#!/bin/python3
"""
Goal-conditioned superclass for UR5e Robot environments (Gazebo).
Same shape as UR5eRobotEnv (ur5e_robot_sim) but inherits from
GazeboGoalEnv so subclasses can use Dict observation spaces with
``observation`` / ``achieved_goal`` / ``desired_goal`` keys (needed
by HER + the Gymnasium GoalEnv contract).
Side-effect imports ur5e_robot_sim to set GAZEBO_MODEL_PATH at module
import time (the env-internal Gazebo doesn't inherit env from roslaunch).
"""
from rl_environments.ur5e.sim.robot_envs import ur5e_robot_sim # noqa: F401 (env side-effect)
from gymnasium.envs.registration import register
import numpy as np
from multiros.envs import GazeboGoalEnv
import rospy
import rostopic
from gazebo_msgs.srv import SetModelConfiguration
from sensor_msgs.msg import JointState, Image
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from cv_bridge import CvBridge
import cv2
from multiros.utils import gazebo_core
from multiros.utils import gazebo_models
from multiros.utils.moveit_multiros import MoveitMultiros
from multiros.utils import ros_common
from multiros.utils import ros_controllers
from multiros.utils import ros_kinematics
from urdf_parser_py.urdf import URDF
from pykdl_utils.kdl_kinematics import KDLKinematics
from tf.transformations import euler_from_quaternion
register(
id='UR5eRobotGoalEnv-v0',
entry_point='rl_environments.ur5e.sim.robot_envs.ur5e_robot_goal_sim:UR5eRobotGoalEnv',
max_episode_steps=1000,
)
[docs]
class UR5eRobotGoalEnv(GazeboGoalEnv.GazeboGoalEnv):
"""Goal-conditioned superclass. See ur5e_robot_sim.UR5eRobotEnv for the
non-goal twin (same bring-up, same publish helpers)."""
def __init__(self, ros_port: str = None, gazebo_port: str = None, gazebo_pid=None,
seed: int = None, real_time: bool = False, action_cycle_time=0.0,
load_cube: bool = False, load_table: bool = True, use_kinect: bool = False):
rospy.loginfo("Start Init UR5eRobotGoalEnv Multiros")
if ros_port is not None:
ros_common.change_ros_gazebo_master(ros_port=ros_port, gazebo_port=gazebo_port)
self.real_time = real_time
self.load_table = load_table
unpause_pause_physics = not self.real_time
spawn_robot = True
urdf_pkg_name = "ur5e_description_extras"
urdf_file_name = "ur5e_robotiq85_kinect.urdf.xacro"
urdf_folder = "/urdf"
urdf_xacro_args = None
namespace = "/ur5e"
robot_state_publisher_max_freq = None
new_robot_state_term = False
robot_model_name = "ur5e"
robot_ref_frame = "world"
robot_pos_x = 0.0
robot_pos_y = 0.0
self.base_z = float(rospy.get_param("/ur5e/base_z", 0.59))
robot_pos_z = self.base_z
robot_ori_w = 1.0
robot_ori_x = 0.0
robot_ori_y = 0.0
robot_ori_z = 0.0
self.safe_init_pos = np.array([0.0, -1.5707, 1.5707, -1.5707, -1.5707, 0.0],
dtype=np.float64)
controller_package_name = "ur5e_description_extras"
controllers_file = "ur5e_controller.yaml"
controllers_list = ["joint_state_controller", "arm_controller", "gripper_controller"]
ros_common.ros_load_yaml(
pkg_name=controller_package_name,
file_name=controllers_file,
ns="/" + namespace.lstrip("/"),
)
if load_cube:
gazebo_models.spawn_sdf_model_gazebo(
pkg_name="ur5e_description_extras", file_name="block.sdf",
model_folder="/models/block",
model_name="red_cube", namespace=namespace,
pos_x=0.40, pos_y=-0.20, pos_z=0.795,
)
reset_controllers = False
reset_mode = "world"
sim_step_mode = 1
num_gazebo_steps = 1
gazebo_max_update_rate = None
gazebo_timestep = None
if rospy.has_param('/ur5e/gazebo_update_rate_multiplier'):
gazebo_max_update_rate = rospy.get_param('/ur5e/gazebo_update_rate_multiplier')
if rospy.has_param('/ur5e/gazebo_time_step'):
gazebo_timestep = rospy.get_param('/ur5e/gazebo_time_step')
