How to use child_check method in pandera

Best Python code snippet using pandera_python

gym_test_joint.py

Source:gym_test_joint.py

1#!/usr/bin/env python2import random3import math4import gym5from gym import spaces6from gym.utils import seeding7import numpy as np8import time9import pybullet as p10import random11import pybullet_data12from modelInfo_util import ModelInfo13from pkg_resources import parse_version14import os, inspect15currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))16# print ("current_dir=" + currentdir)17os.sys.path.insert(0,currentdir)18from mamad_util import JointInfo19modelInfo = ModelInfo(path="./model_info.yml")20p.connect(p.GUI)21finger = p.loadSDF("./model.sdf")22fingerID = finger[0]23p.resetBasePositionAndOrientation(fingerID,[0.00000,0.200000,0.65000],[0.000000,0.000000,0.000000,1.000000])24jointInfo = JointInfo()25jointInfo.get_infoForAll_joints(finger)26active_joints_info  = jointInfo.getActiveJointsInfo()27num_active_joints = jointInfo.getNumberOfActiveJoints()28xpos = 0.0529ypos = 0.0430zpos = 131ang = 3.14*0.532orn = p.getQuaternionFromEuler([0,0,ang])33table = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"table/table.urdf"), 0.5000000,0.60000,0.0000,0.000000,0.000000,0.0,1.0)34texUid = p.loadTexture("./cube_new/aaa.png")35cube_objects = p.loadSDF("./cube_new/model.sdf")36cubeId = cube_objects[0]37p.changeVisualShape(cube_objects[0], -1,rgbaColor =[1,1,1,1])38p.changeVisualShape(cube_objects[0], -1, textureUniqueId = texUid)39p.resetBasePositionAndOrientation(cube_objects[0],(0.5000000,0.60000,0.6700),(0.717,0.0,0.0,0.717))40# print("active_joints_info::",active_joints_info)41# print("finger::",finger)42num_joints = p.getNumJoints(fingerID)43# print("`num of joints:::",num_joints)44blockUid = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"block.urdf"), xpos,ypos,zpos,orn[0],orn[1],orn[2],orn[3])45p.loadURDF(os.path.join(pybullet_data.getDataPath(),"plane.urdf"),[0,0,0])46for i in range(num_joints-1):47	j_info = p.getJointInfo(fingerID,i)48	# print("joint_info::",j_info)49p.setTimeStep(1.0/1000.0)50p.setRealTimeSimulation(0)51link_name ="lbr_iiwa_link_7"52link_name_encoded = link_name.encode(encoding='UTF-8',errors='strict')53kuka_ee_link_jointInfo = jointInfo.searchBy(key="linkName",value =link_name_encoded )[0]54#print(kuka_ee_link_jointInfo)55kuka_ee_link_Index = 6#kuka_ee_link_jointInfo["jointIndex"]56# print("kuka_ee_link_Index",kuka_ee_link_Index)57blockPos,blockOrn = p.getBasePositionAndOrientation(blockUid)58#print(blockPos,blockOrn)59new_pos = [xpos,ypos,zpos]60new_orn = [orn[0],orn[1],orn[2],orn[3]]61#print("test1",new_pos)62#print("test2",new_orn)63jointPoses  = p.calculateInverseKinematics(fingerID,kuka_ee_link_Index,new_pos,orn)64joint_state =[]65hand_links = modelInfo.get_hand_links()66hand_links_info = []67for link_name in hand_links:68	link_info = modelInfo.searchBy(key="link",value=link_name)69	hand_links_info.append(link_info)70hand_links_info_with_active_joints = []71for i in hand_links_info:72	if i["joint"]["j_type"] != "fixed":73		hand_links_info_with_active_joints.append(i)74#print("test2::::::",hand_links_info_with_active_joints)75hand_indexOf_active_joints =[]76for Link in hand_links_info_with_active_joints:77    link = jointInfo.searchBy("linkName",Link["link_name"])[0]78    hand_indexOf_active_joints.append(link["jointIndex"])79#print("test3::::::",hand_indexOf_active_joints)80#print(hand_links_info_with_active_joints)81for