def open_npy_and_obj(name_to_open_):
"""从路径指定的npy文件中读取并返回
npy_m_: 抓取序列（只是针对某单个物体的抓取序列）
obj_: 待抓取物体的模型mesh（单个模型）
ply_name_: 待抓取物体的路径
object_name_: 待抓取物体的名称
"""
npy_m_ = np.load(name_to_open_)
file_dir = home_dir + "/PointNetGPD/data/ycb_meshes_google/"
object_name_ = name_to_open_.split("/")[-1][:-4]
#object_name_=object_name_.split("_")[-1][:-3]
print(object_name_)
ply_name_ = file_dir + object_name_ + "/google_512k/nontextured.ply"
if not check_pcd_grasp_points:
of = ObjFile(file_dir + object_name_ + "/google_512k/nontextured.obj")
sf = SdfFile(file_dir + object_name_ + "/google_512k/nontextured.sdf")
mesh = of.read()
sdf = sf.read()
obj_ = GraspableObject3D(sdf, mesh)
else:
cloud_path = home_dir + "/dataset/ycb_rgbd/" + object_name_ + "/clouds/"
pcd_files = glob.glob(cloud_path + "*.pcd")
obj_ = pcd_files
obj_.sort()
return npy_m_, obj_, ply_name_, object_name_
def test_contacts(self):
num_samples = 128
mu = 0.5
num_faces = 8
num_grasps = NUM_TEST_CASES
of = ObjFile(OBJ_FILENAME)
sf = SdfFile(SDF_FILENAME)
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
gripper = RobotGripper.load(GRIPPER_NAME)
ags = UniformGraspSampler(gripper, CONFIG)
grasps = ags.generate_grasps(obj, target_num_grasps=num_grasps)
for grasp in grasps:
success, c = grasp.close_fingers(obj)
if success:
c1, c2 = c
# test friction cones
fc1_exists, fc1, n1 = c1.friction_cone(num_cone_faces=num_faces,
friction_coef=mu)
if fc1_exists:
self.assertEqual(fc1.shape[1], num_faces)
alpha = np.tile(fc1.T.dot(c1.normal), [3,1]).T
w = np.tile(c1.normal.reshape(3,1), [1,8]).T
tan_vecs = fc1.T - alpha * w
self.assertTrue(np.allclose(np.linalg.norm(tan_vecs, axis=1), mu))
fc2_exists, fc2, n2 = c2.friction_cone(num_cone_faces=num_faces,
friction_coef=mu)
if fc2_exists:
self.assertEqual(fc2.shape[1], num_faces)
alpha = np.tile(fc2.T.dot(c2.normal), [3,1]).T
w = np.tile(c2.normal.reshape(3,1), [1,8]).T
tan_vecs = fc2.T - alpha * w
self.assertTrue(np.allclose(np.linalg.norm(tan_vecs, axis=1), mu))
# test reference frames
T_contact1_obj = c1.reference_frame(align_axes=True)
self.assertTrue(np.allclose(T_contact1_obj.z_axis, c1.in_direction))
self.assertTrue(np.allclose(T_contact1_obj.translation, c1.point))
for i in range(num_samples):
theta = 2 * i * np.pi / num_samples
v = np.cos(theta) * T_contact1_obj.x_axis + np.sin(theta) * T_contact1_obj.y_axis
self.assertLessEqual(v[0], T_contact1_obj.x_axis[0])
T_contact2_obj = c2.reference_frame(align_axes=True)
self.assertTrue(np.allclose(T_contact2_obj.z_axis, c2.in_direction))
self.assertTrue(np.allclose(T_contact2_obj.translation, c2.point))
for i in range(num_samples):
theta = 2 * i * np.pi / num_samples
v = np.cos(theta) * T_contact2_obj.x_axis + np.sin(theta) * T_contact2_obj.y_axis
self.assertLessEqual(v[0], T_contact2_obj.x_axis[0])
def open_npy_and_obj(name_to_open_):
npy_m_ = np.load(name_to_open_)
file_dir = home_dir + "/PointNetGPD/data/ycb-tools/models/ycb/"
object_name_ = name_to_open_.split("/")[-1][:-4]
ply_name_ = file_dir + object_name_ + "/google_512k/nontextured.ply"
if not check_pcd_grasp_points:
of = ObjFile(file_dir + object_name_ + "/google_512k/nontextured.obj")
sf = SdfFile(file_dir + object_name_ + "/google_512k/nontextured.sdf")
