def isActionStable_multiproc(args):
name, cells, x, y, yaw, action, name_actor, type_actor, dims_actor = args
sim = SimBullet(gui=False)
sim.addObject('plane','plane')
sim.addObject(name, cells, [0,0,0,1], 0,0,0)
sim.addObject(name_actor,type_actor,[0,0,0,1])
sim.setObjectPose(name,x,y,yaw)
(x0,y0,z0),q0 = sim.getObjectPose(name,ndims=3)
KinoPlanner.applyAction(sim, name,x,y,yaw, \
action,name_actor,dims_actor)
(x1,y1,z1),q1 = sim.getObjectPose(name,ndims=3)
q0 = q0.normalised
q1 = q1.normalised
dist_q = 1 - np.dot(q0.q,q1.q)**2
return z1>0 or dist_q<0.003 # <10degree
def draw_result(fp_label,
fp_res,
fp_massmap,
fp_posres,
setups,
masses_gt=[1, 1, 1, 1],
iters=[
-1,
0,
1,
2,
]):
cmap = matplotlib.cm.coolwarm
#cnorm = matplotlib.colors.Normalize(vmin=0.1,vmax=4.9)
obj = os.path.split(fp_label)[1].split('_')[0]
sim = SimBullet(gui=False)
#sim._p.setGravity(0,0,-9.8)
sim.addObject('table_rect', 'table_rect', [1, 1, 1, 0])
sim.setupRendering(0.75, -90, -60, 500, 500)
img_label = cv2.imread(fp_label, cv2.IMREAD_UNCHANGED)
labels = np.unique(img_label)
cells = CellPhysicsBase.createCells(img_label, masses_gt, 0.53 / 640.0)
sim.addObject(obj, cells, [0, 0, 1, 1])
sim.setObjectPose(obj, 0, 0, 0)
cellinfos = sim.getCellBodyProperties(obj)
vmax = max([info['mass'] for info in cellinfos])
vmin = min([info['mass'] for info in cellinfos])
cnorm = matplotlib.colors.Normalize(vmin=vmin, vmax=vmax)
for info in cellinfos:
info['color'] = cmap(cnorm(info['mass']))
sim.setCellBodyProperties(obj, cellinfos)
img = sim.draw()
img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
cv2.imwrite(fp_massmap % -3, img)
f = open(fp_res, 'rb')
res = pickle.load(f)
f.close()
# estimation example
cellinfos = res['history'][-1]['cellinfos']
#cnorm = matplotlib.colors.Normalize(vmin=0.1,vmax=5)
for info in cellinfos[obj]:
info['color'] = cmap(cnorm((vmax - vmin) * 0.5))
sim.setCellBodyProperties(obj, cellinfos[obj])
img = sim.draw()
img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
cv2.imwrite(fp_massmap % -2, img)
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
for it in iters:
if it >= len(res['history']):
continue
cellinfos = res['history'][it]['cellinfos']
#vmax = max([info['mass'] for info in cellinfos[obj]])
#vmin = min([info['mass'] for info in cellinfos[obj]])
#cnorm = matplotlib.colors.Normalize(vmin=vmin,vmax=vmax)
for info in cellinfos[obj]:
info['color'] = cmap(cnorm(info['mass']))
sim.setCellBodyProperties(obj, cellinfos[obj])
img = sim.draw()
img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
cv2.imwrite(fp_massmap % it, img)
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
return
# debug image
sim.setupRendering(0.75, 90, -90, 500, 500)
sim.addObject('finger1', 'finger', [1, 1, 0.9, 1])
sim.addObject('finger2', 'finger', [1, 1, 0.6, 1])
sim.addObject('finger3', 'finger', [1, 1, 0.3, 1])
sim.addObject('init', cells, [0.7, 0.7, 0.7, 1])
pos, rot = sim.getPosRot(sim.objects['init']['shape'], 0, 0, 0)
pos[2] = pos[2] - 0.002
