def reset(self):
self.pick_point = bullet.get_object_position(
self.env.blocking_object)[0]
self.pick_point[2] = self.pick_point_z
self.drop_point = bullet.get_object_position(self.env.tray_id)[0]
self.drop_point[2] = -0.2
if self.suboptimal and np.random.uniform() > 0.5:
self.drop_point[0] += np.random.uniform(-0.2, 0.0)
self.drop_point[1] += np.random.uniform(0.0, 0.2)
self.place_attempted = False
self.neutral_taken = False
self.drawer_policy.reset()
def get_action(self):
ee_pos, _ = bullet.get_link_state(
self.env.robot_id, self.env.end_effector_index)
object_pos, _ = bullet.get_object_position(
self.env.objects[self.object_to_target])
object_lifted = object_pos[2] > self.pick_height_thresh_noisy
gripper_droppoint_dist = np.linalg.norm(self.drop_point - ee_pos)
done = False
if gripper_droppoint_dist > 0.02:
# lifted, now need to move towards the container
action_xyz = (self.drop_point - ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [0]
else:
# already moved above the container; drop object
action_xyz = (0., 0., 0.)
action_angles = [0., 0., 0.]
action_gripper = [0.7]
self.place_attempted = True
agent_info = dict(place_attempted=self.place_attempted, done=done)
neutral_action = [0.]
action = np.concatenate(
(action_xyz, action_angles, action_gripper, neutral_action))
return action, agent_info
def get_action(self):
ee_pos, _ = bullet.get_link_state(self.env.robot_id,
self.env.end_effector_index)
object_pos, _ = bullet.get_object_position(self.env.blocking_object)
object_lifted = object_pos[2] > self.pick_height_thresh_noisy
gripper_pickpoint_dist = np.linalg.norm(self.pick_point - ee_pos)
gripper_droppoint_dist = np.linalg.norm(self.drop_point - ee_pos)
done = False
neutral_action = [0.]
if self.place_attempted:
# Return to neutral, then open the drawer.
if self.neutral_taken:
action, info = self.drawer_policy.get_action()
action_xyz = action[:3]
action_angles = action[3:6]
action_gripper = [action[6]]
neutral_action = [action[7]]
done = info['done']
else:
action_xyz = [0., 0., 0.]
action_angles = [0., 0., 0.]
action_gripper = [0.0]
neutral_action = [0.7]
self.neutral_taken = True
elif gripper_pickpoint_dist > 0.02 and self.env.is_gripper_open:
# move near the object
action_xyz = (self.pick_point - ee_pos) * self.xyz_action_scale
xy_diff = np.linalg.norm(action_xyz[:2] / self.xyz_action_scale)
if xy_diff > 0.03:
action_xyz[2] = 0.0
action_angles = [0., 0., 0.]
action_gripper = [0.0]
elif self.env.is_gripper_open:
# near the object enough, performs grasping action
action_xyz = (self.pick_point - ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [-0.7]
elif not object_lifted:
# lifting objects above the height threshold for picking
action_xyz = (self.env.ee_pos_init -
ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [0.]
elif gripper_droppoint_dist > 0.02:
# lifted, now need to move towards the container
action_xyz = (self.drop_point - ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [0.]
else:
# already moved above the container; drop object
action_xyz = [0., 0., 0.]
action_angles = [0., 0., 0.]
action_gripper = [0.7]
self.place_attempted = True
agent_info = dict(place_attempted=self.place_attempted, done=done)
action = np.concatenate(
(action_xyz, action_angles, action_gripper, neutral_action))
return action, agent_info
def get_action(self):
ee_pos, _ = bullet.get_link_state(self.env.robot_id,
self.env.end_effector_index)
object_pos, _ = bullet.get_object_position(
self.env.objects[self.object_to_target])
object_lifted = object_pos[2] > self.pick_height_thresh_noisy
object_gripper_dist = np.linalg.norm(object_pos - ee_pos)
container_pos = self.env.container_position
target_pos = np.append(container_pos[:2], container_pos[2] + 0.15)
target_pos = target_pos + np.random.normal(scale=0.01)
gripper_target_dist = np.linalg.norm(target_pos - ee_pos)
gripper_target_threshold = 0.03
done = False
if self.place_attempted:
# Avoid pick and place the object again after one attempt
action_xyz = [0., 0., 0.]
action_angles = [0., 0., 0.]
action_gripper = [0.]