i in hand_indexOf_active_joints:82	joint_pos = p.getJointState(fingerID,i)[0]83	# print("test2::",p.getJointState(fingerID,i))84	joint_state.append(joint_pos)85#new_jointPoses = jointPoses +joint_state86# print("test::",joint_state)87# print("jointPoses::",jointPoses)	88# print("len(jointPoses)::",len(jointPoses))89# print("num_active_joints::",num_active_joints)90jointPoses_joint_name = []91for i in range(num_active_joints):92	jointPoses_joint_name.append(active_joints_info[i]["jointName"])93"""94['J0', 'J1', 'J2', 'J3', 'J4', 'J5', 'J6',95 'lh_FFJ4', 'lh_FFJ3', 'lh_FFJ2', 'lh_FFJ1',96 'lh_MFJ4', 'lh_MFJ3', 'lh_MFJ2', 'lh_MFJ1',97 'lh_RFJ4', 'lh_RFJ3', 'lh_RFJ2', 'lh_RFJ1', 98 'lh_THJ5', 'lh_THJ4', 'lh_THJ2', 'lh_THJ1']99lh_FFJ3 ll:0.0  ul:1.5708100lh_MFJ3 ll:0.0  ul:1.5708101lh_RFJ3 ll:0.0  ul:1.5708102lh_FFJ4 ll:-0.349066  ul:0.349066103lh_MFJ4 ll:-0.349066  ul:0.349066104lh_RFJ4 ll:-0.349066  ul:0.349066105"""106jointPoses = (2.0, 1.0232196872785049, 0.15139632616115659, 2.640651350178653, -1.4544423913682578, 2.8769639265642334, 0.0,107 			 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)108jointPoses = list(jointPoses)		  109#cuzing collsion between fingers			  110# changing lh_FFJ3111jointPoses[8] = jointPoses[8]112# changing lh_MFJ4 index = 13113jointPoses[11] = jointPoses[12]+0.3114# changing lh_RFJ3 index=17115jointPoses[16] = jointPoses[16]116contact_set = []117child_check = []118while(1):119	for i in range(num_active_joints):120		jointIndex = active_joints_info[i]["jointIndex"]121		jointll = active_joints_info[i]["jointLowerLimit"]122		jointul = active_joints_info[i]["jointUpperLimit"]123		jointState = p.getJointState(fingerID,jointIndex)[0]124		#print("jointName::",active_joints_info[i]["jointName"])125		#print("jointIndex::",jointIndex)126		# print("jointll::",jointll)127		# print("jointul::",jointul)128		#print("jointState::",jointState)129		#print(joint)130		# print("test:::",jointState)131		motor_command = (0.5,0.5,0.5)132		#print(motor_command)133	 	p.setJointMotorControl2(fingerID,7,p.POSITION_CONTROL,motor_command, targetVelocity=0,force=200.0, maxVelocity=0.35,positionGain=0.3,velocityGain=1)134	135	136	index_of_actvie_joints = [active_joints_info[i]["jointIndex"] for i in range(num_active_joints)]137	#print("index_of_actvie_joints",index_of_actvie_joints)138	for index_1 in index_of_actvie_joints:139		for index_2 in index_of_actvie_joints:140			if index_1 == index_2:141				continue142				143			contact=p.getClosestPoints(fingerID,fingerID,0.0,index_1,index_2)144			#print(contact)145			# contact=p.getClosestPoints(fingerID,fingerID,0.0)146			if len(contact) !=0:147				# print("contact",contact)148				# print("\n")149				# print("contact[0][3]",contact[0][3])150				link_one_name = jointInfo.searchBy("jointIndex",contact[0][3])[0]["linkName"]151				link_two_name = jointInfo.searchBy("jointIndex",contact[0][4])[0]["linkName"]152				#print("link_one_name dododod",jointInfo.searchBy("jointIndex",contact[0][3])[0])153				# print("link_one_name",link_one_name)154				contact_set.append([contact[0][3],contact[0][4]])155				#child_check.append([contact[0][3],contact[0][4]])156	#print("contact_set::",contact_set)157	#new_contact = []158	#new_contact = list(set(contact_set))159	#print(new_contact)160	#print("::",len(contact_set))161	new_contact = []162	for i in contact_set:163		#set1 = contact_set[i][0]164		#set2 = contact_set[i][1]165		#for i in len(contact_set):166			#if (not contact[i][0] in set1) and (not contact[i][1] in set2):167				#new_contact = 168		if not i in new_contact:169			new_contact.append(i)170	#print("new_contact::",new_contact)171	parent_set = []172	#print(len(new_contact))173	for i in range(len(new_contact)):174		#print(new_contact[i][0])175		if new_contact[i][0] - new_contact[i][1] == 1:176			parent_set.append(new_contact[i])177	#print(parent_set)178	child_set = []179	for i in range(len(new_contact)):180		if new_contact[i][1] - new_contact[i][0] == 1:181			child_set.append(new_contact[i])182	#print(child_set)183	parent_check = []184	for i in new_contact:185		for j in parent_set:186			if i == j:187				break188		else:189			parent_check.append(i)190	#print(parent_check)191	child_check = []192	for i in parent_check:193		for j in child_set:194			if i == j:195				break196		else:197			child_check.append(i)198	check_flip=[]199	for i in range(len(child_check)):200		index_1=child_check[i][0]201		index_2=child_check[i][1]202		for j in range(i,len(child_check)):203			if i == j:204				continue205			if index_1 == child_check[j][1] and index_2 ==  child_check[j][0]:206				check_flip.append(j)207	new_check=[]208	sort=np.argsort(check_flip)209	for i in range(len(check_flip)):210		new_check.append(check_flip[sort[i]])211	for i in range(len(check_flip)):212		del child_check[new_check[i]-i]213	#print(child_check)214	collision_result = []215	for i in range (len(child_check)):216		index_collision_set_1=child_check[i][0]217		index_collision_set_2=child_check[i][1]218		for j in range(num_active_joints):219			if index_collision_set_1 == active_joints_info[j]["jointIndex"]:220				index_collision_set_1_result = j221			if index_collision_set_2 == active_joints_info[j]["jointIndex"]:222				index_collision_set_2_result = j	223		collision_result.append([active_joints_info[index_collision_set_1_result]["linkName"],\224		active_joints_info[index_collision_set_2_result]["linkName"]])225	print("right hand self coliision -------",child_check)226	print("right hand self coliision -------",collision_result)227	print("\n")228p.stepSimulation()229	# print("jointPoses_joint_name",jointPoses_joint_name)230	# print("joint values form ik",jointPoses)231	# print("len(joint values form ik)",len(jointPoses))232	# print("getPhysicsEngineParameters",p.getPhysicsEngineParameters())233'''234	#print("contact_set::",contact_set)235	#new_contact = []236	#new_contact = list(set(contact_set))237	#print(new_contact)238	#print("::",len(contact_set))239	new_contact = []240	for i in contact_set:241		#set1 = contact_set[i][0]242		#set2 = contact_set[i][1]243		#for i in len(contact_set):244			#if (not contact[i][0] in set1) and (not contact[i][1] in set2):245				#new_contact = 246		if not i in new_contact:247			new_contact.append(i)248	#print("new_contact::",new_contact)249	parent_set = []250	#print(len(new_contact))251	for i in range(len(new_contact)):252		#print(new_contact[i][0])253		if new_contact[i][0] - new_contact[i][1] == 1:254			parent_set.append(new_contact[i])255	#print(parent_set)256	child_set = []257	for i in range(len(new_contact)):258		if new_contact[i][1] - new_contact[i][0] == 1:259			child_set.append(new_contact[i])260	#print(child_set)...

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