mesh = of.read()
sdf = sf.read()
obj_ = GraspableObject3D(sdf, mesh)
else:
cloud_path = home_dir + "/dataset/ycb_rgbd/" + object_name_ + "/clouds/"
pcd_files = glob.glob(cloud_path + "*.pcd")
obj_ = pcd_files
obj_.sort()
return npy_m_, obj_, ply_name_, object_name_
def test_antipodal_grasp_sampler(self):
of = ObjFile(OBJ_FILENAME)
sf = SdfFile(SDF_FILENAME)
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
gripper = RobotGripper.load(GRIPPER_NAME)
ags = AntipodalGraspSampler(gripper, CONFIG)
grasps = ags.generate_grasps(obj, target_num_grasps=NUM_TEST_CASES)
# test with raw force closure function
for i, grasp in enumerate(grasps):
success, c = grasp.close_fingers(obj)
if success:
c1, c2 = c
self.assertTrue(PointGraspMetrics3D.force_closure(c1, c2, CONFIG['sampling_friction_coef']))
def test_find_contacts(self):
of = ObjFile(OBJ_FILENAME)
sf = SdfFile(SDF_FILENAME)
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
surface_points, _ = obj.sdf.surface_points(grid_basis=False)
indices = np.arange(surface_points.shape[0])
for i in range(NUM_TEST_CASES):
np.random.shuffle(indices)
c1 = surface_points[0,:]
c2 = surface_points[1,:]
w = np.linalg.norm(c1 - c2) + 1e-2
g = ParallelJawPtGrasp3D.grasp_from_endpoints(c1, c2, width=w)
success, c = g.close_fingers(obj)
if success:
c1_est, c2_est = c
np.assertTrue(np.allclose(c1, c1_est, atol=1e-3, rtol=0.1))
np.assertTrue(np.allclose(c2, c2_est, atol=1e-3, rtol=0.1))
def test_force_closure(self):
of = ObjFile(OBJ_FILENAME)
sf = SdfFile(SDF_FILENAME)
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
for i in range(NUM_TEST_CASES):
contacts, normals, _, mu, _ = random_force_closure_test_case(antipodal=True)
c1 = Contact3D(obj, contacts[:,0])
c1.normal = normals[:,0]
c2 = Contact3D(obj, contacts[:,1])
c2.normal = normals[:,1]
self.assertTrue(PointGraspMetrics3D.force_closure(c1, c2, mu, use_abs_value=False))
for i in range(NUM_TEST_CASES):
contacts, normals, _, mu, _ = random_force_closure_test_case(antipodal=False)
c1 = Contact3D(obj, contacts[:,0])
c1.normal = normals[:,0]
c2 = Contact3D(obj, contacts[:,1])
c2.normal = normals[:,1]
self.assertFalse(PointGraspMetrics3D.force_closure(c1, c2, mu, use_abs_value=False))
def open_pickle_and_obj(name_to_open_):
pickle_names_ = get_pickle_file_name(
home_dir + "/code/grasp-pointnet/dex-net/apps/generated_grasps")
suggestion_pickle = fuzzy_finder(name_to_open_, pickle_names_)
if len(suggestion_pickle) != 1:
print("Pickle file suggestions:", suggestion_pickle)
exit("Name error for pickle file!")
pickle_m_ = pickle.load(open(suggestion_pickle[0], 'rb'))
file_dir = home_dir + "/dataset/ycb_meshes_google/objects"
file_list_all = get_file_name(file_dir)
new_sug = re.findall(r'_\d+', suggestion_pickle[0], flags=0)
new_sug = new_sug[0].split('_')
new_sug = new_sug[1]
suggestion = fuzzy_finder(new_sug, file_list_all)
# very dirty way to support name with "-a, -b etc."
if len(suggestion) != 1:
new_sug = re.findall(r'_\d+\W\w', suggestion_pickle[0], flags=0)
new_sug = new_sug[0].split('_')
new_sug = new_sug[1]
suggestion = fuzzy_finder(new_sug, file_list_all)
if len(suggestion) != 1:
exit("Name error for obj file!")
