def main(args):
cfg_file = os.path.join(args.example_config_path, args.primitive) + ".yaml"
cfg = get_cfg_defaults()
cfg.merge_from_file(cfg_file)
cfg.freeze()
rospy.init_node('MacroActions')
signal.signal(signal.SIGINT, signal_handler)
data = {}
data['saved_data'] = []
data['metadata'] = {}
# parent1, child1 = Pipe()
# parent2, child2 = Pipe()
# work_queue = Queue()
# result_queue = Queue()
# p1 = Process(target=worker_yumi, args=(child1, work_queue, result_queue, cfg, args))
# p2 = Process(target=worker_yumi, args=(child2, work_queue, result_queue, cfg, args))
# p1.start()
# p2.start()
# parent1.send("RESET")
# parent2.send("RESET")
# print("started workers")
# time.sleep(15.0)
# embed()
# # setup yumi
# data_seed = 1
data_seed = args.np_seed
np.random.seed(data_seed)
yumi_ar = Robot('yumi_palms',
pb=True,
pb_cfg={'gui': args.visualize},
arm_cfg={'self_collision': False,
'seed': data_seed})
r_gel_id = cfg.RIGHT_GEL_ID
l_gel_id = cfg.LEFT_GEL_ID
alpha = cfg.ALPHA
K = cfg.GEL_CONTACT_STIFFNESS
restitution = cfg.GEL_RESTITUION
p.changeDynamics(
yumi_ar.arm.robot_id,
r_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha*K,
rollingFriction=args.rolling
)
p.changeDynamics(
yumi_ar.arm.robot_id,
l_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha*K,
rollingFriction=args.rolling
)
dynamics_info = {}
dynamics_info['contactDamping'] = alpha*K
dynamics_info['contactStiffness'] = K
dynamics_info['rollingFriction'] = args.rolling
dynamics_info['restitution'] = restitution
yumi_gs = YumiCamsGS(
yumi_ar,
cfg,
exec_thread=False,
sim_step_repeat=args.step_repeat)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
if args.object:
obj_id = yumi_ar.pb_client.load_urdf(
args.config_package_path +
'descriptions/urdf/'+args.object_name+'.urdf',
cfg.OBJECT_POSE_3[0:3],
cfg.OBJECT_POSE_3[3:]
)
goal_obj_id = yumi_ar.pb_client.load_urdf(
args.config_package_path +
'descriptions/urdf/'+args.object_name+'_trans.urdf',
cfg.OBJECT_POSE_3[0:3],
cfg.OBJECT_POSE_3[3:]
)
p.setCollisionFilterPair(yumi_ar.arm.robot_id, goal_obj_id, r_gel_id, -1, enableCollision=False)
p.setCollisionFilterPair(obj_id, goal_obj_id, -1, -1, enableCollision=False)
p.setCollisionFilterPair(yumi_ar.arm.robot_id, obj_id, r_gel_id, -1, enableCollision=True)
p.setCollisionFilterPair(yumi_ar.arm.robot_id, obj_id, 27, -1, enableCollision=True)
yumi_ar.pb_client.reset_body(
obj_id,
cfg.OBJECT_POSE_3[:3],
cfg.OBJECT_POSE_3[3:])
yumi_ar.pb_client.reset_body(
goal_obj_id,
cfg.OBJECT_POSE_3[:3],
cfg.OBJECT_POSE_3[3:])
manipulated_object = None
object_pose1_world = util.list2pose_stamped(cfg.OBJECT_INIT)
object_pose2_world = util.list2pose_stamped(cfg.OBJECT_FINAL)
palm_pose_l_object = util.list2pose_stamped(cfg.PALM_LEFT)
palm_pose_r_object = util.list2pose_stamped(cfg.PALM_RIGHT)
example_args = {}
example_args['object_pose1_world'] = object_pose1_world
example_args['object_pose2_world'] = object_pose2_world
example_args['palm_pose_l_object'] = palm_pose_l_object
example_args['palm_pose_r_object'] = palm_pose_r_object
example_args['object'] = manipulated_object
example_args['N'] = 60
example_args['init'] = True
example_args['table_face'] = 0
primitive_name = args.primitive
mesh_file = args.config_package_path + 'descriptions/meshes/objects/' + args.object_name + '_experiments.stl'
exp_single = SingleArmPrimitives(
cfg,
yumi_ar.pb_client.get_client_id(),
obj_id,
mesh_file)
if primitive_name == 'grasp' or primitive_name == 'pivot':
exp_double = DualArmPrimitives(
cfg,
yumi_ar.pb_client.get_client_id(),
obj_id,
mesh_file)
exp_running = exp_double
else:
exp_running = exp_single
# setup macro_planner
action_planner = ClosedLoopMacroActions(
cfg,
yumi_gs,
obj_id,
yumi_ar.pb_client.get_client_id(),
args.config_package_path,
replan=args.replan,
object_mesh_file=mesh_file
)
data['metadata']['mesh_file'] = mesh_file
data['metadata']['cfg'] = cfg
data['metadata']['dynamics'] = dynamics_info
data['metadata']['cam_cfg'] = yumi_gs.cam_setup_cfg
data['metadata']['step_repeat'] = args.step_repeat
delta_z_height = 0.95
with open(args.config_package_path+'descriptions/urdf/'+args.object_name+'.urdf', 'rb') as f:
urdf_txt = f.read()
data['metadata']['object_urdf'] = urdf_txt
data['metadata']['delta_z_height'] = delta_z_height
data['metadata']['step_repeat'] = args.step_repeat
data['metadata']['seed'] = data_seed
metadata = data['metadata']
if args.multi:
cuboid_sampler = CuboidSampler(
'/root/catkin_ws/src/primitives/objects/cuboids/nominal_cuboid.stl',
pb_client=yumi_ar.pb_client)
cuboid_fname_template = '/root/catkin_ws/src/primitives/objects/cuboids/'
cuboid_manager = MultiBlockManager(
cuboid_fname_template,
cuboid_sampler,
robot_id=yumi_ar.arm.robot_id,
table_id=27,
r_gel_id=r_gel_id,
l_gel_id=l_gel_id)
yumi_ar.pb_client.remove_body(obj_id)
yumi_ar.pb_client.remove_body(goal_obj_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
action_planner.update_object(obj_id, mesh_file)
trans_box_lock = threading.RLock()
goal_viz = GoalVisual(
trans_box_lock,
goal_obj_id,
action_planner.pb_client,
cfg.OBJECT_POSE_3)
pickle_path = os.path.join(
args.data_dir,
primitive_name,
args.experiment_name
)
if not os.path.exists(pickle_path):
os.makedirs(pickle_path)
data_manager = DataManager(pickle_path)
if args.save_data:
with open(os.path.join(pickle_path, 'metadata.pkl'), 'wb') as mdata_f:
pickle.dump(metadata, mdata_f)
if args.debug:
if args.multi:
cuboid_sampler.delete_cuboid(obj_id, goal_obj_id, sphere_ids)
cuboid_fname = cuboid_manager.get_cuboid_fname()
obj_id, sphere_ids, mesh, goal_obj_id = cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
goal_viz.update_goal_obj(goal_obj_id)
p.changeDynamics(
obj_id,
-1,
lateralFriction=0.4
)
action_planner.update_object(obj_id, mesh_file)
exp_running.initialize_object(obj_id, cuboid_fname)
print('Reset multi block!')
