +1,33 @@
+import numpy as np
+
+# # Global constants: pick and place objects, colors, workspace bounds
+COLORS = {
+    'blue':   (78/255,  121/255, 167/255, 255/255),
+    'red':    (255/255,  87/255,  89/255, 255/255),
+    'green':  (89/255,  169/255,  79/255, 255/255),
+    'orange': (242/255, 142/255,  43/255, 255/255),
+    'yellow': (237/255, 201/255,  72/255, 255/255),
+    'purple': (176/255, 122/255, 161/255, 255/255),
+    'pink':   (255/255, 157/255, 167/255, 255/255),
+    'cyan':   (118/255, 183/255, 178/255, 255/255),
+    'brown':  (156/255, 117/255,  95/255, 255/255),
+    'gray':   (186/255, 176/255, 172/255, 255/255),
+}
+
+CORNER_POS = {
+  'top left corner':     (-0.3 + 0.05, -0.2 - 0.05, 0),
+  'top side':            (0,           -0.2 - 0.05, 0),
+  'top right corner':    (0.3 - 0.05,  -0.2 - 0.05, 0),
+  'left side':           (-0.3 + 0.05, -0.5,        0),
+  'middle':              (0,           -0.5,        0),
+  'right side':          (0.3 - 0.05,  -0.5,        0),
+  'bottom left corner':  (-0.3 + 0.05, -0.8 + 0.05, 0),
+  'bottom side':         (0,           -0.8 + 0.05, 0),
+  'bottom right corner': (0.3 - 0.05,  -0.8 + 0.05, 0),
+}
+
+ALL_BLOCKS = ['blue block', 'red block', 'green block', 'orange block', 'yellow block', 'purple block', 'pink block', 'cyan block', 'brown block', 'gray block']
+ALL_BOWLS = ['blue bowl', 'red bowl', 'green bowl', 'orange bowl', 'yellow bowl', 'purple bowl', 'pink bowl', 'cyan bowl', 'brown bowl', 'gray bowl']
+
+PIXEL_SIZE = 0.00267857
+BOUNDS = np.float32([[-0.3, 0.3], [-0.8, -0.2], [0, 0.15]])  # X Y Z

lmp.py

@@ -0,0 +1,258 @@
+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)

md_logger.py

@@ -0,0 +1,16 @@
+class MarkdownLogger:
+
+    def __init__(self):
+        self._log = ''
+
+    def log_text(self, text):
+        self._log += '\n' + text + '\n'
+    
+    def log_code(self, code):
+        self._log += f'\n```python\n{code}\n```\n'
+
+    def clear(self):
+        self._log = ''
+
+    def get_log(self):
+        return self._log

prompts/fgen.py

@@ -0,0 +1,49 @@
+import numpy as np
+from shapely.geometry import *
+from shapely.affinity import *
+
+from env_utils import get_obj_pos, get_obj_names
+from ctrl_utils import put_first_on_second
+
+# define function: total = get_total(xs=numbers).
+def get_total(xs):
+    return np.sum(xs)
+
+# define function: y = eval_line(x, slope, y_intercept=0).
+def eval_line(x, slope, y_intercept):
+    return x * slope + y_intercept
+
+# define function: pt = get_pt_to_the_left(pt, dist).
+def get_pt_to_the_left(pt, dist):
+    return pt + [-dist, 0]
+
+# define function: pt = get_pt_to_the_top(pt, dist).
+def get_pt_to_the_top(pt, dist):
+    return pt + [0, dist]
+
+# define function line = make_line_by_length(length=x).
+def make_line_by_length(length):
+  line = LineString([[0, 0], [length, 0]])
+  return line
+
+# define function: line = make_vertical_line_by_length(length=x).
+def make_vertical_line_by_length(length):
+  line = make_line_by_length(length)
+  vertical_line = rotate(line, 90)
+  return vertical_line
+
+# define function: pt = interpolate_line(line, t=0.5).
+def interpolate_line(line, t):
+  pt = line.interpolate(t, normalized=True)
+  return np.array(pt.coords[0])
+
+# example: scale a line by 2.
+line = make_line_by_length(1)
+new_shape = scale(line, xfact=2, yfact=2)
+
+# example: put object1 on top of object0.
+put_first_on_second('object1', 'object0')
+
+# example: get the position of the first object.
+obj_names = get_obj_names()
+pos_2d = get_obj_pos(obj_names[0])