super().__init__(
spawn_robot=spawn_robot, urdf_pkg_name=urdf_pkg_name, urdf_file_name=urdf_file_name,
urdf_folder=urdf_folder, urdf_xacro_args=urdf_xacro_args, namespace=namespace,
robot_state_publisher_max_freq=robot_state_publisher_max_freq, new_robot_state_term=new_robot_state_term,
robot_model_name=robot_model_name, robot_ref_frame=robot_ref_frame,
robot_pos_x=robot_pos_x, robot_pos_y=robot_pos_y, robot_pos_z=robot_pos_z, robot_ori_w=robot_ori_w,
robot_ori_x=robot_ori_x, robot_ori_y=robot_ori_y, robot_ori_z=robot_ori_z,
controllers_file=None, controllers_list=controllers_list,
reset_controllers=reset_controllers, reset_mode=reset_mode, sim_step_mode=sim_step_mode,
num_gazebo_steps=num_gazebo_steps, gazebo_max_update_rate=gazebo_max_update_rate,
gazebo_timestep=gazebo_timestep, kill_rosmaster=True, kill_gazebo=True,
clean_logs=False, ros_port=ros_port, gazebo_port=gazebo_port, gazebo_pid=gazebo_pid, seed=seed,
unpause_pause_physics=unpause_pause_physics,
action_cycle_time=action_cycle_time if self.real_time else 0.0,
controller_package_name=controller_package_name)
self.joint_state_topic = (namespace + "/joint_states"
if namespace not in (None, '/') else "/joint_states")
self.joint_state_sub = rospy.Subscriber(self.joint_state_topic, JointState,
self.joint_state_callback)
self.joint_state = JointState()
self.joint_state_names = []
self.joint_pos_all = []
self.current_joint_velocities = []
self.current_joint_efforts = []
self.use_kinect = use_kinect
if self.use_kinect:
self.kinect_depth_sub = rospy.Subscriber("/head_mount_kinect2/depth/image_raw",
Image, self.kinect_depth_callback)
self.kinect_depth = Image()
self.cv_image_depth = None
self.kinect_rgb_sub = rospy.Subscriber("/head_mount_kinect2/rgb/image_raw",
Image, self.kinect_rgb_callback)
self.kinect_rgb = Image()
self.cv_image_rgb = None
self.arm_joint_names = [
"shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint",
"wrist_1_joint", "wrist_2_joint", "wrist_3_joint",
]
self.gripper_joint_names = ["robotiq_85_left_knuckle_joint"]
self.arm_controller_pub = rospy.Publisher('/ur5e/arm_controller/command',
JointTrajectory, queue_size=10)
self.gripper_controller_pub = rospy.Publisher('/ur5e/gripper_controller/command',
JointTrajectory, queue_size=10)
self._set_initial_model_configuration()
gazebo_core.unpause_gazebo()
self._spawn_ros_controllers(controllers_list, namespace)
self.move_arm_joints(self.safe_init_pos.astype(np.float32), time_from_start=0.1)
ros_common.ros_launch_launcher(pkg_name="ur5e_description_extras",
launch_file_name="ur5e_move_group.launch")
self._check_connection_and_readiness()
self.move_UR5E_object = MoveitMultiros(
arm_name='arm', gripper_name='gripper',
robot_description="ur5e/robot_description", ns="ur5e",
pause_gazebo=not self.real_time)
self.ee_link = "ee_link"
self.ref_frame = "base_link"
self.pykdl_robot = URDF.from_parameter_server(key='ur5e/robot_description')
self.kdl_kin = KDLKinematics(urdf=self.pykdl_robot,
base_link=self.ref_frame, end_link=self.ee_link)
self.ros_kin = ros_kinematics.Kinematics_pyrobot(
robot_description_parm="ur5e/robot_description",
base_link=self.ref_frame, end_link=self.ee_link)
self._safety_kin = {}
for _link in self.SAFETY_CHECK_LINKS:
try:
_kin = KDLKinematics(urdf=self.pykdl_robot,
base_link=self.ref_frame, end_link=_link)
self._safety_kin[_link] = (_kin, int(_kin.num_joints))
except Exception as _e:
rospy.logwarn(f"[SAFETY] kinematics setup failed for {_link}: {_e}")
if not self.real_time:
gazebo_core.pause_gazebo()
else:
gazebo_core.unpause_gazebo()
rospy.loginfo("End Init UR5eRobotGoalEnv")