elif object_gripper_dist > self.dist_thresh and self.env.is_gripper_open:
# move near the object
action_xyz = (object_pos - ee_pos) * self.xyz_action_scale
xy_diff = np.linalg.norm(action_xyz[:2] / self.xyz_action_scale)
if xy_diff > 0.03:
action_xyz[2] = 0.0
action_angles = [0., 0., 0.]
action_gripper = [0.0]
elif self.env.is_gripper_open:
# near the object enough, performs grasping action
action_xyz = (object_pos - ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [-0.7]
elif not object_lifted:
# lifting objects above the height threshold for picking
action_xyz = (self.env.ee_pos_init -
ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [0.]
elif gripper_target_dist > gripper_target_threshold:
# lifted, now need to move towards the container
action_xyz = (target_pos - ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [0.]
else:
# already moved above the container; drop object
action_xyz = (0., 0., 0.)
action_angles = [0., 0., 0.]
action_gripper = [0.7]
self.place_attempted = True
agent_info = dict(place_attempted=self.place_attempted, done=done)
action = np.concatenate((action_xyz, action_angles, action_gripper))
return action, agent_info
def reset(self):
# self.dist_thresh = 0.06 + np.random.normal(scale=0.01)
self.object_to_target = self.env.object_names[np.random.randint(
self.env.num_objects)]
self.pick_point = bullet.get_object_position(
self.env.objects[self.object_to_target])[0]
if self.object_to_target in GRASP_OFFSETS.keys():
self.pick_point += np.asarray(GRASP_OFFSETS[self.object_to_target])
self.pick_point += np.random.normal(scale=self.pick_point_noise,
size=(3, ))
self.pick_point[2] = self.pick_point_z + np.random.normal(scale=0.01)
def reset(self):
# self.dist_thresh = 0.06 + np.random.normal(scale=0.01)
self.object_to_target = self.env.object_names[np.random.randint(
self.env.num_objects)]
self.pick_point = bullet.get_object_position(
self.env.objects[self.object_to_target])[0]
if self.object_to_target in GRASP_OFFSETS.keys():
self.pick_point += np.asarray(GRASP_OFFSETS[self.object_to_target])
self.pick_point[2] = -0.32
self.drop_point = self.env.container_position
self.drop_point[2] = -0.2
self.place_attempted = False
def reset(self):
# self.dist_thresh = 0.06 + np.random.normal(scale=0.01)
self.object_to_target = self.env.object_names[np.random.randint(
self.env.num_objects)]
if self.suboptimal and np.random.uniform() > 0.5:
self.pick_point = np.random.uniform(self.env.object_position_low,
self.env.object_position_high)
else:
self.pick_point = bullet.get_object_position(
self.env.objects[self.object_to_target])[0]
if self.object_to_target in GRASP_OFFSETS.keys():
self.pick_point += np.asarray(GRASP_OFFSETS[self.object_to_target])
self.pick_point += np.random.normal(scale=self.pick_point_noise,
size=(3, ))
self.pick_point[2] = -0.32 + np.random.normal(scale=0.01)
def reset(self):
# self.dist_thresh = 0.06 + np.random.normal(scale=0.01)
self.drawer_never_opened = True
offset_coeff = (-1)**(1 - self.env.left_opening)
self.handle_offset = np.array([offset_coeff * 0.01, 0.0, -0.01])
self.object_to_target = self.env.object_names[np.random.randint(
self.env.num_objects)]
print(self.env.num_objects)
print(self.object_to_target)
self.pick_point = bullet.get_object_position(
self.env.objects[self.object_to_target])[0]
if self.object_to_target in GRASP_OFFSETS.keys():
self.pick_point += np.asarray(GRASP_OFFSETS[self.object_to_target])
self.pick_point += np.random.normal(scale=self.pick_point_noise,
size=(3, ))
self.pick_point[2] = self.pick_point_z + np.random.normal(scale=0.01)
self.t_upward = 4
self.reached_grasp = False
def get_observation(self):
gripper_state = self.get_gripper_state()
gripper_binary_state = [float(self.is_gripper_open)]
ee_pos, ee_quat = bullet.get_link_state(
self.robot_id, self.end_effector_index)
object_position, object_orientation = bullet.get_object_position(
self.objects[self.target_object])
if self.observation_mode == 'pixels':
image_observation = self.render_obs()
image_observation = np.float32(image_observation.flatten()) / 255.0
observation = {
'object_position': object_position,
'object_orientation': object_orientation,
'state': np.concatenate(
(ee_pos, ee_quat, gripper_state, gripper_binary_state)),
'image': image_observation
}
else:
raise NotImplementedError
return observation
def get_action(self):
ee_pos, _ = bullet.get_link_state(self.env.robot_id,
self.env.end_effector_index)
object_pos, _ = bullet.get_object_position(
self.env.objects[self.object_to_target])
object_lifted = object_pos[2] > self.pick_height_thresh
gripper_pickpoint_dist = np.linalg.norm(self.pick_point - ee_pos)
done = False
neutral_action = [0.]
