def reward(self):
"""Get delta rewards for current timestep.
Returns:
A tuple consisting of the scalar (delta) reward, plus `extras`
dict which has extra task-dependent info from the process of
computing rewards that gives us finer-grained details. Use
`extras` for further data analysis.
"""
reward, info = 0, {}
# Unpack next goal step.
objs, matches, targs, _, _, metric, params, max_reward = self.goals[0]
# Evaluate by matching object poses.
if metric == 'pose':
step_reward = 0
for i in range(len(objs)):
object_id, (symmetry, _) = objs[i]
pose = p.getBasePositionAndOrientation(object_id)
targets_i = np.argwhere(matches[i, :]).reshape(-1)
for j in targets_i:
target_pose = targs[j]
if self.is_match(pose, target_pose, symmetry):
step_reward += max_reward / len(objs)
break
# Evaluate by measuring object intersection with zone.
elif metric == 'zone':
zone_pts, total_pts = 0, 0
obj_pts, zones = params
for zone_pose, zone_size in zones:
# Count valid points in zone.
for obj_id in obj_pts:
pts = obj_pts[obj_id]
obj_pose = p.getBasePositionAndOrientation(obj_id)
world_to_zone = utils.invert(zone_pose)
obj_to_zone = utils.multiply(world_to_zone, obj_pose)
pts = np.float32(utils.apply(obj_to_zone, pts))
if len(zone_size) > 1:
valid_pts = np.logical_and.reduce([
pts[0, :] > -zone_size[0] / 2, pts[0, :] < zone_size[0] / 2,
pts[1, :] > -zone_size[1] / 2, pts[1, :] < zone_size[1] / 2,
pts[2, :] < self.bounds[2, 1]])
zone_pts += np.sum(np.float32(valid_pts))
total_pts += pts.shape[1]
step_reward = max_reward * (zone_pts / total_pts)
# Get cumulative rewards and return delta.
reward = self.progress + step_reward - self._rewards
self._rewards = self.progress + step_reward
# Move to next goal step if current goal step is complete.
if np.abs(max_reward - step_reward) < 0.01:
self.progress += max_reward # Update task progress.
self.goals.pop(0)
return reward, info
def act(obs, info): # pylint: disable=unused-argument
"""Calculate action."""
# Oracle uses perfect RGB-D orthographic images and segmentation masks.
_, hmap, obj_mask = self.get_true_image(env)
# Unpack next goal step.
objs, matches, targs, replace, rotations, _, _, _ = self.goals[0]
# Match objects to targets without replacement.
if not replace:
# Modify a copy of the match matrix.
matches = matches.copy()
# Ignore already matched objects.
for i in range(len(objs)):
object_id, (symmetry, _) = objs[i]
pose = p.getBasePositionAndOrientation(object_id)
targets_i = np.argwhere(matches[i, :]).reshape(-1)
for j in targets_i:
# SAY: check whether the object arrives its target.
if self.is_match(pose, targs[j], symmetry):
matches[i, :] = 0
matches[:, j] = 0
# Get objects to be picked (prioritize farthest from nearest neighbor).
nn_dists = []
nn_targets = []
for i in range(len(objs)):
object_id, (symmetry, _) = objs[i]
xyz, _ = p.getBasePositionAndOrientation(object_id)
targets_i = np.argwhere(matches[i, :]).reshape(-1)
if len(targets_i) > 0: # pylint: disable=g-explicit-length-test
targets_xyz = np.float32([targs[j][0] for j in targets_i])
dists = np.linalg.norm(
targets_xyz - np.float32(xyz).reshape(1, 3), axis=1)
nn = np.argmin(dists)
nn_dists.append(dists[nn])
nn_targets.append(targets_i[nn])
# Handle ignored objects.
else:
nn_dists.append(0)
nn_targets.append(-1)
order = np.argsort(nn_dists)[::-1]
# SAY: matched objects may be the ones that have been at the target location.
# Filter out matched objects.
order = [i for i in order if nn_dists[i] > 0]
pick_mask = None
for pick_i in order:
pick_mask = np.uint8(obj_mask == objs[pick_i][0])
# Erode to avoid picking on edges.
# pick_mask = cv2.erode(pick_mask, np.ones((3, 3), np.uint8))
if np.sum(pick_mask) > 0:
break
# Trigger task reset if no object is visible.
if pick_mask is None or np.sum(pick_mask) == 0:
self.goals = []
print('Object for pick is not visible. Skipping demonstration.')
return
# Get picking pose.
pick_prob = np.float32(pick_mask)
pick_pix = utils.sample_distribution(pick_prob)
# For "deterministic" demonstrations on insertion-easy, use this:
# pick_pix = (160,80)
pick_pos = utils.pix_to_xyz(pick_pix, hmap,
self.bounds, self.pix_size)
pick_pose = (np.asarray(pick_pos), np.asarray((0, 0, 0, 1)))
# Get placing pose.
targ_pose = targs[nn_targets[pick_i]] # pylint: disable=undefined-loop-variable
obj_pose = p.getBasePositionAndOrientation(objs[pick_i][0]) # pylint: disable=undefined-loop-variable
if not self.sixdof:
obj_euler = utils.quatXYZW_to_eulerXYZ(obj_pose[1])
obj_quat = utils.eulerXYZ_to_quatXYZW((0, 0, obj_euler[2]))
obj_pose = (obj_pose[0], obj_quat)
world_to_pick = utils.invert(pick_pose)
obj_to_pick = utils.multiply(world_to_pick, obj_pose)
pick_to_obj = utils.invert(obj_to_pick)
place_pose = utils.multiply(targ_pose, pick_to_obj)
# Rotate end effector?
if not rotations:
place_pose = (place_pose[0], (0, 0, 0, 1))
place_pose = (np.asarray(place_pose[0]), np.asarray(place_pose[1]))
return {'pose0': pick_pose, 'pose1': place_pose}