# ---- helpers: same body as UR5eRobotEnv. Duplicated rather than
# multi-inherited to keep the GazeboGoalEnv MRO simple.
def _set_initial_model_configuration(self) -> bool:
"""Set Gazebo's UR5e joints to the folded safe pose immediately after spawn."""
try:
rospy.wait_for_service("/gazebo/set_model_configuration", timeout=10.0)
set_model_config = rospy.ServiceProxy("/gazebo/set_model_configuration",
SetModelConfiguration)
resp = set_model_config(
model_name="ur5e",
urdf_param_name="/ur5e/robot_description",
joint_names=self.arm_joint_names,
joint_positions=[float(v) for v in self.safe_init_pos],
)
except Exception as exc:
rospy.logwarn(f"Failed to set UR5e safe initial joint pose: {exc}")
return False
if not resp.success:
rospy.logwarn(f"UR5e safe initial joint pose rejected: {resp.status_message}")
return False
rospy.loginfo("UR5e safe initial joint pose applied.")
return True
def _spawn_ros_controllers(self, controllers_list, namespace: str) -> bool:
"""Start controllers after the safe pose is applied and Gazebo is unpaused."""
if ros_controllers.spawn_controllers(controllers_list, ns=namespace):
rospy.loginfo("UR5e controllers spawned successfully.")
return True
rospy.logerr("Failed to spawn UR5e controllers.")
return False
[docs]
def get_model_pose(self, model_name="red_cube", rpy=True):
if not self.real_time:
gazebo_core.unpause_gazebo()
header, pose, twist, success = gazebo_models.gazebo_get_model_state(
model_name=model_name, relative_entity_name="ur5e/base_link")
if not self.real_time:
gazebo_core.pause_gazebo()
if success:
if rpy:
orientation = np.array(euler_from_quaternion(
[pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w]), dtype=np.float32)
else:
orientation = np.array([pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w],
dtype=np.float32)
position = np.array([pose.position.x, pose.position.y, pose.position.z],
dtype=np.float32)
return success, position, orientation
return success, None, None
[docs]
def spawn_cube_in_gazebo(self, model_pos_x, model_pos_y):
done = gazebo_models.spawn_sdf_model_gazebo(
pkg_name="ur5e_description_extras", file_name="block.sdf",
model_folder="/models/block",
model_name="red_cube", namespace="/ur5e",
pos_x=model_pos_x, pos_y=model_pos_y, pos_z=0.795)
if self.real_time:
gazebo_core.unpause_gazebo()
return done
[docs]
def remove_cube_in_gazebo(self):
done = gazebo_models.remove_model_gazebo(model_name="red_cube")
if self.real_time:
gazebo_core.unpause_gazebo()
return done
[docs]
def fk_pykdl(self, action):
if action is None or len(action) == 0:
return None
pose = self.kdl_kin.forward(action)
return np.array([pose[0, 3], pose[1, 3], pose[2, 3]], dtype=np.float32)
[docs]
def calculate_fk(self, joint_positions, euler=True):
return self.ros_kin.calculate_fk(joint_positions, des_frame=self.ee_link, euler=euler)
SAFETY_CHECK_LINKS = (
"shoulder_link", "upper_arm_link", "forearm_link",
"wrist_1_link", "wrist_2_link", "wrist_3_link", "ee_link",
)
def _check_action_links_safe(self, joint_targets, current_joints=None):
"""See UR5eRobotEnv._check_action_links_safe for full rationale."""