prompts/parse_obj_name.py

@@ -0,0 +1,59 @@
+import numpy as np
+from env_utils import get_obj_pos, parse_position
+from utils import get_obj_positions_np
+
+objects = ['blue block', 'cyan block', 'purple bowl', 'gray bowl', 'brown bowl', 'pink block', 'purple block']
+# the block closest to the purple bowl.
+block_names = ['blue block', 'cyan block', 'purple block']
+closest_block_idx = get_closest_idx(points=get_obj_positions_np(block_names), point=get_obj_pos('purple bowl'))
+closest_block_name = block_names[closest_block_idx]
+ret_val = closest_block_name
+objects = ['brown bowl', 'banana', 'brown block', 'apple', 'blue bowl', 'blue block']
+# the blocks.
+ret_val = ['brown block', 'blue block']
+objects = ['brown bowl', 'banana', 'brown block', 'apple', 'blue bowl', 'blue block']
+# the brown objects.
+ret_val = ['brown bowl', 'brown block']
+objects = ['brown bowl', 'banana', 'brown block', 'apple', 'blue bowl', 'blue block']
+# a fruit that's not the apple
+fruit_names = ['banana', 'apple']
+for fruit_name in fruit_names:
+    if fruit_name != 'apple':
+        ret_val = fruit_name
+objects = ['blue block', 'cyan block', 'purple bowl', 'brown bowl', 'purple block']
+# blocks above the brown bowl.
+block_names = ['blue block', 'cyan block', 'purple block']
+brown_bowl_pos = get_obj_pos('brown bowl')
+use_block_names = []
+for block_name in block_names:
+    if get_obj_pos(block_name)[1] > brown_bowl_pos[1]:
+        use_block_names.append(block_name)
+ret_val = use_block_names
+objects = ['blue block', 'cyan block', 'purple bowl', 'brown bowl', 'purple block']
+# the blue block.
+ret_val = 'blue block'
+objects = ['blue block', 'cyan block', 'purple bowl', 'brown bowl', 'purple block']
+# the block closest to the bottom right corner.
+corner_pos = parse_position('bottom right corner')
+block_names = ['blue block', 'cyan block', 'purple block']
+closest_block_idx = get_closest_idx(points=get_obj_positions_np(block_names), point=corner_pos)
+closest_block_name = block_names[closest_block_idx]
+ret_val = closest_block_name
+objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block']
+# the left most block.
+block_names = ['green block', 'brown block', 'blue block']
+left_block_idx = np.argsort(get_obj_positions_np(block_names)[:, 0])[0]
+left_block_name = block_names[left_block_idx]
+ret_val = left_block_name
+objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block']
+# the bowl on near the top.
+bowl_names = ['brown bowl', 'green bowl', 'blue bowl']
+top_bowl_idx = np.argsort(get_obj_positions_np(bowl_names)[:, 1])[-1]
+top_bowl_name = bowl_names[top_bowl_idx]
+ret_val = top_bowl_name
+objects = ['yellow bowl', 'purple block', 'yellow block', 'purple bowl', 'pink bowl', 'pink block']
+# the third bowl from the right.
+bowl_names = ['yellow bowl', 'purple bowl', 'pink bowl']
+bowl_idx = np.argsort(get_obj_positions_np(bowl_names)[:, 0])[-3]
+bowl_name = bowl_names[bowl_idx]
+ret_val = bowl_name