object_name_ = suggestion[0][len(file_dir) + 1:]
ply_name_ = suggestion[0] + "/google_512k/nontextured.ply"
if not check_pcd_grasp_points:
of = ObjFile(suggestion[0] + "/google_512k/nontextured.obj")
sf = SdfFile(suggestion[0] + "/google_512k/nontextured.sdf")
mesh = of.read()
sdf = sf.read()
obj_ = GraspableObject3D(sdf, mesh)
else:
cloud_path = home_dir + "/code/grasp-pointnet/pointGPD/data/ycb_rgbd/" + object_name_ + "/clouds/"
pcd_files = glob.glob(cloud_path + "*.pcd")
obj_ = pcd_files
obj_.sort()
return pickle_m_, obj_, ply_name_, object_name_
def antipodal_grasp_sampler(self):
of = ObjFile(OBJ_FILENAME)
sf = SdfFile(SDF_FILENAME)
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
gripper = RobotGripper.load(GRIPPER_NAME)
ags = AntipodalGraspSampler(gripper, CONFIG)
grasps = ags.generate_grasps(obj, target_num_grasps=10)
quality_config = GraspQualityConfigFactory.create_config(
CONFIG['metrics']['force_closure'])
quality_fn = GraspQualityFunctionFactory.create_quality_function(
obj, quality_config)
q_to_c = lambda quality: CONFIG['quality_scale']
i = 0
vis.figure()
vis.mesh(obj.mesh.trimesh, style='surface')
for grasp in grasps:
print(grasp.frame)
success, c = grasp.close_fingers(obj)
if success:
c1, c2 = c
fn_fc = quality_fn(grasp).quality
true_fc = PointGraspMetrics3D.force_closure(
c1, c2, quality_config.friction_coef)
#print(grasp)
T_obj_world = RigidTransform(from_frame='obj', to_frame='world')
color = plt.get_cmap('hsv')(q_to_c(CONFIG['metrics']))[:-1]
T_obj_gripper = grasp.gripper_pose(gripper)
#vis.grasp(grasp,grasp_axis_color=color,endpoint_color=color)
i += 1
#T_obj_world = RigidTransform(from_frame='obj',to_frame='world')
vis.show(False)
def open_pickle_and_obj(object_to_display):
pickle_names_ = get_pickle_file_name(grasps_dir)
suggestion_pickle = fuzzy_finder(object_to_display['object_name'],
pickle_names_)
if len(suggestion_pickle) != 1:
print("Pickle file suggestions:", suggestion_pickle)
exit("Name error for pickle file!")
pickle_m_ = pickle.load(open(suggestion_pickle[0], 'rb'))
object_name_ = object_to_display['object_name']
ply_name_ = object_to_display['obj_file'].replace('.obj', '.stl')
if not check_pcd_grasp_points:
of = ObjFile(object_to_display['obj_file'])
sf = SdfFile(object_to_display['sdf_file'])
mesh = of.read()
sdf = sf.read()
obj_ = GraspableObject3D(sdf, mesh)
else:
cloud_path = home_dir + "/code/grasp-pointnet/pointGPD/data/ycb_rgbd/" + object_name_ + "/clouds/"
pcd_files = glob.glob(cloud_path + "*.pcd")
obj_ = pcd_files
obj_.sort()
return pickle_m_, obj_, ply_name_, object_name_
def test_grasp_quality_functions(self):
num_grasps = NUM_TEST_CASES
of = ObjFile(OBJ_FILENAME)
sf = SdfFile(SDF_FILENAME)
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
gripper = RobotGripper.load(GRIPPER_NAME)
ags = UniformGraspSampler(gripper, CONFIG)
grasps = ags.generate_grasps(obj, target_num_grasps=num_grasps)
# test with grasp quality function
quality_config = GraspQualityConfigFactory.create_config(CONFIG['metrics']['force_closure'])
quality_fn = GraspQualityFunctionFactory.create_quality_function(obj, quality_config)
for i, grasp in enumerate(grasps):
success, c = grasp.close_fingers(obj)
if success:
c1, c2 = c
fn_fc = quality_fn(grasp).quality
true_fc = PointGraspMetrics3D.force_closure(c1, c2, quality_config.friction_coef)
self.assertEqual(fn_fc, true_fc)
import os import copy import numpy as np import open3d as o3d from meshpy.obj_file import ObjFile from meshpy.sdf_file import SdfFile home_dir = os.environ['HOME'] file_dir = home_dir + "/Projects/GPD_PointNet/extract_normals" of = ObjFile(file_dir + "/mesh_ascii_with_normal_crop.obj") obj = of.read() center_of_mass = obj.center_of_mass print(center_of_mass) cloud = o3d.io.read_point_cloud(file_dir + "/mesh_ascii_with_normal.ply") mesh = o3d.io.read_triangle_mesh(file_dir + "/mesh_ascii_with_normal.ply") mesh_sphere = o3d.geometry.create_mesh_sphere(radius=0.005) mesh_sphere.compute_vertex_normals() mesh_sphere.paint_uniform_color([1.0, 0.0, 0.0]) transformation = np.identity(4) transformation[:3, 3] = center_of_mass mesh_sphere.transform(transformation) o3d.draw_geometries([cloud, mesh_sphere])