strict = bool(getattr(self, "enable_strict_safety", False))
base_z = float(rospy.get_param("/ur5e/base_z", self.base_z))
floor_z = float(rospy.get_param("/ur5e/base_safety_z",
rospy.get_param("/ur5e/table_z", base_z)))
table_top_z = float(rospy.get_param("/ur5e/table_top_z", 0.775))
table_center_x = float(rospy.get_param("/ur5e/table_center_x", 0.7))
table_center_y = float(rospy.get_param("/ur5e/table_center_y", 0.0))
table_size_x = float(rospy.get_param("/ur5e/table_size_x", 0.913))
table_size_y = float(rospy.get_param("/ur5e/table_size_y", 0.913))
table_xy_margin = float(rospy.get_param("/ur5e/table_xy_margin", 0.03))
if strict:
margin = float(rospy.get_param("/ur5e/safety_z_margin_strict", 0.030))
max_delta = float(rospy.get_param("/ur5e/max_joint_delta_strict", 0.15))
else:
margin = float(rospy.get_param("/ur5e/safety_z_margin", 0.015))
max_delta = float(rospy.get_param("/ur5e/max_joint_delta", 0.5))
base_floor = floor_z + margin
table_floor = table_top_z + margin
table_x_min = table_center_x - (table_size_x / 2.0) - table_xy_margin
table_x_max = table_center_x + (table_size_x / 2.0) + table_xy_margin
table_y_min = table_center_y - (table_size_y / 2.0) - table_xy_margin
table_y_max = table_center_y + (table_size_y / 2.0) + table_xy_margin
q = np.asarray(joint_targets, dtype=np.float64)
if current_joints is not None:
cur = np.asarray(current_joints, dtype=np.float64)
if cur.shape == q.shape:
deltas = np.abs(q - cur)
if np.any(deltas > max_delta):
idx = int(np.argmax(deltas))
return False, f"joint[{idx}] delta {deltas[idx]:.3f} > {max_delta}"
for link, (kin, n) in self._safety_kin.items():
try:
pose = kin.forward(q[:n])
except Exception as e:
return False, f"FK failed for {link}: {e}"
x_world = float(pose[0, 3])
y_world = float(pose[1, 3])
z_world = float(pose[2, 3]) + base_z
if z_world < base_floor:
return False, f"{link} predicted z={z_world:.3f} < base_floor={base_floor:.3f}"
over_table_xy = table_x_min <= x_world <= table_x_max and table_y_min <= y_world <= table_y_max
if over_table_xy and z_world < table_floor:
return False, f"{link} predicted z={z_world:.3f} < table_floor={table_floor:.3f}"
return True, None
[docs]
def calculate_ik(self, target_pos, ee_ori=np.array([0.0, 0.0, 0.0, 1.0])):
target_pose = np.concatenate((target_pos, ee_ori))
ee_position = self.get_joint_angles()
return self.ros_kin.calculate_ik(target_pose=target_pose, tolerance=[1e-3] * 6,
init_joint_positions=ee_position)
[docs]
def joint_state_callback(self, joint_state):
if joint_state is not None:
self.joint_state = joint_state
self.joint_state_names = list(joint_state.name)
self.joint_pos_all = list(joint_state.position)
self.current_joint_velocities = list(joint_state.velocity)
self.current_joint_efforts = list(joint_state.effort)
[docs]
def move_arm_joints(self, q_positions: np.ndarray, time_from_start: float = 0.5) -> bool:
traj = JointTrajectory()
traj.joint_names = self.arm_joint_names
traj.points.append(JointTrajectoryPoint())
traj.points[0].positions = q_positions
traj.points[0].velocities = [0.0] * len(self.arm_joint_names)