prompts/parse_position.py

@@ -0,0 +1,54 @@
+import numpy as np
+from shapely.geometry import *
+from shapely.affinity import *
+from env_utils import denormalize_xy, parse_obj_name, get_obj_names, get_obj_pos
+
+# a 30cm horizontal line in the middle with 3 points.
+middle_pos = denormalize_xy([0.5, 0.5]) 
+start_pos = middle_pos + [-0.3/2, 0]
+end_pos = middle_pos + [0.3/2, 0]
+line = make_line(start=start_pos, end=end_pos)
+points = interpolate_pts_on_line(line=line, n=3)
+ret_val = points
+# a 20cm vertical line near the right with 4 points.
+middle_pos = denormalize_xy([1, 0.5]) 
+start_pos = middle_pos + [0, -0.2/2]
+end_pos = middle_pos + [0, 0.2/2]
+line = make_line(start=start_pos, end=end_pos)
+points = interpolate_pts_on_line(line=line, n=4)
+ret_val = points
+# a diagonal line from the top left to the bottom right corner with 5 points.
+top_left_corner = denormalize_xy([0, 1])
+bottom_right_corner = denormalize_xy([1, 0])
+line = make_line(start=top_left_corner, end=bottom_right_corner)
+points = interpolate_pts_on_line(line=line, n=5)
+ret_val = points
+# a triangle with size 10cm with 3 points.
+polygon = make_triangle(size=0.1, center=denormalize_xy([0.5, 0.5]))
+points = get_points_from_polygon(polygon)
+ret_val = points
+# the corner closest to the sun colored block.
+block_name = parse_obj_name('the sun colored block', f'objects = {get_obj_names()}')
+corner_positions = np.array([denormalize_xy(pos) for pos in [[0, 0], [0, 1], [1, 1], [1, 0]]])
+closest_corner_pos = get_closest_point(points=corner_positions, point=get_obj_pos(block_name))
+ret_val = closest_corner_pos
+# the side farthest from the right most bowl.
+bowl_name = parse_obj_name('the right most bowl', f'objects = {get_obj_names()}')
+side_positions = np.array([denormalize_xy(pos) for pos in [[0.5, 0], [0.5, 1], [1, 0.5], [0, 0.5]]])
+farthest_side_pos = get_farthest_point(points=side_positions, point=get_obj_pos(bowl_name))
+ret_val = farthest_side_pos
+# a point above the third block from the bottom.
+block_name = parse_obj_name('the third block from the bottom', f'objects = {get_obj_names()}')
+ret_val = get_obj_pos(block_name) + [0.1, 0]
+# a point 10cm left of the bowls.
+bowl_names = parse_obj_name('the bowls', f'objects = {get_obj_names()}')
+bowl_positions = get_all_object_positions_np(obj_names=bowl_names)
+left_obj_pos = bowl_positions[np.argmin(bowl_positions[:, 0])] + [-0.1, 0]
+ret_val = left_obj_pos
+# the bottom side.
+bottom_pos = denormalize_xy([0.5, 0])
+ret_val = bottom_pos
+# the top corners.
+top_left_pos = denormalize_xy([0, 1])
+top_right_pos = denormalize_xy([1, 1])
+ret_val = [top_left_pos, top_right_pos]

prompts/parse_question.py

@@ -0,0 +1,27 @@
+from utils import get_obj_pos, get_obj_names, parse_obj_name, bbox_contains_pt, is_obj_visible
+
+objects = ['yellow bowl', 'blue block', 'yellow block', 'blue bowl', 'fruit', 'green block', 'black bowl']
+# is the blue block to the right of the yellow bowl?
+ret_val = get_obj_pos('blue block')[0] > get_obj_pos('yellow bowl')[0]
+objects = ['yellow bowl', 'blue block', 'yellow block', 'blue bowl', 'fruit', 'green block', 'black bowl']
+# how many yellow objects are there?
+yellow_object_names = parse_obj_name('the yellow objects', f'objects = {get_obj_names()}')
+ret_val = len(yellow_object_names)
+objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
+# what are the blocks left of the green bowl?
+block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}')
+green_bowl_pos = get_obj_pos('green bowl')
+left_block_names = []
+for block_name in block_names:
+  if get_obj_pos(block_name)[0] < green_bowl_pos[0]:
+    left_block_names.append(block_name)
+ret_val = left_block_names
+objects = ['pink block', 'yellow block', 'pink bowl', 'blue block', 'blue bowl', 'yellow bowl']
+# is the sun colored block above the blue bowl?
+sun_block_name = parse_obj_name('sun colored block', f'objects = {get_obj_names()}')
+sun_block_pos = get_obj_pos(sun_block_name)
+blue_bowl_pos = get_obj_pos('blue bowl')
+ret_val = sun_block_pos[1] > blue_bowl_pos[1]
+objects = ['pink block', 'yellow block', 'pink bowl', 'blue block', 'blue bowl', 'yellow bowl']
+# is the green block below the blue bowl?
+ret_val = get_obj_pos('green block')[1] < get_obj_pos('blue bowl')[1]