def test_new_database_and_graspable(self):
# new database
database = Hdf5Database(TEST_DB_NAME, access_level=READ_WRITE_ACCESS)
database.close()
self.assertTrue(database is not None)
# new dataset
database = Hdf5Database(TEST_DB_NAME, access_level=READ_WRITE_ACCESS)
database.create_dataset(TEST_DS_NAME)
database.close()
self.assertTrue(database is not None)
# read existing dataset
database = Hdf5Database(TEST_DB_NAME, access_level=READ_WRITE_ACCESS)
dataset = database.dataset(TEST_DS_NAME)
self.assertTrue(database is not None and dataset is not None)
# create graspable
mass = 1.0
CONFIG['obj_rescaling_type'] = RescalingType.RELATIVE
mesh_processor = MeshProcessor(OBJ_FILENAME, CONFIG['cache_dir'])
mesh_processor.generate_graspable(CONFIG)
dataset.create_graspable(mesh_processor.key, mesh_processor.mesh,
mesh_processor.sdf,
mesh_processor.stable_poses,
mass=mass)
# read graspable and ensure data integrity
obj = dataset[mesh_processor.key]
self.assertTrue(obj.key == mesh_processor.key)
write_vertices = mesh_processor.mesh.vertices
write_triangles = mesh_processor.mesh.triangles
write_sdf_data = mesh_processor.sdf.data
write_stable_poses = mesh_processor.stable_poses
load_vertices = obj.mesh.vertices
load_triangles = obj.mesh.triangles
load_sdf_data = obj.sdf.data
load_stable_poses = dataset.stable_poses(obj.key)
self.assertTrue(np.allclose(write_vertices, load_vertices))
self.assertTrue(np.allclose(write_triangles, load_triangles))
self.assertTrue(np.allclose(write_sdf_data, load_sdf_data))
self.assertTrue(obj.mass == mass)
for wsp, lsp in zip(write_stable_poses, load_stable_poses):
self.assertTrue(np.allclose(wsp.r, lsp.r))
self.assertTrue(np.allclose(wsp.p, lsp.p))
self.assertTrue(database is not None and dataset is not None)
# test loop access
for obj in dataset:
key = obj.key
# test direct access
obj = dataset[key]
self.assertTrue(obj.key == key)
# read / write meshing
obj = dataset[dataset.object_keys[0]]
mesh_filename = dataset.obj_mesh_filename(obj.key, overwrite=True)
f = ObjFile(mesh_filename)
load_mesh = f.read()
write_vertices = np.array(obj.mesh.vertices)
write_triangles = np.array(obj.mesh.triangles)
load_vertices = np.array(load_mesh.vertices)
load_triangles = np.array(load_mesh.triangles)
self.assertTrue(np.allclose(write_vertices, load_vertices, atol=1e-5))
self.assertTrue(np.allclose(write_triangles, load_triangles, atol=1e-5))
# test rendering images
stable_poses = dataset.stable_poses(obj.key)
stable_pose = stable_poses[0]
# setup virtual camera
width = CONFIG['width']
height = CONFIG['height']
f = CONFIG['focal']
cx = float(width) / 2
cy = float(height) / 2
ci = CameraIntrinsics('camera', fx=f, fy=f, cx=cx, cy=cy,
height=height, width=width)
vp = ViewsphereDiscretizer(min_radius=CONFIG['min_radius'],
max_radius=CONFIG['max_radius'],
num_radii=CONFIG['num_radii'],
min_elev=CONFIG['min_elev']*np.pi,
max_elev=CONFIG['max_elev']*np.pi,
num_elev=CONFIG['num_elev'],
num_az=CONFIG['num_az'],
num_roll=CONFIG['num_roll'])
vc = VirtualCamera(ci)
# render segmasks and depth
render_modes = [RenderMode.SEGMASK, RenderMode.DEPTH, RenderMode.SCALED_DEPTH]
for render_mode in render_modes:
rendered_images = vc.wrapped_images_viewsphere(obj.mesh, vp,
render_mode,
stable_pose)
pre_store_num_images = len(rendered_images)
dataset.store_rendered_images(obj.key, rendered_images,
stable_pose_id=stable_pose.id,
render_mode=render_mode)
rendered_images = dataset.rendered_images(obj.key,
stable_pose_id=stable_pose.id,
render_mode=render_mode)
post_store_num_images = len(rendered_images)
self.assertTrue(pre_store_num_images == post_store_num_images)
# test read / write grasp metrics
metric_name = CONFIG['metrics'].keys()[0]
metric_config = CONFIG['metrics'][metric_name]