else:
cuboid_fname = '/root/catkin_ws/src/config/descriptions/meshes/objects/cuboids/realsense_box_experiments.stl'
for _ in range(args.num_obj_samples):
if primitive_name == 'pull':
init_id = exp_running.get_rand_init(ind=2)[-1]
obj_pose_final = util.list2pose_stamped(exp_running.init_poses[init_id])
point, normal, face = exp_running.sample_contact(primitive_name)
world_pose = exp_running.get_palm_poses_world_frame(
point,
normal,
primitive_name=primitive_name)
obj_pos_world = list(p.getBasePositionAndOrientation(
obj_id, yumi_ar.pb_client.get_client_id())[0])
obj_ori_world = list(p.getBasePositionAndOrientation(
obj_id, yumi_ar.pb_client.get_client_id())[1])
obj_pose_world = util.list2pose_stamped(obj_pos_world + obj_ori_world)
contact_obj_frame = util.convert_reference_frame(
world_pose, obj_pose_world, util.unit_pose())
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
obj_pose_final = util.list2pose_stamped(exp_running.init_poses[init_id])
obj_pose_final.pose.position.z = obj_pose_world.pose.position.z/1.175
print("init: ")
print(util.pose_stamped2list(object_pose1_world))
print("final: ")
print(util.pose_stamped2list(obj_pose_final))
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
elif primitive_name == 'grasp':
k = 0
have_contact = False
contact_face = None
while True:
x, y, dq, q, init_id = exp_running.get_rand_init()
obj_pose_world_nom = exp_running.get_obj_pose()[0]
palm_poses_world = exp_running.get_palm_poses_world_frame(
init_id,
obj_pose_world_nom,
[x, y, dq])
# get_palm_poses_world_frame may adjust the
# initial object pose, so need to check it again
obj_pose_world = exp_running.get_obj_pose()[0]
if palm_poses_world is not None:
have_contact = True
break
k += 1
if k >= 10:
print("FAILED")
break
if have_contact:
obj_pose_final = exp_running.goal_pose_world_frame_mod
palm_poses_obj_frame = {}
for key in palm_poses_world.keys():
palm_poses_obj_frame[key] = util.convert_reference_frame(
palm_poses_world[key], obj_pose_world, util.unit_pose())
example_args['palm_pose_r_object'] = palm_poses_obj_frame['right']
example_args['palm_pose_l_object'] = palm_poses_obj_frame['left']
example_args['object_pose1_world'] = obj_pose_world
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
plan = action_planner.get_primitive_plan(primitive_name, example_args, 'right')
embed()
import simulation
for i in range(10):
simulation.visualize_object(
object_pose1_world,
filepath="package://config/descriptions/meshes/objects/cuboids/" + cuboid_fname.split('objects/cuboids')[1],
name="/object_initial",
color=(1., 0., 0., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
simulation.visualize_object(
object_pose2_world,
filepath="package://config/descriptions/meshes/objects/cuboids/" + cuboid_fname.split('objects/cuboids')[1],
name="/object_final",
color=(0., 0., 1., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
rospy.sleep(.1)
simulation.simulate(plan, cuboid_fname.split('objects/cuboids')[1])
else:
global_start = time.time()
face = 0
# exp_double.reset_graph(face)
start_time = time.time()
success = 0
for trial in range(args.num_trials):
k = 0
if args.multi:
cuboid_sampler.delete_cuboid(obj_id, goal_obj_id, sphere_ids)
cuboid_fname = cuboid_manager.get_cuboid_fname()
obj_id, sphere_ids, mesh, goal_obj_id = cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
goal_viz.update_goal_obj(goal_obj_id)
p.changeDynamics(
obj_id,
-1,
lateralFriction=0.4
)
action_planner.update_object(obj_id, mesh_file)
exp_running.initialize_object(obj_id, cuboid_fname)
print('Reset multi block!')
for _ in range(args.num_obj_samples):
while True:
have_contact = False
# sample a random stable pose, and get the corresponding
# stable orientation index
k += 1
if primitive_name == 'pull':
# init_id = exp_running.get_rand_init()[-1]
init_id = exp_running.get_rand_init()[-1]
# sample a point on the object that is valid
# for the primitive action being executed
point, normal, face = exp_running.sample_contact(
primitive_name=primitive_name)
if point is not None:
break
elif primitive_name == 'grasp':
x, y, dq, q, init_id = exp_double.get_rand_init()
obj_pose_world_nom = exp_double.get_obj_pose()[0]
palm_poses_world = exp_double.get_palm_poses_world_frame(
init_id,
obj_pose_world_nom,
[x, y, dq])
obj_pose_world = exp_double.get_obj_pose()[0]
if palm_poses_world is not None:
have_contact = True
break
if k >= 10:
print("FAILED")
return
# for _ in range(10):
# yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
if primitive_name == 'pull':
# get the full 6D pose palm in world, at contact location
palm_pose_world = exp_running.get_palm_poses_world_frame(
point,
normal,
primitive_name=primitive_name)
# get the object pose in the world frame
# if trial == 0:
# parent1.send("OBJECT_POSE")
# elif trial == 1:
# parent2.send("OBJECT_POSE")
obj_pos_world = list(p.getBasePositionAndOrientation(
obj_id,
yumi_ar.pb_client.get_client_id())[0])
obj_ori_world = list(p.getBasePositionAndOrientation(
obj_id,
yumi_ar.pb_client.get_client_id())[1])
obj_pose_world = util.list2pose_stamped(
obj_pos_world + obj_ori_world)
# obj_pose_world = work_queue.get(block=True)
# transform the palm pose from the world frame to the object frame
contact_obj_frame = util.convert_reference_frame(
palm_pose_world, obj_pose_world, util.unit_pose())
# set up inputs to the primitive planner, based on task
# including sampled initial object pose and contacts,
# and final object pose
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
# obj_pose_final = util.list2pose_stamped(exp_running.init_poses[init_id])
x, y, q, _ = exp_running.get_rand_init(execute=False, ind=init_id)
final_nominal = exp_running.init_poses[init_id]
final_nominal[0] = x
final_nominal[1] = y
final_nominal[3:] = q
obj_pose_final = util.list2pose_stamped(final_nominal)
goal_viz.update_goal_state(final_nominal)
obj_pose_final.pose.position.z += cfg.TABLE_HEIGHT
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
example_args['primitive_name'] = primitive_name
example_args['N'] = exp_running.calc_n(
obj_pose_world, obj_pose_final)
elif primitive_name == 'grasp':
if have_contact:
obj_pose_final = exp_double.goal_pose_world_frame_mod
palm_poses_obj_frame = {}
for key in palm_poses_world.keys():
palm_poses_obj_frame[key] = util.convert_reference_frame(
palm_poses_world[key], obj_pose_world, util.unit_pose()
)
example_args['palm_pose_r_object'] = palm_poses_obj_frame['right']
example_args['palm_pose_l_object'] = palm_poses_obj_frame['left']
example_args['object_pose1_world'] = obj_pose_world
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
else:
continue
try:
obs, pcd = yumi_gs.get_observation(obj_id=obj_id)
start = util.pose_stamped2list(obj_pose_world)
goal = util.pose_stamped2list(obj_pose_final)
