def sample_from_continuous_space(self):
assert len(self.robot.GetGrabbed()) == 0
# sample pick
pick_cont_params = None
n_ik_attempts = 0
n_base_attempts = 0
status = "NoSolution"
robot_pose = utils.get_body_xytheta(self.robot)
robot_config = self.robot.GetDOFValues()
# sample pick parameters
pick_cont_params, status = self.sample_pick_cont_parameters()
if status != 'HasSolution':
utils.set_robot_config(robot_pose)
return None, None, status
self.pick_op.continuous_parameters = pick_cont_params
self.pick_op.execute()
# sample place
place_cont_params, status = self.sample_place_cont_parameters(pick_cont_params)
# reverting back to the state before sampling
utils.one_arm_place_object(pick_cont_params)
self.robot.SetDOFValues(robot_config)
utils.set_robot_config(robot_pose)
if status != 'HasSolution':
return None, None, "InfeasibleIK"
else:
self.place_op.continuous_parameters = place_cont_params
return pick_cont_params, place_cont_params, status
def is_collision_in_all_volumes(self, obj_being_moved):
for op_instance in self.op_instances:
#print "Checking place collisions"
assert len(self.problem_env.robot.GetGrabbed()) == 0
obj_touched_before = op_instance.discrete_parameters['object']
associated_pick = self.pick_used[op_instance]
if type(obj_touched_before) == str:
obj_touched_before = self.problem_env.env.GetKinBody(
obj_touched_before)
obj_touched_before.Enable(True)
pick_param = associated_pick.continuous_parameters
# utils.two_arm_pick_object(obj_touched_before, pick_param)
associated_pick.execute()
#print "Number of place swept volumes = ", len(self.op_instances)
if self.is_collision_in_single_volume(op_instance.low_level_motion,
obj_being_moved):
if op_instance.type.find('one_arm') != -1:
utils.one_arm_place_object(pick_param)
else:
utils.two_arm_place_object(pick_param)
return True
utils.two_arm_place_object(pick_param)
return False
def sample_from_continuous_space(self):
# sample pick
pick_cont_params = None
n_ik_attempts = 0
n_base_attempts = 0
status = "NoSolution"
robot_pose = utils.get_body_xytheta(self.robot)
robot_config = self.robot.GetDOFValues()
# sample pick parameters
while pick_cont_params is None:
pick_cont_params, status = self.sample_pick_cont_parameters()
if status == 'InfeasibleBase':
n_base_attempts += 1
elif status == 'InfeasibleIK':
n_ik_attempts += 1
elif status == 'HasSolution':
n_ik_attempts += 1
break
if n_ik_attempts == 1 or n_base_attempts == 4:
break
if status != 'HasSolution':
utils.set_robot_config(robot_pose)
return None, None, status
self.pick_op.continuous_parameters = pick_cont_params
self.pick_op.execute()
# sample place
n_ik_attempts = 0
n_base_attempts = 0
status = "NoSolution"
place_cont_params = None
while place_cont_params is None:
place_cont_params, status = self.sample_place_cont_parameters(pick_cont_params)
if status == 'InfeasibleBase':
n_base_attempts += 1
elif status == 'InfeasibleIK':
n_ik_attempts += 1
elif status == 'HasSolution':
n_ik_attempts += 1
break
if n_ik_attempts == 1 or n_base_attempts == 1:
break
# reverting back to the state before sampling
utils.one_arm_place_object(pick_cont_params)
self.robot.SetDOFValues(robot_config)
utils.set_robot_config(robot_pose)
if status != 'HasSolution':
return None, None, status
else:
self.place_op.continuous_parameters = place_cont_params
return pick_cont_params, place_cont_params, status
def apply_operator_instance_and_get_reward(self, state, operator_instance,
is_op_feasible):
if not is_op_feasible:
reward = self.infeasible_reward
else:
if operator_instance.type == 'two_arm_pick':
two_arm_pick_object(
operator_instance.discrete_parameters['object'],