prompts/tabletop_ui.py

@@ -0,0 +1,173 @@
+# Python 2D robot control script
+import numpy as np
+from env_utils import put_first_on_second, get_obj_pos, get_obj_names, say, get_corner_name, get_side_name, is_obj_visible, stack_objects_in_order
+from plan_utils import parse_obj_name, parse_position, parse_question, transform_shape_pts
+
+objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl']
+# place the yellow block on the yellow bowl.
+say('Ok - putting the yellow block on the yellow bowl')
+put_first_on_second('yellow block', 'yellow bowl')
+objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl']
+# which block did you move.
+say('I moved the yellow block')
+objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl']
+# move the green block to the top right corner.
+say('Got it - putting the green block on the top right corner')
+corner_pos = parse_position('top right corner')
+put_first_on_second('green block', corner_pos)
+objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl']
+# stack the blue bowl on the yellow bowl on the green block.
+order_bottom_to_top = ['green block', 'yellow block', 'blue bowl']
+say(f'Sure - stacking from top to bottom: {", ".join(order_bottom_to_top)}')
+stack_objects_in_order(object_names=order_bottom_to_top)
+objects = ['cyan block', 'white block', 'cyan bowl', 'blue block', 'blue bowl', 'white bowl']
+# move the cyan block into its corresponding bowl.
+matches = {'cyan block': 'cyan bowl'}
+say('Got it - placing the cyan block on the cyan bowl')
+for first, second in matches.items():
+  put_first_on_second(first, get_obj_pos(second))
+objects = ['cyan block', 'white block', 'cyan bowl', 'blue block', 'blue bowl', 'white bowl']
+# make a line of blocks on the right side.
+say('No problem! Making a line of blocks on the right side')
+block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}')
+line_pts = parse_position(f'a 30cm vertical line on the right with {len(block_names)} points')
+for block_name, pt in zip(block_names, line_pts):
+  put_first_on_second(block_name, pt)
+objects = ['yellow block', 'red block', 'yellow bowl', 'gray block', 'gray bowl', 'red bowl']
+# put the small banana colored thing in between the blue bowl and green block.
+say('Sure thing - putting the yellow block between the blue bowl and the green block')
+target_pos = parse_position('a point in the middle betweeen the blue bowl and the green block')
+put_first_on_second('yellow block', target_pos)
+objects = ['yellow block', 'red block', 'yellow bowl', 'gray block', 'gray bowl', 'red bowl']
+# can you cut the bowls in half.
+say('no, I can only move objects around')
+objects = ['yellow block', 'green block', 'yellow bowl', 'gray block', 'gray bowl', 'green bowl']
+# stack the blocks on the right side with the gray one on the bottom.
+say('Ok. stacking the blocks on the right side with the gray block on the bottom')
+right_side = parse_position('the right side')
+put_first_on_second('gray block', right_side)
+order_bottom_to_top = ['gray block', 'green block', 'yellow block']
+stack_objects_in_order(object_names=order_bottom_to_top)
+objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl']
+# hide the blue bowl.
+bowl_name = np.random.choice(['yellow bowl', 'green bowl'])
+say(f'Sounds good! Hiding the blue bowl under the {bowl_name}')
+put_first_on_second(bowl_name, 'blue bowl')
+objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
+# move the grass-colored bowl to the left.
+say('Sure - moving the green bowl left by 10 centimeters')
+left_pos = parse_position('a point 10cm left of the green bowl')
+put_first_on_second('green bowl', left_pos)
+objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
+# why did you move the red bowl.
+say(f'I did not move the red bowl')
+objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
+# undo that.
+say('Sure - moving the green bowl right by 10 centimeters')
+left_pos = parse_position('a point 10cm right of the green bowl')
+put_first_on_second('green bowl', left_pos)
+objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block']
+# place the top most block to the corner closest to the bottom most block.
+top_block_name = parse_obj_name('top most block', f'objects = {get_obj_names()}')
+bottom_block_name = parse_obj_name('bottom most block', f'objects = {get_obj_names()}')
+closest_corner_pos = parse_position(f'the corner closest to the {bottom_block_name}', f'objects = {get_obj_names()}')
+say(f'Putting the {top_block_name} on the {get_corner_name(closest_corner_pos)}')
+put_first_on_second(top_block_name, closest_corner_pos)
+objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block']
+# move the brown bowl to the side closest to the green block.
+closest_side_position = parse_position('the side closest to the green block')
+say(f'Got it - putting the brown bowl on the {get_side_name(closest_side_position)}')
+put_first_on_second('brown bowl', closest_side_position)
+objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block']
+# place the green block to the right of the bowl that has the blue block.
+bowl_name = parse_obj_name('the bowl that has the blue block', f'objects = {get_obj_names()}')
+if bowl_name:
+  target_pos = parse_position(f'a point 10cm to the right of the {bowl_name}')