keypoints_start = np.array(exp_running.mesh_world.vertices.tolist())
keypoints_start_homog = np.hstack(
(keypoints_start, np.ones((keypoints_start.shape[0], 1)))
)
start_mat = util.matrix_from_pose(obj_pose_world)
goal_mat = util.matrix_from_pose(obj_pose_final)
T_mat = np.matmul(goal_mat, np.linalg.inv(start_mat))
keypoints_goal = np.matmul(T_mat, keypoints_start_homog.T).T[:, :3]
contact_obj_frame_dict = {}
contact_world_frame_dict = {}
nearest_pt_world_dict = {}
if primitive_name == 'pull':
active_arm, inactive_arm = action_planner.get_active_arm(
util.pose_stamped2list(obj_pose_world)
)
# get contact (palm pose object frame)
contact_obj_frame_dict[active_arm] = util.pose_stamped2list(contact_obj_frame)
contact_world_frame_dict[active_arm] = util.pose_stamped2list(palm_pose_world)
contact_pos = open3d.utility.DoubleVector(np.array(contact_world_frame_dict[active_arm][:3]))
kdtree = open3d.geometry.KDTreeFlann(pcd)
# nearest_pt_ind = kdtree.search_knn_vector_3d(contact_pos, 1)[1][0]
# nearest_pt_world_dict[active_arm] = np.asarray(pcd.points)[nearest_pt_ind]
contact_obj_frame_dict[inactive_arm] = None
contact_world_frame_dict[inactive_arm] = None
nearest_pt_world_dict[inactive_arm] = None
elif primitive_name == 'grasp':
for key in palm_poses_obj_frame.keys():
contact_obj_frame_dict[key] = util.pose_stamped2list(palm_poses_obj_frame[key])
contact_world_frame_dict[key] = util.pose_stamped2list(palm_poses_world[key])
contact_pos = open3d.utility.DoubleVector(np.array(contact_world_frame_dict[key][:3]))
kdtree = open3d.geometry.KDTreeFlann(pcd)
# nearest_pt_ind = kdtree.search_knn_vector_3d(contact_pos, 1)[1][0]
# nearest_pt_world_dict[key] = np.asarray(pcd.points)[nearest_pt_ind]
result = action_planner.execute(primitive_name, example_args)
if result is not None:
print('Trial number: ' + str(trial) + ', reached final: ' + str(result[0]))
print('Time so far: ' + str(time.time() - start_time))
if result[0]:
success += 1
sample = {}
sample['obs'] = obs
sample['start'] = start
sample['goal'] = goal
sample['keypoints_start'] = keypoints_start
sample['keypoints_goal'] = keypoints_goal
sample['transformation'] = util.pose_from_matrix(T_mat)
sample['contact_obj_frame'] = contact_obj_frame_dict
sample['contact_world_frame'] = contact_world_frame_dict
# sample['contact_pcd'] = nearest_pt_world_dict
sample['result'] = result
if primitive_name == 'grasp':
sample['goal_face'] = exp_double.goal_face
if args.save_data:
data_manager.save_observation(sample, str(trial))
print("Success: " + str(success))
else:
continue
# data['saved_data'].append(sample)
# if trial == 0:
# parent1.send("SAMPLE")
# elif trial == 1:
# parent2.send("SAMPLE")
# result = work_queue.get(block=True)
# if trial == 0:
# parent1.send("SAMPLE")
# elif trial == 1:
# parent2.send("SAMPLE")
# parent1.send("SAMPLE")
# parent2.send("SAMPLE")
# start = time.time()
# done = False
# result_list = []
# while (time.time() - start) < cfg.TIMEOUT and not done:
# try:
# result = result_queue.get(block=True)
# result_list.append(result)
# if len(result_list) == 2:
# done = True
# except result_queue.Empty:
# continue
# time.sleep(0.001)
except ValueError as e:
print("Value error: ")
print(e)
# time.sleep(1.0)
# pose = util.pose_stamped2list(yumi_gs.compute_fk(yumi_gs.get_jpos(arm='right')))
# pos, ori = pose[:3], pose[3:]
# # pose = yumi_gs.get_ee_pose()
# # pos, ori = pose[0], pose[1]
# # pos[2] -= 0.0714
# pos[2] += 0.001
# r_jnts = yumi_gs.compute_ik(pos, ori, yumi_gs.get_jpos(arm='right'))
# l_jnts = yumi_gs.get_jpos(arm='left')
# if r_jnts is not None:
# for _ in range(10):
# pos[2] += 0.001
# r_jnts = yumi_gs.compute_ik(pos, ori, yumi_gs.get_jpos(arm='right'))
# l_jnts = yumi_gs.get_jpos(arm='left')
# if r_jnts is not None:
# yumi_gs.update_joints(list(r_jnts) + l_jnts)
# time.sleep(0.1)
time.sleep(0.1)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
# for _ in range(10):
# j_pos = cfg.RIGHT_INIT + cfg.LEFT_INIT
# for ind, jnt_id in enumerate(yumi_ar.arm.arm_jnt_ids):
# p.resetJointState(
# yumi_ar.arm.robot_id,
# jnt_id,
# targetValue=j_pos[ind]
# )
# yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
# p.resetJointStatesMultiDof(
# yumi_ar.arm.robot_id,
# yumi_ar.arm.arm_jnt_ids,
# targetValues=j_pos)
# parent1.send("HOME")
# parent2.send("HOME")
# time.sleep(1.0)
print("TOTAL TIME: " + str(time.time() - global_start))
def main(args):
cfg_file = os.path.join(args.example_config_path, args.primitive) + ".yaml"
cfg = get_cfg_defaults()
cfg.merge_from_file(cfg_file)
cfg.freeze()
rospy.init_node('MacroActions')
data = {}
data['saved_data'] = []
data['metadata'] = {}
# parent1, child1 = Pipe()
# parent2, child2 = Pipe()
# work_queue = Queue()
# result_queue = Queue()
# p1 = Process(target=worker_yumi, args=(child1, work_queue, result_queue, cfg, args))
# p2 = Process(target=worker_yumi, args=(child2, work_queue, result_queue, cfg, args))
# p1.start()
# p2.start()
# parent1.send("RESET")
# parent2.send("RESET")
# print("started workers")
# time.sleep(15.0)
# embed()
# # setup yumi
yumi_ar = Robot('yumi',
pb=True,
arm_cfg={
'render': args.visualize,
'self_collision': False,
'rt_simulation': False
})
yumi_ar.arm.set_jpos(cfg.RIGHT_INIT + cfg.LEFT_INIT)
gel_id = 12
alpha = 0.01
K = 500
restitution = 0.99
dynamics_info = {}
dynamics_info['contactDamping'] = alpha * K
dynamics_info['contactStiffness'] = K
dynamics_info['rollingFriction'] = args.rolling
dynamics_info['restitution'] = restitution
p.changeDynamics(yumi_ar.arm.robot_id,
gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
# setup yumi_gs
# yumi_gs = YumiGelslimPybulet(yumi_ar, cfg, exec_thread=args.execute_thread)
yumi_gs = YumiCamsGS(yumi_ar, cfg, exec_thread=args.execute_thread)
if args.object:
box_id = pb_util.load_urdf(
args.config_package_path + 'descriptions/urdf/' +
args.object_name + '.urdf', cfg.OBJECT_POSE_3[0:3],
cfg.OBJECT_POSE_3[3:])
# trans_box_id = pb_util.load_urdf(
# args.config_package_path +
# 'descriptions/urdf/'+args.object_name+'_trans.urdf',
# cfg.OBJECT_POSE_3[0:3],
# cfg.OBJECT_POSE_3[3:]
# )
# setup macro_planner
action_planner = ClosedLoopMacroActions(cfg,
yumi_gs,
box_id,
pb_util.PB_CLIENT,
args.config_package_path,
replan=args.replan)
manipulated_object = None
object_pose1_world = util.list2pose_stamped(cfg.OBJECT_INIT)
object_pose2_world = util.list2pose_stamped(cfg.OBJECT_FINAL)
palm_pose_l_object = util.list2pose_stamped(cfg.PALM_LEFT)
palm_pose_r_object = util.list2pose_stamped(cfg.PALM_RIGHT)
example_args = {}
example_args['object_pose1_world'] = object_pose1_world
example_args['object_pose2_world'] = object_pose2_world
example_args['palm_pose_l_object'] = palm_pose_l_object
example_args['palm_pose_r_object'] = palm_pose_r_object
example_args['object'] = manipulated_object