dataset.create_metric(metric_name, metric_config)
load_metric_config = dataset.metric(metric_name)
self.assertTrue(dataset.has_metric(metric_name))
for key, value in metric_config.iteritems():
if isinstance(value, dict):
for k, v in value.iteritems():
self.assertTrue(load_metric_config[key][k] == v)
else:
self.assertTrue(load_metric_config[key] == value)
dataset.delete_metric(metric_name)
self.assertFalse(dataset.has_metric(metric_name))
# test read / write grasps
num_grasps = NUM_DB_GRASPS
database = Hdf5Database(TEST_DB_NAME, access_level=READ_WRITE_ACCESS)
dataset = database.dataset(TEST_DS_NAME)
key = dataset.object_keys[0]
grasps = []
grasp_metrics = {}
for i in range(num_grasps):
configuration = np.random.rand(9)
configuration[3:6] = configuration[3:6] / np.linalg.norm(configuration[3:6])
random_grasp = ParallelJawPtGrasp3D(configuration)
grasps.append(random_grasp)
dataset.store_grasps(key, grasps)
loaded_grasps = dataset.grasps(key)
for g in loaded_grasps:
grasp_metrics[g.id] = {}
grasp_metrics[g.id]['force_closure'] = 1 * (np.random.rand() > 0.5)
for g1, g2 in zip(grasps, loaded_grasps):
self.assertTrue(np.allclose(g1.configuration, g2.configuration))
self.assertTrue(dataset.has_grasps(key))
dataset.store_grasp_metrics(key, grasp_metrics)
loaded_grasp_metrics = dataset.grasp_metrics(key, loaded_grasps)
for i, metrics in loaded_grasp_metrics.iteritems():
self.assertTrue(metrics['force_closure'] == grasp_metrics[i]['force_closure'])
# remove grasps
dataset.delete_grasps(key)
self.assertFalse(dataset.has_grasps(key))
# remove rendered images
render_modes = [RenderMode.SEGMASK, RenderMode.DEPTH, RenderMode.SCALED_DEPTH]
for render_mode in render_modes:
dataset.delete_rendered_images(key, stable_pose_id=stable_pose.id,
render_mode=render_mode)
rendered_images = dataset.rendered_images(key,
stable_pose_id=stable_pose.id,
render_mode=render_mode)
self.assertTrue(len(rendered_images) == 0)
# remove graspable
database = Hdf5Database(TEST_DB_NAME, access_level=READ_WRITE_ACCESS)
dataset = database.dataset(TEST_DS_NAME)
key = dataset.object_keys[0]
dataset.delete_graspable(key)
obj_deleted = False
try:
obj = dataset[key]
except:
obj_deleted = True
self.assertTrue(obj_deleted)
database.close()
def test_init_graspable(self):
of = ObjFile(OBJ_FILENAME)
sf = SdfFile(SDF_FILENAME)
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
def worker(i, sample_nums, grasp_amount, good_grasp):
object_name = file_list_all[i][len(home_dir) + 35:]
print('a worker of task {} start'.format(object_name))
yaml_config = YamlConfig(home_dir +
"/code/grasp-pointnet/dex-net/test/config.yaml")
gripper_name = 'robotiq_85'
gripper = RobotGripper.load(
gripper_name, home_dir + "/code/grasp-pointnet/dex-net/data/grippers")
grasp_sample_method = "antipodal"
if grasp_sample_method == "uniform":
ags = UniformGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "gaussian":
ags = GaussianGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "antipodal":
ags = AntipodalGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "gpg":
ags = GpgGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "point":
ags = PointGraspSampler(gripper, yaml_config)
else:
raise NameError("Can't support this sampler")
print("Log: do job", i)
if os.path.exists(str(file_list_all[i]) + "/google_512k/nontextured.obj"):
of = ObjFile(str(file_list_all[i]) + "/google_512k/nontextured.obj")
sf = SdfFile(str(file_list_all[i]) + "/google_512k/nontextured.sdf")
else:
print("can't find any obj or sdf file!")
raise NameError("can't find any obj or sdf file!")
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
print("Log: opened object", i + 1, object_name)
force_closure_quality_config = {}
canny_quality_config = {}
fc_list_sub1 = np.arange(2.0, 0.75, -0.4)
fc_list_sub2 = np.arange(0.5, 0.36, -0.05)
fc_list = np.concatenate([fc_list_sub1, fc_list_sub2])
for value_fc in fc_list:
value_fc = round(value_fc, 2)