+  say(f'No problem - placing the green block to the right of the {bowl_name}')
+  put_first_on_second('green block', target_pos)
+else:
+  say('There are no bowls that has the blue block')
+objects = ['brown bowl', 'green block', 'brown block', 'green bowl', 'blue bowl', 'blue block']
+# move the other blocks to the bottom corners.
+block_names = parse_obj_name('blocks other than the blue block', f'objects = {get_obj_names()}')
+corners = parse_position('the bottom corners')
+for block_name, pos in zip(block_names, corners):
+  put_first_on_second(block_name, pos)
+objects = ['pink block', 'gray block', 'orange block']
+# move the pinkish colored block on the bottom side.
+say('Ok - putting the pink block on the bottom side')
+bottom_side_pos = parse_position('the bottom side')
+put_first_on_second('pink block', bottom_side_pos)
+objects = ['yellow bowl', 'blue block', 'yellow block', 'blue bowl']
+# is the blue block to the right of the yellow bowl?
+if parse_question('is the blue block to the right of the yellow bowl?', f'objects = {get_obj_names()}'):
+  say('yes, there is a blue block to the right of the yellow bow')
+else:
+  say('no, there is\'t a blue block to the right of the yellow bow')
+objects = ['yellow bowl', 'blue block', 'yellow block', 'blue bowl']
+# how many yellow objects are there?
+n_yellow_objs = parse_question('how many yellow objects are there', f'objects = {get_obj_names()}')
+say(f'there are {n_yellow_objs} yellow object')
+objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
+# move the left most block to the green bowl.
+left_block_name = parse_obj_name('left most block', f'objects = {get_obj_names()}')
+say(f'Moving the {left_block_name} on the green bowl')
+put_first_on_second(left_block_name, 'green bowl')
+objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
+# move the other blocks to different corners.
+block_names = parse_obj_name(f'blocks other than the {left_block_name}', f'objects = {get_obj_names()}')
+corners = parse_position('the corners')
+say(f'Ok - moving the other {len(block_names)} blocks to different corners')
+for block_name, pos in zip(block_names, corners):
+  put_first_on_second(block_name, pos)
+objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
+# is the pink block on the green bowl.
+if parse_question('is the pink block on the green bowl', f'objects = {get_obj_names()}'):
+  say('Yes - the pink block is on the green bowl.')
+else:
+  say('No - the pink block is not on the green bowl.')
+objects = ['pink block', 'green block', 'pink bowl', 'blue block', 'blue bowl', 'green bowl']
+# what are the blocks left of the green bowl.
+left_block_names =  parse_question('what are the blocks left of the green bowl', f'objects = {get_obj_names()}')
+if len(left_block_names) > 0:
+  say(f'These blocks are left of the green bowl: {", ".join(left_block_names)}')
+else:
+  say('There are no blocks left of the green bowl')
+objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl']
+# imagine that the bowls are different biomes on earth and imagine that the blocks are parts of a building.
+say('ok')
+objects = ['yellow block', 'green block', 'yellow bowl', 'blue block', 'blue bowl', 'green bowl']
+# now build a tower in the grasslands.
+order_bottom_to_top = ['green bowl', 'blue block', 'green block', 'yellow block']
+say('stacking the blocks on the green bowl')
+stack_objects_in_order(object_names=order_bottom_to_top)
+objects = ['yellow block', 'green block', 'yellow bowl', 'gray block', 'gray bowl', 'green bowl']
+# show me what happens when the desert gets flooded by the ocean.
+say('putting the yellow bowl on the blue bowl')
+put_first_on_second('yellow bowl', 'blue bowl')
+objects = ['pink block', 'gray block', 'orange block']
+# move all blocks 5cm toward the top.
+say('Ok - moving all blocks 5cm toward the top')
+block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}')
+for block_name in block_names:
+  target_pos = parse_position(f'a point 5cm above the {block_name}')
+  put_first_on_second(block_name, target_pos)
+objects = ['cyan block', 'white block', 'purple bowl', 'blue block', 'blue bowl', 'white bowl']
+# make a triangle of blocks in the middle.
+block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}')
+triangle_pts = parse_position(f'a triangle with size 10cm around the middle with {len(block_names)} points')
+say('Making a triangle of blocks around the middle of the workspace')
+for block_name, pt in zip(block_names, triangle_pts):
+  put_first_on_second(block_name, pt)
+objects = ['cyan block', 'white block', 'purple bowl', 'blue block', 'blue bowl', 'white bowl']
+# make the triangle smaller.
+triangle_pts = transform_shape_pts('scale it by 0.5x', shape_pts=triangle_pts)
+say('Making the triangle smaller')
+block_names = parse_obj_name('the blocks', f'objects = {get_obj_names()}')
+for block_name, pt in zip(block_names, triangle_pts):
+  put_first_on_second(block_name, pt)
+objects = ['brown bowl', 'red block', 'brown block', 'red bowl', 'pink bowl', 'pink block']
+# put the red block on the farthest bowl.
+farthest_bowl_name = parse_obj_name('the bowl farthest from the red block', f'objects = {get_obj_names()}')
+say(f'Putting the red block on the {farthest_bowl_name}')
+put_first_on_second('red block', farthest_bowl_name)