# example_args['N'] = 60 # 60
example_args['N'] = calc_n(object_pose1_world, object_pose2_world) # 60
print("N: " + str(example_args['N']))
example_args['init'] = True
example_args['table_face'] = 0
primitive_name = args.primitive
mesh_file = args.config_package_path + 'descriptions/meshes/objects/' + args.object_name + '_experiments.stl'
exp_single = SingleArmPrimitives(cfg, box_id, mesh_file)
exp_double = DualArmPrimitives(cfg, box_id, mesh_file)
# trans_box_lock = threading.RLock()
# goal_viz = GoalVisual(
# trans_box_lock,
# trans_box_id,
# action_planner.pb_client,
# cfg.OBJECT_POSE_3)
# visualize_goal_thread = threading.Thread(
# target=goal_viz.visualize_goal_state)
# visualize_goal_thread.daemon = True
# visualize_goal_thread.start()
data['metadata']['mesh_file'] = mesh_file
data['metadata']['cfg'] = cfg
data['metadata']['dynamics'] = dynamics_info
data['metadata']['cam_cfg'] = yumi_gs.cam_cfg
if args.debug:
init_id = exp.get_rand_init(ind=2)[-1]
obj_pose_final = util.list2pose_stamped(exp.init_poses[init_id])
point, normal, face = exp.sample_contact(primitive_name)
# embed()
world_pose = exp.get_palm_pose_world_frame(
point, normal, primitive_name=primitive_name)
obj_pos_world = list(
p.getBasePositionAndOrientation(box_id, pb_util.PB_CLIENT)[0])
obj_ori_world = list(
p.getBasePositionAndOrientation(box_id, pb_util.PB_CLIENT)[1])
obj_pose_world = util.list2pose_stamped(obj_pos_world + obj_ori_world)
contact_obj_frame = util.convert_reference_frame(
world_pose, obj_pose_world, util.unit_pose())
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
obj_pose_final = util.list2pose_stamped(exp.init_poses[init_id])
obj_pose_final.pose.position.z = obj_pose_world.pose.position.z / 1.175
print("init: ")
print(util.pose_stamped2list(object_pose1_world))
print("final: ")
print(util.pose_stamped2list(obj_pose_final))
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
plan = action_planner.get_primitive_plan(primitive_name, example_args,
'right')
embed()
import simulation
for i in range(10):
simulation.visualize_object(
object_pose1_world,
filepath=
"package://config/descriptions/meshes/objects/realsense_box_experiments.stl",
name="/object_initial",
color=(1., 0., 0., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
simulation.visualize_object(
object_pose2_world,
filepath=
"package://config/descriptions/meshes/objects/realsense_box_experiments.stl",
name="/object_final",
color=(0., 0., 1., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
rospy.sleep(.1)
simulation.simulate(plan)
else:
global_start = time.time()
for trial in range(20):
k = 0
while True:
# sample a random stable pose, and get the corresponding
# stable orientation index
k += 1
# init_id = exp.get_rand_init()[-1]
init_id = exp.get_rand_init(ind=0)[-1]
# sample a point on the object that is valid
# for the primitive action being executed
point, normal, face = exp.sample_contact(
primitive_name=primitive_name)
if point is not None:
break
if k >= 10:
print("FAILED")
return
# get the full 6D pose palm in world, at contact location
palm_pose_world = exp.get_palm_pose_world_frame(
point, normal, primitive_name=primitive_name)
# get the object pose in the world frame
# if trial == 0:
# parent1.send("OBJECT_POSE")
# elif trial == 1:
# parent2.send("OBJECT_POSE")
obj_pos_world = list(
p.getBasePositionAndOrientation(box_id, pb_util.PB_CLIENT)[0])
obj_ori_world = list(
p.getBasePositionAndOrientation(box_id, pb_util.PB_CLIENT)[1])
obj_pose_world = util.list2pose_stamped(obj_pos_world +
obj_ori_world)
# obj_pose_world = work_queue.get(block=True)
# transform the palm pose from the world frame to the object frame
contact_obj_frame = util.convert_reference_frame(
palm_pose_world, obj_pose_world, util.unit_pose())
# set up inputs to the primitive planner, based on task
# including sampled initial object pose and contacts,
# and final object pose
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
obj_pose_final = util.list2pose_stamped(exp.init_poses[init_id])
obj_pose_final.pose.position.z /= 1.18
print("init: ")
print(util.pose_stamped2list(object_pose1_world))
print("final: ")
print(util.pose_stamped2list(obj_pose_final))
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
example_args['primitive_name'] = primitive_name
example_args['N'] = calc_n(obj_pose_world, obj_pose_final)
print("N: " + str(example_args['N']))
# if trial == 0:
# goal_viz.update_goal_state(exp.init_poses[init_id])
try:
# get observation (images/point cloud)
obs = yumi_gs.get_observation(obj_id=box_id)
# get start/goal (obj_pose_world, obj_pose_final)
start = util.pose_stamped2list(obj_pose_world)
goal = util.pose_stamped2list(obj_pose_final)
# get corners (from exp? that has mesh)
keypoints_start = np.array(exp.mesh_world.vertices.tolist())
keypoints_start_homog = np.hstack(
(keypoints_start, np.ones((keypoints_start.shape[0], 1))))
goal_start_frame = util.convert_reference_frame(
pose_source=obj_pose_final,
pose_frame_target=obj_pose_world,
pose_frame_source=util.unit_pose())
goal_start_frame_mat = util.matrix_from_pose(goal_start_frame)
keypoints_goal = np.matmul(goal_start_frame_mat,
keypoints_start_homog.T).T
# get contact (palm pose object frame)
contact_obj_frame = util.pose_stamped2list(contact_obj_frame)
contact_world_frame = util.pose_stamped2list(palm_pose_world)
contact_pos = open3d.utility.DoubleVector(
np.array(contact_world_frame[:3]))
kdtree = open3d.geometry.KDTreeFlann(obs['pcd_full'])
nearest_pt_ind = kdtree.search_knn_vector_3d(contact_pos,
1)[1][0]
nearest_pt_world = np.asarray(
obs['pcd_full'].points)[nearest_pt_ind]
# embed()
result = action_planner.execute(primitive_name, example_args)
sample = {}
sample['obs'] = obs
sample['start'] = start
sample['goal'] = goal
sample['keypoints_start'] = keypoints_start
sample['keypoints_goal'] = keypoints_goal
sample['transformation'] = util.pose_stamped2list(
goal_start_frame)
sample['contact_obj_frame'] = contact_obj_frame
sample['contact_world_frame'] = contact_world_frame
sample['contact_pcd'] = nearest_pt_world
sample['result'] = result
sample['planner_args'] = example_args
data['saved_data'].append(sample)
# if trial == 0:
# parent1.send("SAMPLE")
# elif trial == 1:
# parent2.send("SAMPLE")
# result = work_queue.get(block=True)
# if trial == 0:
# parent1.send("SAMPLE")
# elif trial == 1:
# parent2.send("SAMPLE")
# parent1.send("SAMPLE")
# parent2.send("SAMPLE")
# start = time.time()
# done = False
# result_list = []
# while (time.time() - start) < cfg.TIMEOUT and not done:
# try:
# result = result_queue.get(block=True)
# result_list.append(result)
# if len(result_list) == 2:
# done = True
# except result_queue.Empty:
# continue
# time.sleep(0.001)
print("reached final: " + str(result[0]))
except ValueError:
print("moveit failed!")