self.robot, operator_instance.continuous_parameters)
reward = 0
elif operator_instance.type == 'two_arm_place':
object_held = self.robot.GetGrabbed()[0]
previous_region = self.problem_env.get_region_containing(
object_held)
two_arm_place_object(object_held, self.robot,
operator_instance.continuous_parameters)
current_region = self.problem_env.get_region_containing(
object_held)
if current_region.name == 'home_region' and previous_region != current_region:
task_reward = 1
elif current_region.name == 'loading_region' and previous_region.name == 'home_region':
task_reward = -1.5
else:
task_reward = 0 # placing it in the same region
reward = task_reward
elif operator_instance.type == 'one_arm_pick':
one_arm_pick_object(
operator_instance.discrete_parameters['object'],
operator_instance.continuous_parameters)
reward = 1
elif operator_instance.type == 'one_arm_place':
one_arm_place_object(
operator_instance.discrete_parameters['object'],
operator_instance.continuous_parameters)
else:
raise NotImplementedError
return reward
def execute(self):
env = openravepy.RaveGetEnvironments()[0]
if self.type == 'two_arm_pick':
obj_to_pick = utils.convert_to_kin_body(
self.discrete_parameters['object'])
if 'q_goal' in self.continuous_parameters and type(self.continuous_parameters['q_goal']) == list and\
len(self.continuous_parameters['q_goal']) > 1:
try:
two_arm_pick_object(
obj_to_pick,
{'q_goal': self.continuous_parameters['q_goal'][0]})
except:
import pdb
pdb.set_trace()
else:
two_arm_pick_object(obj_to_pick, self.continuous_parameters)
elif self.type == 'two_arm_place':
two_arm_place_object(self.continuous_parameters)
elif self.type == 'two_arm_pick_two_arm_place':
obj_to_pick = utils.convert_to_kin_body(
self.discrete_parameters['object'])
two_arm_pick_object(obj_to_pick,
self.continuous_parameters['pick'])
two_arm_place_object(self.continuous_parameters['place'])
elif self.type == 'one_arm_pick':
obj_to_pick = utils.convert_to_kin_body(
self.discrete_parameters['object'])
one_arm_pick_object(obj_to_pick, self.continuous_parameters)
elif self.type == 'one_arm_place':
one_arm_place_object(self.continuous_parameters)
elif self.type == 'one_arm_pick_one_arm_place':
obj_to_pick = utils.convert_to_kin_body(
self.discrete_parameters['object'])
one_arm_pick_object(obj_to_pick,
self.continuous_parameters['pick'])
one_arm_place_object(self.continuous_parameters['place'])
else:
raise NotImplementedError
def sample_cont_params(self):
# todo refactor this function
robot_pose = utils.get_body_xytheta(self.robot)
robot_config = self.robot.GetDOFValues()
assert len(self.robot.GetGrabbed()) == 0
if self.cached_picks is not None:
(pick_tf, pick_params), (place_tf, place_params) = random.choice(zip(*self.cached_picks))
pick_region = self.problem_env.get_region_containing(self.target_obj)
place_region = self.place_op.discrete_parameters['region']
pick_params = copy.deepcopy(pick_params)
place_params = copy.deepcopy(place_params)
#assert pick_params['operator_name'] == 'one_arm_pick'
#assert place_params['operator_name'] == 'one_arm_pick'
old_tf = self.target_obj.GetTransform()
old_pose = get_body_xytheta(self.target_obj).squeeze()
self.pick_op.continuous_parameters = place_params
self.target_obj.SetTransform(place_tf)
#self.pick_op.execute()
set_robot_config(self.pick_op.continuous_parameters['q_goal'][-3:])
place_pose = self.place_generator.sample_from_uniform()
place_base_pose = self.place_feasibility_checker.place_object_and_robot_at_new_pose(self.target_obj, place_pose, place_region)
if self.problem_env.env.CheckCollision(self.problem_env.robot) or self.problem_env.env.CheckCollision(self.target_obj):