prompts/transform_shape_pts.py

@@ -0,0 +1,19 @@
+import numpy as np
+from utils import get_obj_pos, get_obj_names, parse_position, parse_obj_name
+
+# make it bigger by 1.5.
+new_shape_pts = scale_pts_around_centroid_np(shape_pts, scale_x=1.5, scale_y=1.5)
+# move it to the right by 10cm.
+new_shape_pts = translate_pts_np(shape_pts, delta=[0.1, 0])
+# move it to the top by 20cm.
+new_shape_pts = translate_pts_np(shape_pts, delta=[0, 0.2])
+# rotate it clockwise by 40 degrees.
+new_shape_pts = rotate_pts_around_centroid_np(shape_pts, angle=-np.deg2rad(40))
+# rotate by 30 degrees and make it slightly smaller
+new_shape_pts = rotate_pts_around_centroid_np(shape_pts, angle=np.deg2rad(30))
+new_shape_pts = scale_pts_around_centroid_np(new_shape_pts, scale_x=0.7, scale_y=0.7)
+# move it toward the blue block.
+block_name = parse_obj_name('the blue block', f'objects = {get_obj_names()}')
+block_pos = get_obj_pos(block_name)
+mean_delta = np.mean(block_pos - shape_pts, axis=1)
+new_shape_pts = translate_pts_np(shape_pts, mean_delta)

requirements.txt

@@ -0,0 +1,11 @@
+numpy
+scipy
+shapely
+astunparse
+pygments
+openai
+pybullet
+imageio==2.4.1
+imageio-ffmpeg
+moviepy
+omegaconf

sim.py

@@ -0,0 +1,655 @@
+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/ur5e.urdf