# time.sleep(0.1)
# yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
j_pos = cfg.RIGHT_INIT + cfg.LEFT_INIT
for ind, jnt_id in enumerate(yumi_ar.arm.arm_jnt_ids):
p.resetJointState(yumi_ar.arm.robot_id,
jnt_id,
targetValue=j_pos[ind])
# p.resetJointStatesMultiDof(
# yumi_ar.arm.robot_id,
# yumi_ar.arm.arm_jnt_ids,
# targetValues=j_pos)
# parent1.send("HOME")
# parent2.send("HOME")
# time.sleep(1.0)
# embed()
# embed()
print("TOTAL TIME: " + str(time.time() - global_start))
with open('data/sample_data_right_hand_pull.pkl', 'wb') as data_f:
pickle.dump(data, data_f)
def main(args):
cfg_file = os.path.join(args.example_config_path, args.primitive) + ".yaml"
cfg = get_cfg_defaults()
cfg.merge_from_file(cfg_file)
cfg.freeze()
rospy.init_node('MacroActions')
signal.signal(signal.SIGINT, signal_handler)
data_seed = args.np_seed
np.random.seed(data_seed)
yumi_ar = Robot('yumi_palms',
pb=True,
pb_cfg={'gui': args.visualize},
arm_cfg={
'self_collision': False,
'seed': data_seed
})
r_gel_id = cfg.RIGHT_GEL_ID
l_gel_id = cfg.LEFT_GEL_ID
alpha = cfg.ALPHA
K = cfg.GEL_CONTACT_STIFFNESS
restitution = cfg.GEL_RESTITUION
p.changeDynamics(yumi_ar.arm.robot_id,
r_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
p.changeDynamics(yumi_ar.arm.robot_id,
l_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
yumi_gs = YumiGelslimPybulet(yumi_ar, cfg, exec_thread=False)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
cuboid_sampler = CuboidSampler(
'/root/catkin_ws/src/primitives/objects/cuboids/nominal_cuboid.stl',
pb_client=yumi_ar.pb_client)
cuboid_fname_template = '/root/catkin_ws/src/config/descriptions/meshes/objects/cuboids/'
cuboid_manager = MultiBlockManager(cuboid_fname_template,
cuboid_sampler,
robot_id=yumi_ar.arm.robot_id,
table_id=27,
r_gel_id=r_gel_id,
l_gel_id=l_gel_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
print("Cuboid file: " + cuboid_fname)
# cuboid_fname = os.path.join(cuboid_fname_template, 'test_cuboid_smaller_4206.stl')
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
manipulated_object = None
object_pose1_world = util.list2pose_stamped(cfg.OBJECT_INIT)
object_pose2_world = util.list2pose_stamped(cfg.OBJECT_FINAL)
palm_pose_l_object = util.list2pose_stamped(cfg.PALM_LEFT)
palm_pose_r_object = util.list2pose_stamped(cfg.PALM_RIGHT)
example_args = {}
example_args['object_pose1_world'] = object_pose1_world
example_args['object_pose2_world'] = object_pose2_world
example_args['palm_pose_l_object'] = palm_pose_l_object
example_args['palm_pose_r_object'] = palm_pose_r_object
example_args['object'] = manipulated_object
example_args['N'] = 60
example_args['init'] = True
example_args['table_face'] = 0
primitive_name = args.primitive
goal_face = 0
# mesh_file = args.config_package_path + 'descriptions/meshes/objects/' + \
# args.object_name + '_experiments.stl'
mesh_file = cuboid_fname
exp_single = SingleArmPrimitives(cfg, yumi_ar.pb_client.get_client_id(),
obj_id, mesh_file)
k = 0
while True:
k += 1
if k > 10:
print('FAILED TO BUILD GRASPING GRAPH')
return
try:
exp_double = DualArmPrimitives(cfg,
yumi_ar.pb_client.get_client_id(),
obj_id,
mesh_file,
goal_face=goal_face)
break
except ValueError as e:
print(e)
yumi_ar.pb_client.remove_body(obj_id)
yumi_ar.pb_client.remove_body(goal_obj_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
print("Cuboid file: " + cuboid_fname)
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
if primitive_name == 'grasp':
exp_running = exp_double
else:
exp_running = exp_single
action_planner = ClosedLoopMacroActions(cfg,
yumi_gs,
obj_id,
yumi_ar.pb_client.get_client_id(),
args.config_package_path,
replan=args.replan,
object_mesh_file=mesh_file)
trans_box_lock = threading.RLock()
goal_viz = GoalVisual(trans_box_lock, goal_obj_id,
action_planner.pb_client, cfg.OBJECT_POSE_3)
action_planner.update_object(obj_id, mesh_file)
exp_single.initialize_object(obj_id, cuboid_fname)
exp_double.initialize_object(obj_id, cuboid_fname, goal_face)
print('Reset multi block!')
for _ in range(args.num_blocks):
for _ in range(args.num_obj_samples):
if primitive_name == 'grasp':
start_face = exp_double.get_valid_ind()
if start_face is None:
print('Could not find valid start face')
continue
plan_args = exp_double.get_random_primitive_args(
ind=start_face, random_goal=True, execute=True)
elif primitive_name == 'pull':
plan_args = exp_single.get_random_primitive_args(
ind=None, random_goal=True, execute=True)
start_pose = plan_args['object_pose1_world']
goal_pose = plan_args['object_pose2_world']
goal_viz.update_goal_state(util.pose_stamped2list(goal_pose))
if args.debug:
import simulation
plan = action_planner.get_primitive_plan(
primitive_name, plan_args, 'right')
for i in range(10):
simulation.visualize_object(
start_pose,
filepath=
"package://config/descriptions/meshes/objects/cuboids/"
+ cuboid_fname.split('objects/cuboids')[1],
name="/object_initial",
color=(1., 0., 0., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
simulation.visualize_object(
goal_pose,
filepath=
"package://config/descriptions/meshes/objects/cuboids/"
+ cuboid_fname.split('objects/cuboids')[1],
name="/object_final",
color=(0., 0., 1., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
rospy.sleep(.1)
simulation.simulate(plan,
cuboid_fname.split('objects/cuboids')[1])
else:
try:
result = action_planner.execute(primitive_name, plan_args)
if result is not None:
print(str(result[0]))
except ValueError as e:
print("Value error: ")
print(e)
if args.nice_pull_release:
time.sleep(1.0)
pose = util.pose_stamped2list(
yumi_gs.compute_fk(yumi_gs.get_jpos(arm='right')))
pos, ori = pose[:3], pose[3:]
pos[2] += 0.001
r_jnts = yumi_gs.compute_ik(pos, ori,
yumi_gs.get_jpos(arm='right'))
l_jnts = yumi_gs.get_jpos(arm='left')
if r_jnts is not None:
for _ in range(10):
pos[2] += 0.001
r_jnts = yumi_gs.compute_ik(
pos, ori, yumi_gs.get_jpos(arm='right'))
l_jnts = yumi_gs.get_jpos(arm='left')
if r_jnts is not None:
yumi_gs.update_joints(list(r_jnts) + l_jnts)
time.sleep(0.1)
time.sleep(0.1)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
while True:
try:
yumi_ar.pb_client.remove_body(obj_id)
yumi_ar.pb_client.remove_body(goal_obj_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
print("Cuboid file: " + cuboid_fname)
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
action_planner.update_object(obj_id, mesh_file)
exp_single.initialize_object(obj_id, cuboid_fname)
exp_double.initialize_object(obj_id, cuboid_fname, goal_face)
goal_viz.update_goal_obj(goal_obj_id)
break
except ValueError as e:
print(e)
def main(args):
cfg_file = os.path.join(args.example_config_path, args.primitive) + ".yaml"
cfg = get_cfg_defaults()
cfg.merge_from_file(cfg_file)
cfg.freeze()
rospy.init_node('MacroActions')
signal.signal(signal.SIGINT, signal_handler)
data_seed = args.np_seed
primitive_name = args.primitive
pickle_path = os.path.join(args.data_dir, primitive_name,
args.experiment_name)
if args.save_data:
suf_i = 0
original_pickle_path = pickle_path
while True:
if os.path.exists(pickle_path):
suffix = '_%d' % suf_i
pickle_path = original_pickle_path + suffix
suf_i += 1
data_seed += 1
else:
os.makedirs(pickle_path)
break
if not os.path.exists(pickle_path):
os.makedirs(pickle_path)
np.random.seed(data_seed)
yumi_ar = Robot('yumi_palms',
pb=True,
pb_cfg={
'gui': args.visualize,
'opengl_render': False
},
arm_cfg={
'self_collision': False,
'seed': data_seed
})
r_gel_id = cfg.RIGHT_GEL_ID
l_gel_id = cfg.LEFT_GEL_ID
table_id = cfg.TABLE_ID
alpha = cfg.ALPHA