if gripper_pickpoint_dist > 0.02 and self.env.is_gripper_open:
# move near the object
action_xyz = (self.pick_point - ee_pos) * self.xyz_action_scale
xy_diff = np.linalg.norm(action_xyz[:2] / self.xyz_action_scale)
if xy_diff > 0.03:
action_xyz[2] = 0.0
action_angles = [0., 0., 0.]
action_gripper = [0.]
elif self.env.is_gripper_open:
# near the object enough, performs grasping action
action_xyz = (self.pick_point - ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [-0.7]
elif not object_lifted:
# lifting objects above the height threshold for picking
action_xyz = (self.env.ee_pos_init -
ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [0.]
neutral_action = [0.7]
else:
# Hold
action_xyz = (0., 0., 0.)
action_angles = [0., 0., 0.]
action_gripper = [0.]
agent_info = dict(done=done)
action = np.concatenate(
(action_xyz, action_angles, action_gripper, neutral_action))
return action, agent_info
def get_action(self):
ee_pos, _ = bullet.get_link_state(self.env.robot_id,
self.env.end_effector_index)
handle_pos = self.env.get_drawer_handle_pos() + self.handle_offset
gripper_handle_dist = np.linalg.norm(handle_pos - ee_pos)
gripper_handle_xy_dist = np.linalg.norm(handle_pos[:2] - ee_pos[:2])
object_pos, _ = bullet.get_object_position(
self.env.objects[self.object_to_target])
object_lifted = object_pos[2] > self.pick_height_thresh
gripper_pickpoint_dist = np.linalg.norm(self.pick_point - ee_pos)
done = False
if (gripper_handle_xy_dist > self.gripper_xy_dist_thresh
and not self.env.is_drawer_open()) and not self.reached_grasp:
print('xy - approaching handle')
action_xyz = (handle_pos - ee_pos) * 7.0
action_xyz = list(action_xyz[:2]) + [0.] # don't droop down.
action_angles = [0., 0., 0.]
action_gripper = [0.0]
elif (gripper_handle_dist > self.gripper_dist_thresh
and not self.env.is_drawer_open()) and not self.reached_grasp:
# moving down toward handle
action_xyz = (handle_pos - ee_pos) * 7.0
action_angles = [0., 0., 0.]
action_gripper = [0.0]
elif not self.env.is_drawer_open() and not self.reached_grasp:
print("opening drawer")
x_command = (-1)**(1 - self.env.left_opening)
action_xyz = np.array([x_command, 0, 0])
# action = np.asarray([0., 0., 0.7])
action_angles = [0., 0., 0.]
action_gripper = [0.0]
elif (np.abs(ee_pos[2] - self.ending_height_thresh) >
self.gripper_dist_thresh) and self.t_upward >= 0:
# print("Lift upward")
self.drawer_never_opened = False
action_xyz = np.array([0, 0, 0.7]) # force upward action
action_angles = [0., 0., 0.]
action_gripper = [0.0]
self.t_upward -= 1
else:
self.reached_grasp = True
if gripper_pickpoint_dist > 0.02 and self.env.is_gripper_open:
# move near the object
print('move to object')
print(self.pick_point)
action_xyz = (self.pick_point - ee_pos) * self.xyz_action_scale
xy_diff = np.linalg.norm(action_xyz[:2] /
self.xyz_action_scale)
if xy_diff > 0.03:
action_xyz[2] = 0.0
action_angles = [0., 0., 0.]
action_gripper = [0.]
elif self.env.is_gripper_open:
# near the object enough, performs grasping action
print('grasp')
action_xyz = (self.pick_point - ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [-0.7]
elif not object_lifted:
# lifting objects above the height threshold for picking
action_xyz = (self.env.ee_pos_init -
ee_pos) * self.xyz_action_scale
action_angles = [0., 0., 0.]
action_gripper = [0.]
else:
# Hold
action_xyz = (0., 0., 0.)
action_angles = [0., 0., 0.]
action_gripper = [0.]
agent_info = dict(done=done)
action = np.concatenate((action_xyz, action_angles, action_gripper))
return action, agent_info