@@ -0,0 +1,279 @@
+<?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

@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <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>
+    <geometry id="eSeries_UR5e_058-mesh" name="eSeries UR5e.058">
+      <mesh>
+        <source id="eSeries_UR5e_058-mesh-positions">
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612 258 612 258 613 332 613 257 613 256 614 257 614 333 614 256 615 333 615 255 615 255 616 333 616 334 616 255 617 334 617 254 617 254 618 334 618 335 618 254 619 335 619 253 619 253 620 335 620 252 620 252 621 335 621 336 621 252 622 336 622 265 622 265 623 336 623 337 623 265 624 337 624 264 624 264 625 337 625 338 625 264 626 338 626 263 626 263 627 338 627 262 627 262 628 338 628 339 628 262 629 339 629 261 629 261 630 339 630 340 630 261 631 340 631 260 631 326 632 341 632 325 632 325 633 341 633 342 633 325 634 342 634 324 634 324 635 342 635 343 635 324 636 343 636 323 636 323 637 343 637 344 637 323 638 344 638 322 638 322 639 344 639 321 639 321 640 344 640 345 640 312 641 346 641 311 641 311 642 346 642 347 642 311 643 347 643 310 643 310 644 347 644 348 644 310 645 348 645 309 645 309 646 348 646 331 646 331 647 348 647 349 647 331 648 349 648 330 648 330 649 349 649 350 649 321 650 345 650 320 650 320 651 345 651 351 651 320 652 351 652 319 652 319 653 351 653 318 653 318 654 351 654 352 654 318 655 352 655 317 655 317 656 352 656 353 656 317 657 353 657 316 657 330 658 350 658 354 658 330 659 354 659 329 659 329 660 354 660 328 660 328 661 354 661 355 661 328 662 355 662 327 662 327 663 355 663 356 663 327 664 356 664 326 664 326 665 356 665 341 665 353 666 357 666 316 666 316 667 357 667 315 667 315 668 357 668 314 668 314 669 357 669 358 669 314 670 358 670 313 670 313 671 358 671 359 671 313 672 359 672 312 672 312 673 359 673 346 673 421 674 420 674 422 674 422 675 420 675 423 675 477 676 476 676 420 676 420 677 476 677 478 677 478 678 479 678 420 678 479 679 423 679 420 679 483 680 417 680 480 680 417 681 483 681 418 681 417 682 418 682 481 682 481 683 419 683 417 683 417 684 419 684 484 684 417 685 484 685 482 685 424 686 348 686 425 686 425 687 348 687 347 687 425 688 347 688 426 688 426 689 347 689 346 689 426 690 346 690 427 690 427 691 346 691 428 691 428 692 346 692 359 692 428 693 359 693 429 693 429 694 359 694 358 694 429 695 358 695 430 695 430 696 358 696 431 696 431 697 358 697 357 697 431 698 357 698 432 698 432 699 357 699 433 699 433 700 357 700 353 700 433 701 353 701 434 701 434 702 353 702 435 702 435 703 353 703 352 703 435 704 352 704 351 704 435 705 351 705 436 705 436 706 351 706 437 706 437 707 351 707 345 707 437 708 345 708 438 708 438 709 345 709 344 709 438 710 344 710 439 710 439 711 344 711 440 711 440 712 344 712 343 712 440 713 343 713 441 713 441 714 343 714 342 714 441 715 342 715 442 715 442 716 342 716 341 716 442 717 341 717 443 717 443 718 341 718 356 718 443 719 356 719 444 719 444 720 356 720 355 720 444 721 355 721 445 721 445 722 355 722 354 722 445 723 354 723 446 723 446 724 354 724 447 724 447 725 354 725 350 725 447 726 350 726 448 726 448 727 350 727 449 727 449 728 350 728 349 728 449 729 349 729 450 729 450 730 349 730 348 730 450 731 348 731 424 731 451 732 452 732 416 732 416 733 452 733 361 733 361 734 452 734 453 734 361 735 453 735 360 735 360 736 453 736 362 736 362 734 453 734 363 734 363 734 453 734 454 734 363 734 454 734 364 734 364 734 454 734 365 734 365 734 454 734 455 734 365 737 455 737 367 737 367 738 455 738 366 738 366 739 455 739 456 739 366 740 456 740 368 740 368 741 456 741 369 741 369 742 456 742 457 742 369 743 457 743 370 743 370 744 457 744 371 744 371 745 457 745 458 745 371 746 458 746 372 746 372 747 458 747 374 747 374 748 458 748 459 748 374 749 459 749 373 749 373 750 459 