sim._p.resetBasePositionAndOrientation(sim.objects['init']['bodyId'], pos,
rot)
sim.addObject('gt', cells, [0, 1, 0, 1])
for i in range(len(res['history'][-1]['test_poses'])):
if 'real' not in setups:
pixel2meter(cells, setups['test'][i])
sim.resetObject('finger1',setups['test'][i]['finger']['pos'][0] - 0.03,\
setups['test'][i]['finger']['pos'][1],0)
sim.resetObject('finger2',setups['test'][i]['finger']['pos'][0] + setups['test'][i]['finger']['velocity'][0]*0.40 - 0.03,\
setups['test'][i]['finger']['pos'][1] + setups['test'][i]['finger']['velocity'][1]*0.40,0)
sim.resetObject('finger3',setups['test'][i]['finger']['pos'][0] + setups['test'][i]['finger']['velocity'][0]*0.90 - 0.03,\
setups['test'][i]['finger']['pos'][1] + setups['test'][i]['finger']['velocity'][1]*0.90,0)
else:
sim.resetObject('finger1',setups['real'][i]['finger']['pos'][0] - 0.03,\
setups['real'][i]['finger']['pos'][1],0)
sim.resetObject('finger2',setups['real'][i]['finger']['pos'][0] + setups['real'][i]['finger']['velocity'][0]*0.40 - 0.03,\
setups['real'][i]['finger']['pos'][1] + setups['real'][i]['finger']['velocity'][1]*0.40,0)
sim.resetObject('finger3',setups['real'][i]['finger']['pos'][0] + setups['real'][i]['finger']['velocity'][0]*0.90 - 0.03,\
setups['real'][i]['finger']['pos'][1] + setups['real'][i]['finger']['velocity'][1]*0.90,0)
pose_gt = res['history'][-1]['test_poses'][i]['gt']
#sim.resetObject(obj,100,100,0)
sim.resetObject('gt', pose_gt[obj]['x'], pose_gt[obj]['y'],
pose_gt[obj]['yaw'])
#img = sim.draw()
#img = cv2.cvtColor(img,cv2.COLOR_RGB2BGR)
#cv2.imwrite(fp_posres % (i+20),img)
#img = cv2.cvtColor(img,cv2.COLOR_BGR2RGB)
#sim.resetObject('gt',100,100,0)
pose_est = res['history'][-1]['test_poses'][i]['estimation']
sim.resetObject(obj, pose_est[obj]['x'], pose_est[obj]['y'],
pose_est[obj]['yaw'])
pos, rot = sim.getPosRot(sim.objects['gt']['shape'], pose_gt[obj]['x'],
pose_gt[obj]['y'], pose_gt[obj]['yaw'])
pos[0] = pos[0] - 0.001
pos[2] = pos[2] - 0.001
sim._p.resetBasePositionAndOrientation(sim.objects['gt']['bodyId'],
pos, rot)
img = sim.draw()
img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
cv2.imwrite(fp_posres % i, img)
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
n_plans = 1
# create planner
planner = ProbPhysicsPlanner(obj,fp_label,models,meter_per_pixel,
setup=setup,
contact_resolution=0.02, \
pushing_dists=[0.20,0.10,0.05,0.04,0.03,0.02,0.01])
# select goals
goals_sel = planner.selectGoals(obj, goals)
print('Selected Goals: ', goals_sel)
sim = SimBullet(gui=args.debug)
sim.setupCamera(0.75,-90,-89.99, 0.63,0,0)
sim.addObject('table_round','table_round',[1,1,1,1])
sim.setObjectPose('table_round',0.63,0,0)
sim.addObject('finger','finger',[1,1,0,1])
sim.setObjectPose('finger',10,0,0)
cells = CellPhysicsBase.createCells(fp_label,gts[obj]['masses'],meter_per_pixel=meter_per_pixel)
sim.addObject(obj, cells, [0.5,0.5,0.5,1], 0, 0, 0)
succs = []
plans = []
n_actions = []
for i in args.inits:
init = inits[i]
print('method:%s obj:%s init#:%d'%(method,obj,i))