self.target_obj.SetTransform(old_tf)
return None, None, 'InfeasibleIK'
def assert_region(region):
try:
assert self.problem_env.get_region_containing(self.target_obj).name == region.name
return True
except Exception as e:
print(e)
set_color(self.target_obj, [1,1,1])
import pdb
pdb.set_trace()
return False
if not place_region.contains(self.target_obj.ComputeAABB()):
self.target_obj.SetTransform(old_tf)
return None, None, 'InfeasibleIK'
#assert_region(place_region)
place_params['operator_name'] = 'one_arm_place'
place_params['object_pose'] = place_pose
place_params['action_parameters'] = place_pose
place_params['base_pose'] = place_base_pose
place_params['q_goal'][-3:] = place_base_pose
self.place_op.continuous_parameters = place_params
self.pick_op.continuous_parameters = pick_params # is reference and will be changed lader
self.target_obj.SetTransform(pick_tf)
#assert_region(pick_region)
#self.pick_op.execute()
set_robot_config(self.pick_op.continuous_parameters['q_goal'][-3:])
pick_base_pose = self.place_feasibility_checker.place_object_and_robot_at_new_pose(self.target_obj, old_pose, pick_region)
pick_params['q_goal'][-3:] = pick_base_pose
#assert_region(pick_region)
#self.target_obj.SetTransform(pick_tf)
#self.pick_op.execute()
#tf = np.dot(np.dot(old_tf, np.linalg.pinv(pick_tf)), self.problem_env.robot.GetTransform())
#self.place_op.execute()
#self.target_obj.SetTransform(old_tf)
#self.problem_env.robot.SetTransform(tf)
#pick_base_pose = get_body_xytheta(self.problem_env.robot).squeeze()
#pick_params['q_goal'][-3:] = pick_base_pose
bad = False
self.target_obj.SetTransform(old_tf)
self.pick_op.execute()
#assert_region(pick_region)
if self.problem_env.env.CheckCollision(self.problem_env.robot):
release_obj()
self.target_obj.SetTransform(old_tf)
return None, None, 'InfeasibleIK'
self.place_op.execute()
if self.problem_env.env.CheckCollision(self.problem_env.robot) or self.problem_env.env.CheckCollision(self.target_obj):
self.target_obj.SetTransform(old_tf)
return None, None, 'InfeasibleIK'
if not self.place_op.discrete_parameters['region'].contains(self.target_obj.ComputeAABB()):
self.target_obj.SetTransform(old_tf)
return None, None, 'InfeasibleIK'
#assert_region(place_region)
#place_action = {
# 'operator_name': 'one_arm_place',
# 'q_goal': np.hstack([grasp_config, new_base_pose]),
# 'base_pose': new_base_pose,
# 'object_pose': place_parameters,
# 'action_parameters': obj_pose,
# 'g_config': grasp_config,
# 'grasp_params': grasp_params,
#}
#pick_action = {
# 'operator_name': operator_skeleton.type,
# 'q_goal': np.hstack([grasp_config, pick_base_pose]),
# 'grasp_params': grasp_params,
# 'g_config': grasp_config,
# 'action_parameters': pick_parameters,
#}
self.target_obj.SetTransform(old_tf)
#assert pick_params['operator_name'] == 'one_arm_pick'
#assert place_params['operator_name'] == 'one_arm_place'
return pick_params, place_params, 'HasSolution'
# sample pick
pick_cont_params = None
n_ik_attempts = 0
n_base_attempts = 0
status = "NoSolution"
while pick_cont_params is None:
pick_cont_params, status = self.sample_pick_cont_parameters()
if status == 'InfeasibleBase':
n_base_attempts += 1
elif status == 'InfeasibleIK':
n_ik_attempts += 1
elif status == 'HasSolution':
n_ik_attempts += 1
break
if n_ik_attempts == 1 or n_base_attempts == 500:
break
if status != 'HasSolution':
utils.set_robot_config(robot_pose)
return None, None, status
self.pick_op.continuous_parameters = pick_cont_params
self.pick_op.execute()
# sample place
n_ik_attempts = 0
n_base_attempts = 0
status = "NoSolution"
place_cont_params = None
while place_cont_params is None:
place_cont_params, status = self.sample_place_cont_parameters(pick_cont_params)
if status == 'InfeasibleBase':
n_base_attempts += 1
elif status == 'InfeasibleIK':
n_ik_attempts += 1
elif status == 'HasSolution':
n_ik_attempts += 1
break
if n_ik_attempts == 1 or n_base_attempts == 500:
break
utils.one_arm_place_object(pick_cont_params)
self.robot.SetDOFValues(robot_config)
utils.set_robot_config(robot_pose)
if status != 'HasSolution':
return None, None, status
else:
self.place_op.continuous_parameters = place_cont_params
return pick_cont_params, place_cont_params, status
def generate_training_data_single():
np.random.seed(config.pidx)
random.seed(config.pidx)
if config.domain == 'two_arm_mover':
mover = Mover(config.pidx, config.problem_type)
elif config.domain == 'one_arm_mover':
mover = OneArmMover(config.pidx)
else:
raise NotImplementedError
np.random.seed(config.planner_seed)
random.seed(config.planner_seed)
mover.set_motion_planner(BaseMotionPlanner(mover, 'prm'))
mover.seed = config.pidx
# todo change the root node
mover.init_saver = DynamicEnvironmentStateSaver(mover.env)
hostname = socket.gethostname()
if hostname in {'dell-XPS-15-9560', 'phaedra', 'shakey', 'lab', 'glaucus', 'luke-laptop-1'}:
root_dir = './'
#root_dir = '/home/beomjoon/Dropbox (MIT)/cloud_results/'
else:
root_dir = '/data/public/rw/pass.port/tamp_q_results/'
solution_file_dir = root_dir + '/test_results/greedy_results_on_mover_domain/domain_%s/n_objs_pack_%d'\
% (config.domain, config.n_objs_pack)
if config.dont_use_gnn:
solution_file_dir += '/no_gnn/'
elif config.dont_use_h:
solution_file_dir += '/gnn_no_h/loss_' + str(config.loss) + '/num_train_' + str(config.num_train) + '/'
elif config.hcount:
solution_file_dir += '/hcount/'
elif config.hadd:
solution_file_dir += '/gnn_hadd/loss_' + str(config.loss) + '/num_train_' + str(config.num_train) + '/'
else:
solution_file_dir += '/gnn/loss_' + str(config.loss) + '/num_train_' + str(config.num_train) + '/'
solution_file_name = 'pidx_' + str(config.pidx) + \
'_planner_seed_' + str(config.planner_seed) + \
'_train_seed_' + str(config.train_seed) + \
'_domain_' + str(config.domain) + '.pkl'
if not os.path.isdir(solution_file_dir):
os.makedirs(solution_file_dir)
solution_file_name = solution_file_dir + solution_file_name
is_problem_solved_before = os.path.isfile(solution_file_name)
if is_problem_solved_before and not config.plan:
with open(solution_file_name, 'rb') as f:
trajectory = pickle.load(f)
success = trajectory.metrics['success']
tottime = trajectory.metrics['tottime']
else:
t = time.time()
trajectory, num_nodes = get_problem(mover)
tottime = time.time() - t
success = trajectory is not None
plan_length = len(trajectory.actions) if success else 0
if not success:
trajectory = Trajectory(mover.seed, mover.seed)
trajectory.states = [s.get_predicate_evaluations() for s in trajectory.states]
trajectory.state_prime = None
trajectory.metrics = {
'n_objs_pack': config.n_objs_pack,
'tottime': tottime,
'success': success,
'plan_length': plan_length,
'num_nodes': num_nodes,
}
#with open(solution_file_name, 'wb') as f:
# pickle.dump(trajectory, f)
print 'Time: %.2f Success: %d Plan length: %d Num nodes: %d' % (tottime, success, trajectory.metrics['plan_length'],
trajectory.metrics['num_nodes'])
import pdb;pdb.set_trace()
"""
print("time: {}".format(','.join(str(trajectory.metrics[m]) for m in [
'n_objs_pack',
'tottime',
'success',
'plan_length',
'num_nodes',
])))
"""
print('\n'.join(str(a.discrete_parameters.values()) for a in trajectory.actions))
def draw_robot_line(env, q1, q2):
return draw_line(env, list(q1)[:2] + [.5], list(q2)[:2] + [.5], color=(0,0,0,1), width=3.)
