def replace_rope(sim, new_rope, animation):
rope_sim_obj = None
for sim_obj in sim.sim_objs:
if isinstance(sim_obj, RopeSimulationObject):
rope_sim_obj = sim_obj
break
if rope_sim_obj:
sim.remove_objects([rope_sim_obj])
rope = RopeSimulationObject("rope", new_rope, sim_util.RopeParams())
sim.add_objects([rope])
sim.settle(step_viewer=animation)
def label_demos_parallel(args, transferer, lfd_env, sim):
outfile = h5py.File(args.eval.outfile, 'a')
rope_params = sim_util.RopeParams()
rope_params.radius = settings.ROPE_RADIUS_THICK
if args.eval.rope_param_radius is not None:
rope_params.radius = args.eval.rope_param_radius
if args.eval.rope_param_angStiffness is not None:
rope_params.angStiffness = args.eval.rope_param_angStiffness
# TODO pass in rope params to sample_rope_state
(init_rope_nodes, demo_id) = sample_rope_state(args.eval, sim,
args.animation)
resample = False
labeled_data = []
while True:
if args.animation:
sim.viewer.Step()
sim_state = sim.get_state()
sim.set_state(sim_state)
scene_state = lfd_env.observe_scene()
# plot cloud of the test scene
handles = []
if args.plotting:
handles.append(
sim.env.plot3(
scene_state.cloud[:, :3], 2,
scene_state.color if scene_state.color is not None else
(0, 0, 1)))
sim.viewer.Step()
costs = transferer.registration_factory.batch_cost(scene_state)
best_keys = sorted(costs, key=costs.get)
for seg_name in best_keys:
traj = transferer.transfer(GlobalVars.demos[seg_name],
scene_state,
plotting=args.plotting)
feasible, misgrasp = lfd_env.execute_augmented_trajectory(
traj, step_viewer=args.animation, interactive=args.interactive)
sim_util.reset_arms_to_side(sim)
sim.settle(step_viewer=args.animation)
if not feasible or misgrasp:
print 'Feasible: ', feasible
print 'Misgrasp: ', misgrasp
if misgrasp:
sim.set_state(sim_state)
continue
print "y accepts this action"
print "n rejects this action"
print "r resamples rope state"
print "f to save this as a failure"
print "C-c safely quits"
user_input = lower(raw_input("What to do?"))
success = False
if user_input == 'y':
success = True
labeled_data.append((scene_state, seg_name))
if isFig8Knot(get_rope_nodes(sim)):
save_success(outfile, labeled_data)
labeled_data = []
sim.set_state(sample_rope_state(args.eval, sim))
break
elif user_input == 'n':
sim.set_state(sim_state)
continue
elif user_input == 'r':
break
elif user_input == 'f':
sim.set_state(sim_state)
save_failure(outfile, lfd_env.observe_scene())
continue
if not success:
labeled_data = []
sim.set_state(sample_rope_state(args.eval, sim))
def eval_on_holdout(args, action_selection, reg_and_traj_transferer, lfd_env, sim):
"""TODO
Args:
action_selection: ActionSelection
reg_and_traj_transferer: RegistrationAndTrajectoryTransferer
lfd_env: LfdEnvironment
sim: DynamicSimulation
"""
holdoutfile = h5py.File(args.eval.holdoutfile, 'r')
holdout_items = eval_util.get_indexed_items(holdoutfile, task_list=args.tasks, task_file=args.taskfile, i_start=args.i_start, i_end=args.i_end)
rope_params = sim_util.RopeParams()
if args.eval.rope_param_radius is not None:
rope_params.radius = args.eval.rope_param_radius
if args.eval.rope_param_angStiffness is not None:
rope_params.angStiffness = args.eval.rope_param_angStiffness
num_successes = 0
num_total = 0
for i_task, demo_id_rope_nodes in holdout_items:
redprint("task %s" % i_task)
init_rope_nodes = demo_id_rope_nodes["rope_nodes"][:]
rope = RopeSimulationObject("rope", init_rope_nodes, rope_params)
sim.add_objects([rope])
sim.settle(step_viewer=args.animation)
for i_step in range(args.eval.num_steps):
redprint("task %s step %i" % (i_task, i_step))
sim_util.reset_arms_to_side(sim)
if args.animation:
sim.viewer.Step()
sim_state = sim.get_state()
sim.set_state(sim_state)
scene_state = lfd_env.observe_scene()
# plot cloud of the test scene
handles = []
if args.plotting:
handles.append(sim.env.plot3(scene_state.cloud[:,:3], 2, scene_state.color if scene_state.color is not None else (0,0,1)))
sim.viewer.Step()
eval_stats = eval_util.EvalStats()
start_time = time.time()
if len(scene_state.cloud) == 0:
redprint("Detected 0 points in scene")
break
try:
(agenda, q_values_root), goal_found = action_selection.plan_agenda(scene_state, i_step)
except ValueError: #e.g. if cloud is empty - any action is hopeless
redprint("**Raised Value Error during action selection")
break
eval_stats.action_elapsed_time += time.time() - start_time
eval_stats.generalized = True
num_actions_to_try = MAX_ACTIONS_TO_TRY if args.eval.search_until_feasible else 1
for i_choice in range(num_actions_to_try):