K = cfg.GEL_CONTACT_STIFFNESS
restitution = cfg.GEL_RESTITUION
p.changeDynamics(yumi_ar.arm.robot_id,
r_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
p.changeDynamics(yumi_ar.arm.robot_id,
l_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
yumi_gs = YumiCamsGS(yumi_ar,
cfg,
exec_thread=False,
sim_step_repeat=args.sim_step_repeat)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
cuboid_sampler = CuboidSampler(os.path.join(
os.environ['CODE_BASE'],
'catkin_ws/src/config/descriptions/meshes/objects/cuboids/nominal_cuboid.stl'
),
pb_client=yumi_ar.pb_client)
cuboid_fname_template = os.path.join(
os.environ['CODE_BASE'],
'catkin_ws/src/config/descriptions/meshes/objects/cuboids/')
cuboid_manager = MultiBlockManager(cuboid_fname_template,
cuboid_sampler,
robot_id=yumi_ar.arm.robot_id,
table_id=27,
r_gel_id=r_gel_id,
l_gel_id=l_gel_id)
if args.multi:
cuboid_fname = cuboid_manager.get_cuboid_fname()
# cuboid_fname = '/root/catkin_ws/src/config/descriptions/meshes/objects/cuboids/test_cuboid_smaller_4479.stl'
else:
cuboid_fname = args.config_package_path + 'descriptions/meshes/objects/' + \
args.object_name + '_experiments.stl'
mesh_file = cuboid_fname
print("Cuboid file: " + cuboid_fname)
if args.goal_viz:
goal_visualization = True
else:
goal_visualization = False
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=goal_visualization,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
# goal_face = 0
goal_faces = [0, 1, 2, 3, 4, 5]
from random import shuffle
shuffle(goal_faces)
goal_face = goal_faces[0]
exp_single = SingleArmPrimitives(cfg, yumi_ar.pb_client.get_client_id(),
obj_id, cuboid_fname)
k = 0
while True:
k += 1
if k > 10:
print('FAILED TO BUILD GRASPING GRAPH')
return
try:
exp_double = DualArmPrimitives(cfg,
yumi_ar.pb_client.get_client_id(),
obj_id,
cuboid_fname,
goal_face=goal_face)
break
except ValueError as e:
print(e)
yumi_ar.pb_client.remove_body(obj_id)
if goal_visualization:
yumi_ar.pb_client.remove_body(goal_obj_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
print("Cuboid file: " + cuboid_fname)
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=goal_visualization,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
if primitive_name == 'grasp':
exp_running = exp_double
else:
exp_running = exp_single
action_planner = ClosedLoopMacroActions(cfg,
yumi_gs,
obj_id,
yumi_ar.pb_client.get_client_id(),
args.config_package_path,
replan=args.replan,
object_mesh_file=mesh_file)
if goal_visualization:
trans_box_lock = threading.RLock()
goal_viz = GoalVisual(trans_box_lock, goal_obj_id,
action_planner.pb_client, cfg.OBJECT_POSE_3)
action_planner.update_object(obj_id, mesh_file)
exp_single.initialize_object(obj_id, cuboid_fname)
dynamics_info = {}
dynamics_info['contactDamping'] = alpha * K
dynamics_info['contactStiffness'] = K
dynamics_info['rollingFriction'] = args.rolling
dynamics_info['restitution'] = restitution
data = {}
data['saved_data'] = []
data['metadata'] = {}
data['metadata']['mesh_file'] = mesh_file
data['metadata']['cfg'] = cfg
data['metadata']['dynamics'] = dynamics_info
data['metadata']['cam_cfg'] = yumi_gs.cam_setup_cfg
data['metadata']['step_repeat'] = args.sim_step_repeat
data['metadata']['seed'] = data_seed
data['metadata']['seed_original'] = args.np_seed
metadata = data['metadata']
data_manager = DataManager(pickle_path)
pred_dir = os.path.join(os.getcwd(), 'predictions')
obs_dir = os.path.join(os.getcwd(), 'observations')
if args.save_data:
with open(os.path.join(pickle_path, 'metadata.pkl'), 'wb') as mdata_f:
pickle.dump(metadata, mdata_f)
total_trials = 0
successes = 0
for _ in range(args.num_blocks):
# for goal_face in goal_faces:
for _ in range(1):
goal_face = np.random.randint(6)
try:
print('New object!')
exp_double.initialize_object(obj_id, cuboid_fname, goal_face)
except ValueError as e:
print(e)
print('Goal face: ' + str(goal_face))
continue
for _ in range(args.num_obj_samples):
total_trials += 1
if primitive_name == 'grasp':
start_face = exp_double.get_valid_ind()
if start_face is None:
print('Could not find valid start face')
continue
plan_args = exp_double.get_random_primitive_args(
ind=start_face, random_goal=True, execute=True)
elif primitive_name == 'pull':
plan_args = exp_single.get_random_primitive_args(
ind=goal_face, random_goal=True, execute=True)
start_pose = plan_args['object_pose1_world']
goal_pose = plan_args['object_pose2_world']
if goal_visualization:
goal_viz.update_goal_state(
util.pose_stamped2list(goal_pose))
if args.debug:
import simulation
plan = action_planner.get_primitive_plan(
primitive_name, plan_args, 'right')
for i in range(10):
simulation.visualize_object(
start_pose,
filepath=
"package://config/descriptions/meshes/objects/cuboids/"
+ cuboid_fname.split('objects/cuboids')[1],
name="/object_initial",
color=(1., 0., 0., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
simulation.visualize_object(
goal_pose,
filepath=
"package://config/descriptions/meshes/objects/cuboids/"
+ cuboid_fname.split('objects/cuboids')[1],
name="/object_final",
color=(0., 0., 1., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
rospy.sleep(.1)
simulation.simulate(
plan,
cuboid_fname.split('objects/cuboids')[1])
else:
success = False
attempts = 0
while True:
attempts += 1
time.sleep(0.1)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT +
cfg.LEFT_INIT)
p.resetBasePositionAndOrientation(
obj_id,
util.pose_stamped2list(start_pose)[:3],
util.pose_stamped2list(start_pose)[3:])
if attempts > 15:
break
print('attempts: ' + str(attempts))
try:
obs, pcd = yumi_gs.get_observation(
obj_id=obj_id,
robot_table_id=(yumi_ar.arm.robot_id,
table_id))
obj_pose_world = start_pose
obj_pose_final = goal_pose
start = util.pose_stamped2list(obj_pose_world)
goal = util.pose_stamped2list(obj_pose_final)
start_mat = util.matrix_from_pose(obj_pose_world)
goal_mat = util.matrix_from_pose(obj_pose_final)
T_mat = np.matmul(goal_mat,
np.linalg.inv(start_mat))
transformation = np.asarray(util.pose_stamped2list(
util.pose_from_matrix(T_mat)),
dtype=np.float32)
# model takes in observation, and predicts:
pointcloud_pts = np.asarray(
obs['down_pcd_pts'][:100, :], dtype=np.float32)
obs_fname = os.path.join(
obs_dir,
str(total_trials) + '.npz')
np.savez(obs_fname,
pointcloud_pts=pointcloud_pts,
transformation=transformation)
# embed()
got_file = False
pred_fname = os.path.join(
pred_dir,
str(total_trials) + '.npz')
start = time.time()
while True:
try:
prediction = np.load(pred_fname)
got_file = True
except:
pass
if got_file or (time.time() - start > 300):
break
time.sleep(0.01)
if not got_file:
wait = raw_input(
'waiting for predictions to come back online'
)
continue
os.remove(pred_fname)
# embed()
ind = np.random.randint(10)
# contact_obj_frame_r = prediction['prediction'][ind, :7]
# contact_obj_frame_l = prediction['prediction'][ind, 7:]
contact_prediction_r = prediction['prediction'][
ind, :7]
contact_prediction_l = prediction['prediction'][
ind, 7:]
contact_world_pos_r = contact_prediction_r[:3] + np.mean(
pointcloud_pts, axis=0)
contact_world_pos_l = contact_prediction_l[:3] + np.mean(
pointcloud_pts, axis=0)
contact_world_pos_pred = {}
contact_world_pos_pred[
'right'] = contact_world_pos_r
contact_world_pos_pred[
'left'] = contact_world_pos_l
contact_world_pos_corr = correct_grasp_pos(
contact_world_pos_pred, obs['pcd_pts'])
contact_world_pos_r = contact_world_pos_corr[
'right']
contact_world_pos_l = contact_world_pos_corr[
'left']
contact_world_r = contact_world_pos_r.tolist(