mover.reset_to_init_state_stripstream()
if not config.dontsimulate:
if config.visualize_sim:
mover.env.SetViewer('qtcoin')
set_viewer_options(mover.env)
raw_input('Start?')
handles = []
for step_idx, action in enumerate(trajectory.actions):
if action.type == 'two_arm_pick_two_arm_place':
def check_collisions(q=None):
if q is not None:
set_robot_config(q, mover.robot)
collision = False
if mover.env.CheckCollision(mover.robot):
collision = True
for obj in mover.objects:
if mover.env.CheckCollision(obj):
collision = True
if collision:
print('collision')
if config.visualize_sim:
raw_input('Continue after collision?')
check_collisions()
o = action.discrete_parameters['two_arm_place_object']
pick_params = action.continuous_parameters['pick']
place_params = action.continuous_parameters['place']
full_path = [get_body_xytheta(mover.robot)[0]] + pick_params['motion'] + [pick_params['q_goal']] + \
place_params['motion'] + [place_params['q_goal']]
for i, (q1, q2) in enumerate(zip(full_path[:-1], full_path[1:])):
if np.linalg.norm(np.squeeze(q1)[:2] - np.squeeze(q2)[:2]) > 1:
print(i, q1, q2)
import pdb;
pdb.set_trace()
pickq = pick_params['q_goal']
pickt = pick_params['motion']
check_collisions(pickq)
for q in pickt:
check_collisions(q)
obj = mover.env.GetKinBody(o)
if len(pickt) > 0:
for q1, q2 in zip(pickt[:-1], pickt[1:]):
handles.append(
draw_robot_line(mover.env, q1.squeeze(), q2.squeeze()))
# set_robot_config(pickq, mover.robot)
# if config.visualize_sim:
# raw_input('Continue?')
# set_obj_xytheta([1000,1000,0], obj)
two_arm_pick_object(obj, pick_params)
if config.visualize_sim:
raw_input('Place?')
o = action.discrete_parameters['two_arm_place_object']
r = action.discrete_parameters['two_arm_place_region']
placeq = place_params['q_goal']
placep = place_params['object_pose']
placet = place_params['motion']
check_collisions(placeq)
for q in placet:
check_collisions(q)
obj = mover.env.GetKinBody(o)
if len(placet) > 0:
for q1, q2 in zip(placet[:-1], placet[1:]):
handles.append(
draw_robot_line(mover.env, q1.squeeze(), q2.squeeze()))
# set_robot_config(placeq, mover.robot)
# if config.visualize_sim:
# raw_input('Continue?')
# set_obj_xytheta(placep, obj)
two_arm_place_object(place_params)
check_collisions()
if config.visualize_sim:
raw_input('Continue?')
elif action.type == 'one_arm_pick_one_arm_place':
def check_collisions(q=None):
if q is not None:
set_robot_config(q, mover.robot)
collision = False
if mover.env.CheckCollision(mover.robot):
collision = True
for obj in mover.objects:
if mover.env.CheckCollision(obj):
collision = True
if collision:
print('collision')
if config.visualize_sim:
raw_input('Continue after collision?')
check_collisions()
pick_params = action.continuous_parameters['pick']
place_params = action.continuous_parameters['place']
one_arm_pick_object(mover.env.GetKinBody(action.discrete_parameters['object']), pick_params)
check_collisions()
if config.visualize_sim:
raw_input('Place?')
one_arm_place_object(place_params)
check_collisions()
if config.visualize_sim:
raw_input('Continue?')
else:
raise NotImplementedError
n_objs_pack = config.n_objs_pack
if config.domain == 'two_arm_mover':
goal_region = 'home_region'
elif config.domain == 'one_arm_mover':
goal_region = 'rectangular_packing_box1_region'
else:
raise NotImplementedError
if all(mover.regions[goal_region].contains(o.ComputeAABB()) for o in
mover.objects[:n_objs_pack]):
print("successful plan length: {}".format(len(trajectory.actions)))
else:
print('failed to find plan')
if config.visualize_sim:
raw_input('Finish?')
return