yaml_config['metrics']['force_closure']['friction_coef'] = value_fc
yaml_config['metrics']['robust_ferrari_canny'][
'friction_coef'] = value_fc
force_closure_quality_config[
value_fc] = GraspQualityConfigFactory.create_config(
yaml_config['metrics']['force_closure'])
canny_quality_config[
value_fc] = GraspQualityConfigFactory.create_config(
yaml_config['metrics']['robust_ferrari_canny'])
good_count_perfect = np.zeros(len(fc_list))
count = 0
minimum_grasp_per_fc = grasp_amount
while np.sum(good_count_perfect < minimum_grasp_per_fc) != 0:
grasps = ags.generate_grasps(obj,
target_num_grasps=sample_nums,
grasp_gen_mult=10,
vis=False,
random_approach_angle=True)
count += len(grasps)
for j in grasps:
tmp, is_force_closure = False, False
for ind_, value_fc in enumerate(fc_list):
value_fc = round(value_fc, 2)
tmp = is_force_closure
is_force_closure = PointGraspMetrics3D.grasp_quality(
j, obj, force_closure_quality_config[value_fc], vis=False)
if tmp and not is_force_closure:
if good_count_perfect[ind_ - 1] < minimum_grasp_per_fc:
canny_quality = PointGraspMetrics3D.grasp_quality(
j,
obj,
canny_quality_config[round(fc_list[ind_ - 1], 2)],
vis=False)
good_grasp.append((j, round(fc_list[ind_ - 1],
2), canny_quality))
good_count_perfect[ind_ - 1] += 1
break
elif is_force_closure and value_fc == fc_list[-1]:
if good_count_perfect[ind_] < minimum_grasp_per_fc:
canny_quality = PointGraspMetrics3D.grasp_quality(
j, obj, canny_quality_config[value_fc], vis=False)
good_grasp.append((j, value_fc, canny_quality))
good_count_perfect[ind_] += 1
break
print('Object:{} GoodGrasp:{}'.format(object_name, good_count_perfect))
object_name_len = len(object_name)
object_name_ = str(object_name) + " " * (25 - object_name_len)
if count == 0:
good_grasp_rate = 0
else:
good_grasp_rate = len(good_grasp) / count
print('Gripper:{} Object:{} Rate:{:.4f} {}/{}'.format(
gripper_name, object_name_, good_grasp_rate, len(good_grasp), count))
def worker(i, sample_nums, grasp_amount, good_grasp): #主要是抓取采样器以及打分 100 20
"""
brief: 对制定的模型，利用随机采样算法，进行抓取姿态的检测和打分
param [in] i 处理第i个mesh模型
param [in] sample_nums 每个对象模型返回的目标抓取数量
param [in] grasp_amount
"""
#截取目标对象名称
object_name = file_list_all[i][len(home_dir) + 35:]
print('a worker of task {} start'.format(object_name))
#读取初始配置文件，读取并在内存中复制了一份
yaml_config = YamlConfig(home_dir + "/code/dex-net/test/config.yaml")
#设置夹名称
gripper_name = 'panda'
#根据设置的夹爪名称加载夹爪配置
gripper = RobotGripper.load(gripper_name,
home_dir + "/code/dex-net/data/grippers")
#设置抓取采样的方法
grasp_sample_method = "antipodal"
if grasp_sample_method == "uniform":
ags = UniformGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "gaussian":
ags = GaussianGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "antipodal":
#使用对映点抓取，输入夹爪与配置文件
ags = AntipodalGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "gpg":
ags = GpgGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "point":
ags = PointGraspSampler(gripper, yaml_config)
else:
raise NameError("Can't support this sampler")
print("Log: do job", i)
#设置obj模型文件与sdf文件路径
if os.path.exists(str(file_list_all[i]) +
"/google_512k/nontextured.obj") and os.path.exists(
str(file_list_all[i]) +
"/google_512k/nontextured.sdf"):
of = ObjFile(str(file_list_all[i]) + "/google_512k/nontextured.obj")
sf = SdfFile(str(file_list_all[i]) + "/google_512k/nontextured.sdf")
else:
print("can't find any obj or sdf file!")
raise NameError("can't find any obj or sdf file!")
#根据路径读取模型与sdf文件
mesh = of.read()
sdf = sf.read()
#构建抓取模型类
obj = GraspableObject3D(sdf, mesh)
print("Log: opened object", i + 1, object_name)
#########################################
#设置
force_closure_quality_config = {} #设置力闭合 字典
canny_quality_config = {}
#生成一个起点是2.0终点是0.75 步长为-0.4 （递减）的等距数列fc_list_sub1 (2.0, 0.75, -0.4)
fc_list_sub1 = np.arange(2.0, 0.75, -0.3)
#生成一个起点是0.5终点是0.36 步长为-0.05的等距数列fc_list_sub2 (0.5, 0.36, -0.05)
fc_list_sub2 = np.arange(0.5, 0.36, -0.1)
#将上面两个向量接起来，变成一个长条向量，使用不同的步长，目的是为了在更小摩擦力的时候，有更多的分辨率