) + contact_prediction_r[3:].tolist()
contact_world_l = contact_world_pos_l.tolist(
) + contact_prediction_l[3:].tolist()
palm_poses_world = {}
# palm_poses_world['right'] = util.convert_reference_frame(
# util.list2pose_stamped(contact_obj_frame_r),
# util.unit_pose(),
# obj_pose_world)
# palm_poses_world['left'] = util.convert_reference_frame(
# util.list2pose_stamped(contact_obj_frame_l),
# util.unit_pose(),
# obj_pose_world)
palm_poses_world['right'] = util.list2pose_stamped(
contact_world_r)
palm_poses_world['left'] = util.list2pose_stamped(
contact_world_l)
# obj_pose_final = self.goal_pose_world_frame_mod``
palm_poses_obj_frame = {}
# delta = 10e-3
penetration_delta = 7.5e-3
# delta = np.random.random_sample() * \
# (penetration_delta - 0.5*penetration_delta) + \
# penetration_delta
delta = penetration_delta
y_normals = action_planner.get_palm_y_normals(
palm_poses_world)
for key in palm_poses_world.keys():
# try to penetrate the object a small amount
palm_poses_world[
key].pose.position.x -= delta * y_normals[
key].pose.position.x
palm_poses_world[
key].pose.position.y -= delta * y_normals[
key].pose.position.y
palm_poses_world[
key].pose.position.z -= delta * y_normals[
key].pose.position.z
palm_poses_obj_frame[
key] = util.convert_reference_frame(
palm_poses_world[key], obj_pose_world,
util.unit_pose())
# plan_args['palm_pose_r_object'] = util.list2pose_stamped(contact_obj_frame_r)
# plan_args['palm_pose_l_object'] = util.list2pose_stamped(contact_obj_frame_l)
plan_args[
'palm_pose_r_object'] = palm_poses_obj_frame[
'right']
plan_args[
'palm_pose_l_object'] = palm_poses_obj_frame[
'left']
plan = action_planner.get_primitive_plan(
primitive_name, plan_args, 'right')
# import simulation
# for i in range(10):
# simulation.visualize_object(
# start_pose,
# filepath="package://config/descriptions/meshes/objects/cuboids/" +
# cuboid_fname.split('objects/cuboids')[1],
# name="/object_initial",
# color=(1., 0., 0., 1.),
# frame_id="/yumi_body",
# scale=(1., 1., 1.))
# simulation.visualize_object(
# goal_pose,
# filepath="package://config/descriptions/meshes/objects/cuboids/" +
# cuboid_fname.split('objects/cuboids')[1],
# name="/object_final",
# color=(0., 0., 1., 1.),
# frame_id="/yumi_body",
# scale=(1., 1., 1.))
# rospy.sleep(.1)
# simulation.simulate(plan, cuboid_fname.split('objects/cuboids')[1])
# continue
result = action_planner.execute(
primitive_name, plan_args)
if result is None:
continue
print('Result: ' + str(result[0]) +
' Pos Error: ' + str(result[1]) +
' Ori Error: ' + str(result[2]))
if result[0]:
successes += 1
print('Success rate: ' +
str(successes * 100.0 / total_trials))
break
except ValueError as e:
print("Value error: ")
print(e)
if args.nice_pull_release:
time.sleep(1.0)
pose = util.pose_stamped2list(
yumi_gs.compute_fk(yumi_gs.get_jpos(arm='right')))
pos, ori = pose[:3], pose[3:]
pos[2] += 0.001
r_jnts = yumi_gs.compute_ik(
pos, ori, yumi_gs.get_jpos(arm='right'))
l_jnts = yumi_gs.get_jpos(arm='left')
if r_jnts is not None:
for _ in range(10):
pos[2] += 0.001
r_jnts = yumi_gs.compute_ik(
pos, ori, yumi_gs.get_jpos(arm='right'))
l_jnts = yumi_gs.get_jpos(arm='left')
if r_jnts is not None:
yumi_gs.update_joints(
list(r_jnts) + l_jnts)
time.sleep(0.1)
time.sleep(0.1)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
while True:
try:
yumi_ar.pb_client.remove_body(obj_id)
if goal_visualization:
yumi_ar.pb_client.remove_body(goal_obj_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
print("Cuboid file: " + cuboid_fname)
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=goal_visualization,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
action_planner.update_object(obj_id, mesh_file)
exp_single.initialize_object(obj_id, cuboid_fname)
# exp_double.initialize_object(obj_id, cuboid_fname, goal_face)
if goal_visualization:
goal_viz.update_goal_obj(goal_obj_id)
break
except ValueError as e:
print(e)
def main(args):
pull_cfg_file = os.path.join(args.example_config_path, 'pull') + ".yaml"
pull_cfg = get_cfg_defaults()
pull_cfg.merge_from_file(pull_cfg_file)
pull_cfg.freeze()
grasp_cfg_file = os.path.join(args.example_config_path, 'grasp') + ".yaml"
grasp_cfg = get_cfg_defaults()
grasp_cfg.merge_from_file(grasp_cfg_file)
grasp_cfg.freeze()
# cfg = grasp_cfg
cfg = pull_cfg
rospy.init_node('MultiStep')
signal.signal(signal.SIGINT, signal_handler)
data_seed = args.np_seed
np.random.seed(data_seed)
yumi_ar = Robot('yumi_palms',
pb=True,
pb_cfg={'gui': args.visualize},
arm_cfg={
'self_collision': False,
'seed': data_seed
})
r_gel_id = cfg.RIGHT_GEL_ID
l_gel_id = cfg.LEFT_GEL_ID
alpha = cfg.ALPHA
K = cfg.GEL_CONTACT_STIFFNESS
restitution = cfg.GEL_RESTITUION
p.changeDynamics(yumi_ar.arm.robot_id,
r_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
p.changeDynamics(yumi_ar.arm.robot_id,
l_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
yumi_gs = YumiGelslimPybulet(yumi_ar, cfg, exec_thread=False)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
obj_id = yumi_ar.pb_client.load_urdf(
args.config_package_path + 'descriptions/urdf/' + args.object_name +
'.urdf', cfg.OBJECT_POSE_3[0:3], cfg.OBJECT_POSE_3[3:])
goal_obj_id = yumi_ar.pb_client.load_urdf(
args.config_package_path + 'descriptions/urdf/' + args.object_name +
'_trans.urdf', cfg.OBJECT_POSE_3[0:3], cfg.OBJECT_POSE_3[3:])
p.setCollisionFilterPair(yumi_ar.arm.robot_id,
goal_obj_id,
r_gel_id,
-1,
enableCollision=False)
p.setCollisionFilterPair(obj_id,
goal_obj_id,
-1,
-1,
enableCollision=False)
p.setCollisionFilterPair(yumi_ar.arm.robot_id,
obj_id,
r_gel_id,
-1,
enableCollision=True)
p.setCollisionFilterPair(yumi_ar.arm.robot_id,
obj_id,
27,
-1,
enableCollision=True)
yumi_ar.pb_client.reset_body(obj_id, cfg.OBJECT_POSE_3[:3],
cfg.OBJECT_POSE_3[3:])
yumi_ar.pb_client.reset_body(goal_obj_id, cfg.OBJECT_POSE_3[:3],
cfg.OBJECT_POSE_3[3:])
# manipulated_object = None
# object_pose1_world = util.list2pose_stamped(cfg.OBJECT_INIT)
# object_pose2_world = util.list2pose_stamped(cfg.OBJECT_FINAL)
# palm_pose_l_object = util.list2pose_stamped(cfg.PALM_LEFT)
# palm_pose_r_object = util.list2pose_stamped(cfg.PALM_RIGHT)
# example_args = {}
# example_args['object_pose1_world'] = object_pose1_world
# example_args['object_pose2_world'] = object_pose2_world
# example_args['palm_pose_l_object'] = palm_pose_l_object
# example_args['palm_pose_r_object'] = palm_pose_r_object
# example_args['object'] = manipulated_object
# example_args['N'] = 60
# example_args['init'] = True
# example_args['table_face'] = 0
primitive_name = args.primitive
face = np.random.randint(6)
# face = 3
mesh_file = args.config_package_path + 'descriptions/meshes/objects/cuboids/' + \
args.object_name + '_experiments.stl'
cuboid_fname = mesh_file
exp_single = SingleArmPrimitives(pull_cfg,
yumi_ar.pb_client.get_client_id(), obj_id,
mesh_file)
exp_double = DualArmPrimitives(grasp_cfg,
yumi_ar.pb_client.get_client_id(),
obj_id,
mesh_file,
goal_face=face)
action_planner = ClosedLoopMacroActions(cfg,
yumi_gs,
obj_id,
yumi_ar.pb_client.get_client_id(),
args.config_package_path,
replan=args.replan,
object_mesh_file=mesh_file)
trans_box_lock = threading.RLock()
goal_viz = GoalVisual(trans_box_lock, goal_obj_id,
action_planner.pb_client, cfg.OBJECT_POSE_3)
multistep_planner = MultiStepManager(cfg, grasp_cfg, pull_cfg)
action_planner.update_object(obj_id, mesh_file)
exp_single.initialize_object(obj_id, cuboid_fname)
exp_double.initialize_object(obj_id, cuboid_fname, face)
print('Reset multi block!')