750 375 750 375 751 459 751 376 751 376 752 459 752 460 752 376 753 460 753 377 753 377 754 460 754 378 754 378 755 460 755 461 755 378 756 461 756 379 756 379 757 461 757 381 757 381 758 461 758 462 758 381 759 462 759 380 759 380 734 462 734 382 734 382 760 462 760 383 760 383 734 462 734 463 734 383 734 463 734 384 734 384 734 463 734 386 734 386 734 463 734 464 734 386 761 464 761 385 761 385 734 464 734 387 734 387 762 464 762 465 762 387 763 465 763 388 763 388 734 465 734 389 734 389 734 465 734 390 734 390 734 465 734 466 734 390 764 466 764 391 764 391 734 466 734 393 734 393 734 466 734 467 734 393 765 467 765 392 765 392 766 467 766 394 766 394 734 467 734 395 734 395 734 467 734 468 734 395 767 468 767 396 767 396 768 468 768 397 768 397 734 468 734 398 734 398 734 468 734 469 734 398 769 469 769 400 769 400 734 469 734 399 734 399 734 469 734 470 734 399 734 470 734 401 734 401 770 470 770 402 770 402 734 470 734 471 734 402 771 471 771 403 771 403 734 471 734 405 734 405 734 471 734 472 734 405 772 472 772 404 772 404 734 472 734 406 734 406 734 472 734 407 734 407 734 472 734 473 734 407 734 473 734 408 734 408 773 473 773 409 773 409 774 473 774 410 774 410 734 473 734 474 734 410 734 474 734 412 734 412 734 474 734 411 734 411 734 474 734 475 734 411 775 475 775 413 775 413 734 475 734 414 734 414 734 475 734 451 734 414 734 451 734 415 734 415 734 451 734 416 734 337 776 480 776 338 776 480 777 337 777 336 777 338 778 480 778 417 778 339 779 477 779 340 779 335 780 480 780 336 780 477 781 420 781 333 781 477 782 260 782 340 782 260 783 477 783 332 783 417 784 339 784 338 784 420 785 334 785 333 785 477 786 333 786 257 786 477 787 257 787 332 787 477 788 339 788 417 788 335 789 334 789 480 789 480 790 334 790 420 790 457 791 456 791 420 791 480 792 448 792 449 792 480 793 449 793 483 793 449 794 450 794 418 794 449 795 418 795 483 795 450 796 481 796 418 796 424 797 419 797 450 797 450 798 419 798 481 798 484 799 419 799 425 799 425 800 419 800 424 800 417 801 482 801 426 801 426 802 482 802 425 802 425 803 482 803 484 803 460 804 477 804 461 804 461 805 477 805 417 805 460 806 476 806 477 806 459 807 478 807 460 807 460 808 478 808 476 808 459 809 479 809 478 809 423 810 479 810 459 810 458 811 423 811 459 811 458 812 422 812 423 812 457 813 422 813 458 813 457 814 420 814 421 814 457 815 421 815 422 815 417 816 426 816 427 816 417 817 427 817 461 817 461 818 427 818 428 818 461 819 428 819 462 819 462 820 428 820 429 820 462 821 429 821 463 821 463 822 429 822 430 822 463 823 430 823 464 823 464 824 430 824 431 824 464 825 431 825 465 825 465 826 431 826 432 826 465 827 432 827 466 827 466 828 432 828 433 828 466 829 433 829 467 829 467 830 433 830 434 830 467 831 434 831 435 831 467 832 435 832 468 832 468 833 435 833 436 833 468 834 436 834 469 834 469 835 436 835 470 835 470 836 436 836 437 836 470 837 437 837 471 837 471 838 437 838 438 838 471 839 438 839 472 839 472 840 438 840 439 840 472 841 439 841 440 841 472 842 440 842 473 842 473 843 440 843 441 843 473 844 441 844 474 844 474 845 441 845 475 845 475 846 441 846 442 846 475 847 442 847 451 847 451 848 442 848 443 848 451 849 443 849 452 849 452 850 443 850 444 850 452 851 444 851 453 851 453 852 444 852 445 852 453 853 445 853 454 853 454 854 445 854 446 854 454 855 446 855 455 855 455 856 446 856 447 856 455 857 447 857 456 857 456 858 447 858 448 858 456 859 448 859 480 859 456 860 480 860 420 860</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="eSeries_UR5e_058" name="eSeries_UR5e_058" type="NODE">
+        <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#eSeries_UR5e_058-mesh" name="eSeries_UR5e_058">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="LinkGrey-material" target="#LinkGrey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>