fc_list = np.concatenate([fc_list_sub1, fc_list_sub2])
print("判断摩擦系数")
print(fc_list)
for value_fc in fc_list:
#对value_fc保留2位小数，四舍五入
value_fc = round(value_fc, 2)
#更改内存中配置中的摩擦系数，而没有修改硬盘中的yaml文件
yaml_config['metrics']['force_closure']['friction_coef'] = value_fc
yaml_config['metrics']['robust_ferrari_canny'][
'friction_coef'] = value_fc
#把每个摩擦力值当成键，
force_closure_quality_config[
value_fc] = GraspQualityConfigFactory.create_config(
yaml_config['metrics']['force_closure'])
canny_quality_config[
value_fc] = GraspQualityConfigFactory.create_config(
yaml_config['metrics']['robust_ferrari_canny'])
#####################准备开始采样############################
#填充一个与摩擦数量相同的数组，每个对应的元素都是0
good_count_perfect = np.zeros(len(fc_list))
count = 0
#设置每个摩擦值需要计算的最少抓取数量 （根据指定输入值20）
minimum_grasp_per_fc = grasp_amount
#如果每个摩擦系数下，有效的抓取(满足力闭合或者其他判断标准)小于要求值，就一直循环查找，直到所有摩擦系数条件下至少都存在20个有效抓取
while np.sum(good_count_perfect < minimum_grasp_per_fc) != 0:
#开始使用antipodes sample获得对映随机抓取，此时并不判断是否满足力闭合，只是先采集满足夹爪条件的抓取
#如果一轮多次随机采样之后，发现无法获得指定数量的随机抓取，就会重复迭代计算3次，之后放弃，并把已经找到的抓取返回来
grasps = ags.generate_grasps(obj,
target_num_grasps=sample_nums,
grasp_gen_mult=10,
max_iter=10,
vis=False,
random_approach_angle=True)
count += len(grasps)
#循环对每个采样抓取进行判断
for j in grasps:
tmp, is_force_closure = False, False
#循环对某个采样抓取应用不同的抓取摩擦系数，判断是否是力闭合
for ind_, value_fc in enumerate(fc_list):
value_fc = round(value_fc, 2)
tmp = is_force_closure
#判断在当前给定的摩擦系数下，抓取是否是力闭合的
is_force_closure = PointGraspMetrics3D.grasp_quality(
j, obj, force_closure_quality_config[value_fc], vis=False)
#假设当前,1号摩擦力为1.6 抓取不是力闭合的，但是上一个0号摩擦系数2.0 条件下抓取是力闭合的
if tmp and not is_force_closure:
#当0号2.0摩擦系数条件下采样的good抓取数量还不足指定的最低数量20
if good_count_perfect[ind_ - 1] < minimum_grasp_per_fc:
#以0号摩擦系数作为边界
canny_quality = PointGraspMetrics3D.grasp_quality(
j,
obj,
canny_quality_config[round(fc_list[ind_ - 1], 2)],
vis=False)
good_grasp.append((j, round(fc_list[ind_ - 1],
2), canny_quality))
#在0号系数的good抓取下计数加1
good_count_perfect[ind_ - 1] += 1
#当前抓取j的边界摩擦系数找到了，退出摩擦循环，判断下一个抓取
break
#如果当前1号摩擦系数1.6条件下，该抓取j本身就是力闭合的，且摩擦系数是列表中的最后一个（所有的摩擦系数都判断完了）
elif is_force_closure and value_fc == fc_list[-1]:
if good_count_perfect[ind_] < minimum_grasp_per_fc:
#以当前摩擦系数作为边界
canny_quality = PointGraspMetrics3D.grasp_quality(
j, obj, canny_quality_config[value_fc], vis=False)
good_grasp.append((j, value_fc, canny_quality))
good_count_perfect[ind_] += 1
#当前抓取j关于当前摩擦系数1.6判断完毕，而且满足所有的摩擦系数，就换到下一个摩擦系数
break
print('Object:{} GoodGrasp:{}'.format(object_name,
good_count_perfect)) #判断
object_name_len = len(object_name)
object_name_ = str(object_name) + " " * (25 - object_name_len)
if count == 0:
good_grasp_rate = 0
else:
good_grasp_rate = len(good_grasp) / count
print('Gripper:{} Object:{} Rate:{:.4f} {}/{}'.format(
gripper_name, object_name_, good_grasp_rate, len(good_grasp), count))
def worker(i, sample_nums, grasp_amount, good_grasp):
object_name = file_list_all[i][len(home_dir) + 48:-12]
print('a worker of task {} start'.format(object_name))
yaml_config = YamlConfig(home_dir +
"/Projects/PointNetGPD/dex-net/test/config.yaml")
gripper_name = 'robotiq_85'
gripper = RobotGripper.load(
gripper_name, home_dir + "/Projects/PointNetGPD/dex-net/data/grippers")
grasp_sample_method = "antipodal"
if grasp_sample_method == "uniform":
ags = UniformGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "gaussian":
ags = GaussianGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "antipodal":
ags = AntipodalGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "gpg":
ags = GpgGraspSampler(gripper, yaml_config)
elif grasp_sample_method == "point":
ags = PointGraspSampler(gripper, yaml_config)
else:
raise NameError("Can't support this sampler")
print("Log: do job", i)
if os.path.exists(str(file_list_all[i]) + "/nontextured.obj"):
of = ObjFile(str(file_list_all[i]) + "/nontextured.obj")
sf = SdfFile(str(file_list_all[i]) + "/nontextured.sdf")
else:
print("can't find any obj or sdf file!")
raise NameError("can't find any obj or sdf file!")