if q_values_root[i_choice] == -np.inf: # none of the demonstrations generalize
eval_stats.generalized = False
break
redprint("TRYING %s"%agenda[i_choice])
best_root_action = str(agenda[i_choice])
start_time = time.time()
try:
test_aug_traj = reg_and_traj_transferer.transfer(GlobalVars.demos[best_root_action], scene_state, plotting=args.plotting)
except ValueError: # If something is cloud/traj is empty or something
redprint("**Raised value error during traj transfer")
break
eval_stats.feasible, eval_stats.misgrasp = lfd_env.execute_augmented_trajectory(test_aug_traj, step_viewer=args.animation, interactive=args.interactive, check_feasible=args.eval.check_feasible)
eval_stats.exec_elapsed_time += time.time() - start_time
if not args.eval.check_feasible or eval_stats.feasible: # try next action if TrajOpt cannot find feasible action and we care about feasibility
break
else:
sim.set_state(sim_state)
knot = is_knot(rope.rope.GetControlPoints())
results = {'scene_state':scene_state, 'best_action':best_root_action, 'values':q_values_root, 'aug_traj':test_aug_traj, 'eval_stats':eval_stats, 'sim_state':sim_state, 'knot':knot, 'goal_found': goal_found}
eval_util.save_task_results_step(args.resultfile, i_task, i_step, results)
if not eval_stats.generalized:
assert not knot
break
if args.eval.check_feasible and not eval_stats.feasible:
# Skip to next knot tie if the action is infeasible -- since
# that means all future steps (up to 5) will have infeasible trajectories
assert not knot
break
if knot:
num_successes += 1
break;
sim.remove_objects([rope])
num_total += 1
redprint('Eval Successes / Total: ' + str(num_successes) + '/' + str(num_total))
redprint('Success Rate: ' + str(float(num_successes)/num_total))
helix_ang0 = 0
helix_ang1 = 4 * np.pi
helix_radius = .2
helix_center = np.r_[.6, 0]
helix_height0 = table_height + .15
helix_height1 = table_height + .15 + .3
helix_length = np.linalg.norm(np.r_[(helix_ang1 - helix_ang0) * helix_radius,
helix_height1 - helix_height0])
num = np.round(helix_length / .02)
helix_angs = np.linspace(helix_ang0, helix_ang1, num)
helix_heights = np.linspace(helix_height0, helix_height1, num)
init_rope_nodes = np.c_[helix_center +
helix_radius * np.c_[np.cos(helix_angs),
np.sin(helix_angs)],
helix_heights]
rope_params = sim_util.RopeParams()
cyl_radius = 0.025
cyl_height = 0.3
cyl_pos0 = np.r_[.6, helix_radius, table_height + .25]
cyl_pos1 = np.r_[.6, -helix_radius, table_height + .35]
sim_objs = []
sim_objs.append(
XmlSimulationObject("robots/pr2-beta-static.zae", dynamic=False))
sim_objs.append(
BoxSimulationObject("table", [1, 0, table_height - .1], [.85, .85, .1],
dynamic=False))
sim_objs.append(RopeSimulationObject("rope", init_rope_nodes, rope_params))
sim_objs.append(
CylinderSimulationObject("cyl0",
def setUp(self):
table_height = 0.77
helix_ang0 = 0
helix_ang1 = 4 * np.pi
helix_radius = .2
helix_center = np.r_[.6, 0]
helix_height0 = table_height + .15
helix_height1 = table_height + .15 + .3
helix_length = np.linalg.norm(
np.r_[(helix_ang1 - helix_ang0) * helix_radius,
helix_height1 - helix_height0])
num = np.round(helix_length / .02)
helix_angs = np.linspace(helix_ang0, helix_ang1, num)
helix_heights = np.linspace(helix_height0, helix_height1, num)
init_rope_nodes = np.c_[helix_center +
helix_radius * np.c_[np.cos(helix_angs),
np.sin(helix_angs)],
helix_heights]
rope_params = sim_util.RopeParams()
cyl_radius = 0.025
cyl_height = 0.3
cyl_pos0 = np.r_[.6, helix_radius, table_height + .25]
cyl_pos1 = np.r_[.6, -helix_radius, table_height + .35]
sim_objs = []
sim_objs.append(
XmlSimulationObject("robots/pr2-beta-static.zae", dynamic=False))
sim_objs.append(
BoxSimulationObject("table", [1, 0, table_height - .1],
[.85, .85, .1],
dynamic=False))
sim_objs.append(
RopeSimulationObject("rope", init_rope_nodes, rope_params))
sim_objs.append(
CylinderSimulationObject("cyl0",
cyl_pos0,
cyl_radius,
cyl_height,
dynamic=True))
sim_objs.append(
CylinderSimulationObject("cyl1",
cyl_pos1,
cyl_radius,
cyl_height,
dynamic=True))
self.sim = DynamicSimulation()
self.sim.add_objects(sim_objs)
self.sim.robot.SetDOFValues(
[0.25],
[self.sim.robot.GetJoint('torso_lift_joint').GetJointIndex()])
sim_util.reset_arms_to_side(self.sim)
# rotate cylinders by 90 deg
for i in range(2):
bt_cyl = self.sim.bt_env.GetObjectByName('cyl%d' % i)
T = openravepy.matrixFromAxisAngle(np.array([np.pi / 2, 0, 0]))
T[:3, 3] = bt_cyl.GetTransform()[:3, 3]
bt_cyl.SetTransform(
T
) # SetTransform needs to be used in the Bullet object, not the openrave body
self.sim.update()