fp_save = os.path.join(args.outdir,'%s_%s_init%d.pkl'%(method,obj,i))
if args.skip and os.path.isfile(fp_save):
print('[SKIP] %s' % fp_save)
'book', 'box', 'crimp', 'hammer', 'ranch', 'snack', 'toothpaste',
'windex'
]:
if not os.path.isdir(dir_sav + '/fig'):
os.makedirs(dir_sav + '/fig')
fp_label = '../../dataset/objects/%s_label.pgm' % obj
img_label = cv2.imread(fp_label, cv2.IMREAD_UNCHANGED)
cells = CellPhysicsBase.createCells(img_label, [1, 1, 1, 1],
0.53 / 640.0)
sim = SimBullet(gui=False)
sim.setupRendering(0.75, -90, -60, 500, 500)
sim.addObject(obj, cells, [0, 0, 1, 1])
sim.setObjectPose(obj, 0, 0, 0)
files = glob.glob(dir_sav + '/' + obj + '*.pkl')
for file in files:
filename = os.path.split(file)[1].split('.')[0]
f = open(file, 'rb')
sav = pickle.load(f)
f.close()
cellinfo = sav['cellinfo']
error_cell = sav['error_cell']
masses = []
frics = []
print(file)
print('push_x:', push_x)
print('push_y:', push_y)
sim = SimBullet(gui=False)
sim._p.setGravity(0, 0, -9.8)
sim.setupRendering(0.75, -90, -89.99, 500, 500)
sim.addObject('finger0', 'finger', [1, 1, 0, 1])
sim.addObject('finger1', 'finger', [1, 0, 1, 1])
sim.addObject('table_rect', 'table_rect', [1, 1, 1, 1])
img_label = cv2.imread(fp_label, cv2.IMREAD_UNCHANGED)
cells = CellPhysicsBase.createCells(
img_label, [0, 0, 0, 0], meter_per_pixel=0.53 / 640.0)
sim.addObject(obj + '0', cells, [0, 0, 1, 1])
sim.addObject(obj + '1', cells, [1, 0, 0, 1])
sim.setObjectPose('finger0', push_x, push_y, 0)
sim.setObjectPose('finger1',
push_x + float(node['push']['vec']['x']),
push_y, 0)
sim.setObjectPose(obj + '0', 0, 0, 0)
sim.setObjectPose(obj + '1', x_res, y_res, yaw_res)
draw = sim.draw()
plt.imshow(draw)
plt.show()
if True:
engine = get_engine(args.method)
engine.setup(setup, n_group=-1)
n_group = len(engine.meta_targets[obj]['cells']['cells'])
if args.skip and os.path.isfile(fp_save):
print('[SKIP] %s' % fp_save)
continue
print('method: {}, param: {}, init: {}, goal: {}'.format(method,param,init,goal))
time_beg = time.time()
planner = CellPhysicsPlanner(obj, img, [5-0.1]*4, meter_per_pixel)
sim = SimBullet(gui=False)
sim.setupCamera(0.75,-90,-89.99, 0.63,0,0)
sim.addObject('plane','plane',[1,1,1,1])
sim.addObject('finger','finger',[1,1,0,1])
cells = CellPhysicsBase.createCells(img,param['masses'],meter_per_pixel=meter_per_pixel)
sim.addObject(obj, cells, [0.5,0.5,0.5,1], 0,0,0)
sim.setObjectPose(obj,goal[0],goal[1],goal[2])
cellpos_goal = sim.getCellBodyPose(obj)
sim.setObjectPose(obj,init[0],init[1],init[2])
history = {'path':[], 'actions':[]}
while True:
x0,y0,yaw0 = sim.getObjectPose(obj)
cellpos0 = sim.getCellBodyPose(obj)
err_xy = np.linalg.norm([goal[0]-x0,goal[1]-y0])
err_yaw = distance_angle(goal[2],yaw0)
err_cell = CellPhysicsBase.distanceCellPos(cellpos_goal, cellpos0)
cellinfos = planner.getProperties()
cellinfos_copy = [info.copy() for info in cellinfos]
history['path'].append({'x':x0,'y':y0,'yaw':yaw0,'cellinfos':cellinfos_copy,
'err_xy':err_xy,'err_yaw':err_yaw,'err_cell':err_cell})