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
print("Log: opened object", i + 1, object_name)
force_closure_quality_config = {}
canny_quality_config = {}
fc_list_sub1 = np.arange(2.0, 0.75, -0.4)
fc_list_sub2 = np.arange(0.5, 0.36, -0.05)
fc_list = np.concatenate(
[fc_list_sub1,
fc_list_sub2]) # 摩擦系数列表 fc_list [2. 1.6 1.2 0.8 0.5 0.45 0.4 ]
print("fc_list", fc_list, "fc_list[-1]", fc_list[-1])
for value_fc in fc_list:
value_fc = round(value_fc, 2)
yaml_config['metrics']['force_closure']['friction_coef'] = value_fc
yaml_config['metrics']['robust_ferrari_canny'][
'friction_coef'] = value_fc
force_closure_quality_config[
value_fc] = GraspQualityConfigFactory.create_config(
yaml_config['metrics']['force_closure'])
canny_quality_config[
value_fc] = GraspQualityConfigFactory.create_config(
yaml_config['metrics']['robust_ferrari_canny'])
good_count_perfect = np.zeros(len(fc_list))
count = 0
minimum_grasp_per_fc = grasp_amount
# 各个摩擦系数生成一些抓取
while np.sum(good_count_perfect < minimum_grasp_per_fc
) != 0 and good_count_perfect[-1] < minimum_grasp_per_fc:
print("[INFO]:good | mini", good_count_perfect, minimum_grasp_per_fc)
print("[INFO]:good < mini", good_count_perfect < minimum_grasp_per_fc,
np.sum(good_count_perfect < minimum_grasp_per_fc))
grasps = ags.generate_grasps(
obj,
target_num_grasps=sample_nums,
grasp_gen_mult=10, # 生成抓取姿态
vis=False,
random_approach_angle=True) # 随机调整抓取方向
print("\033[0;32m%s\033[0m" %
"[INFO] Worker{} generate {} grasps.".format(i, len(grasps)))
count += len(grasps)
for j in grasps: # 遍历生成的抓取姿态, 判断是否为力闭合, 及其对应的摩擦系数
tmp, is_force_closure = False, False
for ind_, value_fc in enumerate(fc_list): # 为每个摩擦系数分配抓取姿态
value_fc = round(value_fc, 2)
tmp = is_force_closure
is_force_closure = PointGraspMetrics3D.grasp_quality(
j,
obj, # 依据摩擦系数 value_fc 评估抓取姿态
force_closure_quality_config[value_fc],
vis=False)
print("[INFO] is_force_closure:", is_force_closure,
"value_fc:", value_fc, "tmp:", tmp)
if tmp and not is_force_closure: # 前一个摩擦系数下为力闭合, 当前摩擦系数下非力闭合, 即找到此抓取对应的最小摩擦系数
print("[debug] tmp and not is_force_closure")
if good_count_perfect[ind_ - 1] < minimum_grasp_per_fc:
canny_quality = PointGraspMetrics3D.grasp_quality(
j,
obj,
canny_quality_config[round(fc_list[ind_ - 1], 2)],
vis=False)
good_grasp.append(
(j, round(fc_list[ind_ - 1],
2), canny_quality)) # 保存前一个抓取
good_count_perfect[ind_ - 1] += 1
break
elif is_force_closure and value_fc == fc_list[
-1]: # 力闭合并且摩擦系数最小
print(
"[debug] is_force_closure and value_fc == fc_list[-1]")
if good_count_perfect[ind_] < minimum_grasp_per_fc:
canny_quality = PointGraspMetrics3D.grasp_quality(
j, obj, canny_quality_config[value_fc], vis=False)
good_grasp.append((j, value_fc, canny_quality))
good_count_perfect[ind_] += 1
break
print('Worker:', i,
'Object:{} GoodGrasp:{}'.format(object_name, good_count_perfect))
object_name_len = len(object_name)
object_name_ = str(object_name) + " " * (25 - object_name_len)
if count == 0:
good_grasp_rate = 0
else:
good_grasp_rate = len(good_grasp) / count
print(
'Worker:', i, 'Gripper:{} Object:{} Rate:{:.4f} {}/{}'.format(
gripper_name, object_name_, good_grasp_rate, len(good_grasp),
count))
if __name__ == '__main__':
home_dir = os.environ['HOME']
file_dir = home_dir + "/dataset/ycb_meshes_google/objects"
mlab.figure(bgcolor=(1.0, 1.0, 1.0), fgcolor=(0.7, 0.7, 0.7))
file_list_all = get_file_name(file_dir)
object_numbers = file_list_all.__len__()
i = 0 # index of objects to define which object to show
if os.path.exists(str(file_list_all[i]) + "/google_512k/nontextured.obj"):
of = ObjFile(str(file_list_all[i]) + "/google_512k/nontextured.obj")
sf = SdfFile(str(file_list_all[i]) + "/google_512k/nontextured.sdf")
else:
print("can't find any obj or sdf file!")
raise NameError("can't find any obj or sdf file!")
mesh = of.read()
sdf = sf.read()
graspable = GraspableObject3D(sdf, mesh)
print("Log: opened object")
begin_time = time.time()
surface_points, _ = graspable.sdf.surface_points(grid_basis=False)
all_p = surface_points
method = "voxel"
if method == "random":
surface_points = surface_points[np.random.choice(
surface_points.shape[0], 1000, replace=False)]
surface_normal = []
elif method == "voxel":
surface_points = surface_points.astype(np.float32)
p = pcl.PointCloud(surface_points)
voxel = p.make_voxel_grid_filter()