for _ in range(args.num_obj_samples):
# get grasp sample
# start_face_index = np.random.randint(len(grasp_cfg.VALID_GRASP_PAIRS[face]))
# start_face = grasp_cfg.VALID_GRASP_PAIRS[face][start_face_index]
# grasp_args = exp_double.get_random_primitive_args(ind=start_face,
# random_goal=True,
# execute=False)
# # pull_args_start = exp_single.get_random_primitive_args(ind=cfg.GRASP_TO_PULL[start_face],
# random_goal=True)
# pull_args_goal = exp_single.get_random_primitive_args(ind=cfg.GRASP_TO_PULL[face],
# random_goal=True)
# pull_args_start['object_pose2_world'] = grasp_args['object_pose1_world']
# pull_args_goal['object_pose1_world'] = grasp_args['object_pose2_world']
# full_args = [pull_args_start, grasp_args, pull_args_goal]
# full_args = [grasp_args]
full_args = multistep_planner.get_args(exp_single,
exp_double,
face,
execute=False)
# obj_pose_final = exp_running.goal_pose_world_frame_mod
# palm_poses_obj_frame = {}
# y_normals = action_planner.get_palm_y_normals(palm_poses_world)
# delta = 2e-3
# for key in palm_poses_world.keys():
# palm_pose_world = palm_poses_world[key]
# # try to penetrate the object a small amount
# palm_pose_world.pose.position.x -= delta*y_normals[key].pose.position.x
# palm_pose_world.pose.position.y -= delta*y_normals[key].pose.position.y
# palm_pose_world.pose.position.z -= delta*y_normals[key].pose.position.z
# palm_poses_obj_frame[key] = util.convert_reference_frame(
# palm_pose_world, obj_pose_world, util.unit_pose())
valid_subplans = 0
valid_plans = []
for plan_args in full_args:
plan = action_planner.get_primitive_plan(plan_args['name'],
plan_args, 'right')
goal_viz.update_goal_state(
util.pose_stamped2list(plan_args['object_pose2_world']))
start_pose = plan_args['object_pose1_world']
goal_pose = plan_args['object_pose2_world']
if args.debug:
for _ in range(10):
simulation.visualize_object(
start_pose,
filepath=
"package://config/descriptions/meshes/objects/cuboids/"
+ cuboid_fname.split('objects/cuboids')[1],
name="/object_initial",
color=(1., 0., 0., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
simulation.visualize_object(
goal_pose,
filepath=
"package://config/descriptions/meshes/objects/cuboids/"
+ cuboid_fname.split('objects/cuboids')[1],
name="/object_final",
color=(0., 0., 1., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
rospy.sleep(.1)
simulation.simulate(plan,
cuboid_fname.split('objects/cuboids')[1])
else:
primitive_name = plan_args['name']
start_joints = {}
if primitive_name == 'pull':
start_joints['right'] = pull_cfg.RIGHT_INIT
start_joints['left'] = pull_cfg.LEFT_INIT
elif primitive_name == 'grasp':
start_joints['right'] = grasp_cfg.RIGHT_INIT
start_joints['left'] = grasp_cfg.LEFT_INIT
subplan_valid = action_planner.full_mp_check(
plan, primitive_name, start_joints=start_joints)
if subplan_valid:
print("subplan valid!")
valid_subplans += 1
valid_plans.append(plan)
else:
print("not valid, primitive: " + primitive_name)
if valid_subplans == len(full_args) and not args.debug:
yumi_ar.pb_client.reset_body(
obj_id,
util.pose_stamped2list(full_args[0]['object_pose1_world'])[:3],
util.pose_stamped2list(full_args[0]['object_pose1_world'])[3:])
for plan_args in full_args:
# teleport to start state, to avoid colliding with object during transit
primitive_name = plan_args['name']
time.sleep(0.1)
for _ in range(10):
if primitive_name == 'pull':
# yumi_gs.update_joints(pull_cfg.RIGHT_INIT + pull_cfg.LEFT_INIT)
yumi_gs.yumi_pb.arm.set_jpos(pull_cfg.RIGHT_INIT +
pull_cfg.LEFT_INIT,
ignore_physics=True)
elif primitive_name == 'grasp':
# yumi_gs.update_joints(grasp_cfg.RIGHT_INIT + grasp_cfg.LEFT_INIT)
yumi_gs.yumi_pb.arm.set_jpos(grasp_cfg.RIGHT_INIT +
grasp_cfg.LEFT_INIT,
ignore_physics=True)
try:
# should update the plan args start state to be the current simulator state
result = action_planner.execute(primitive_name, plan_args)
if result is not None:
print(str(result[0]))
except ValueError as e:
print("Value error: ")
print(e)
time.sleep(1.0)
if primitive_name == 'pull':
pose = util.pose_stamped2list(
yumi_gs.compute_fk(yumi_gs.get_jpos(arm='right')))
pos, ori = pose[:3], pose[3:]
# pose = yumi_gs.get_ee_pose()
# pos, ori = pose[0], pose[1]
# pos[2] -= 0.0714
pos[2] += 0.001
r_jnts = yumi_gs.compute_ik(pos, ori,
yumi_gs.get_jpos(arm='right'))
l_jnts = yumi_gs.get_jpos(arm='left')
if r_jnts is not None:
for _ in range(10):
pos[2] += 0.001
r_jnts = yumi_gs.compute_ik(
pos, ori, yumi_gs.get_jpos(arm='right'))
l_jnts = yumi_gs.get_jpos(arm='left')
if r_jnts is not None:
yumi_gs.update_joints(list(r_jnts) + l_jnts)
time.sleep(0.1)
time.sleep(0.1)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)