traj.points[0].accelerations = [0.0] * len(self.arm_joint_names)
traj.points[0].time_from_start = rospy.Duration(time_from_start)
self.arm_controller_pub.publish(traj)
return True
[docs]
def move_gripper_joints(self, q_positions: np.ndarray, time_from_start: float = 0.5) -> bool:
traj = JointTrajectory()
traj.joint_names = self.gripper_joint_names
traj.points.append(JointTrajectoryPoint())
traj.points[0].positions = q_positions
traj.points[0].velocities = [0.0] * len(self.gripper_joint_names)
traj.points[0].accelerations = [0.0] * len(self.gripper_joint_names)
traj.points[0].time_from_start = rospy.Duration(time_from_start)
self.gripper_controller_pub.publish(traj)
return True
[docs]
def set_trajectory_joints(self, q_positions: np.ndarray) -> bool:
if self.real_time:
return self.move_UR5E_object.set_trajectory_joints(q_positions, async_move=True)
return self.move_UR5E_object.set_trajectory_joints(q_positions)
[docs]
def set_trajectory_ee(self, pos: np.ndarray) -> bool:
if self.real_time:
return self.move_UR5E_object.set_trajectory_ee(position=pos, async_move=True)
return self.move_UR5E_object.set_trajectory_ee(position=pos)
[docs]
def get_ee_pose(self):
return self.move_UR5E_object.get_robot_pose()
[docs]
def get_ee_rpy(self):
return self.move_UR5E_object.get_robot_rpy()
[docs]
def get_joint_angles(self):
return self.move_UR5E_object.get_joint_angles_robot_arm()
[docs]
def check_goal(self, goal):
return self.move_UR5E_object.check_goal(goal)
[docs]
def check_goal_reachable_joint_pos(self, joint_pos):
return self.move_UR5E_object.check_goal_joint_pos(joint_pos)
[docs]
def kinect_depth_callback(self, data):
self.kinect_depth = data
bridge = CvBridge()
self.cv_image_depth = bridge.imgmsg_to_cv2(data, desired_encoding="32FC1")
[docs]
def kinect_rgb_callback(self, img_msg):
self.kinect_rgb = img_msg
bridge = CvBridge()
cv_image_bgr = bridge.imgmsg_to_cv2(img_msg, desired_encoding="bgr8")
self.cv_image_rgb = cv2.cvtColor(cv_image_bgr, cv2.COLOR_BGR2RGB)
def _check_joint_states_ready(self):
gazebo_core.unpause_gazebo()
msg = rospy.wait_for_message(self.joint_state_topic, JointState, timeout=10.0)
self.joint_state_callback(msg)
rospy.logdebug(rostopic.get_topic_type(self.joint_state_topic, blocking=True))
return True
def _check_moveit_ready(self):
rospy.wait_for_service("/ur5e/move_group/trajectory_execution/set_parameters")
rospy.logdebug(rostopic.get_topic_type("/ur5e/planning_scene", blocking=True))
rospy.logdebug(rostopic.get_topic_type("/ur5e/move_group/status", blocking=True))
return True
def _check_ros_controllers_ready(self):
rospy.logdebug(rostopic.get_topic_type("/ur5e/arm_controller/state", blocking=True))
rospy.logdebug(rostopic.get_topic_type("/ur5e/gripper_controller/state", blocking=True))
return True
def _check_kinect_ready(self):
rospy.logdebug(rostopic.get_topic_type("/head_mount_kinect2/depth/points", blocking=True))
return True
def _check_connection_and_readiness(self):
self._check_moveit_ready()
self._check_joint_states_ready()
self._check_ros_controllers_ready()
if self.use_kinect:
self._check_kinect_ready()
rospy.loginfo("All system are ready!")
return True