def check_legal(self, x):
grasp_ratio, rel_x, rel_y, dangle, cw1, ch1, cw2, ch2 = x
print(x)
dangle *= np.sign(rel_x)
settings[0]['do_gui'] = self.do_gui
kitchen = Kitchen2D(**settings[0])
gripper = Gripper(kitchen, (5, 8), 0)
cup1 = ks.make_cup(kitchen, (0, 0), 0, cw1, ch1, 0.5)
cup2 = ks.make_cup(kitchen, (-15, 0),
0,
cw2,
ch2,
0.5,
user_data='cup2')
gripper.set_grasped(cup2, grasp_ratio, (-15, 0), 0)
gripper.set_position((rel_x, rel_y), 0)
if not kitchen.planning:
g2 = gripper.simulate_itself()
_, collision = g2.check_path_collision((rel_x, rel_y), 0,
(rel_x, rel_y), dangle)
if collision:
return False
self.kitchen = kitchen
self.gripper = gripper
self.cup1 = cup1
self.cup2 = cup2
return True
def check_legal(self, x):
grasp_ratio, rel_x, rel_y, dangle, \
cw1, ch1, cw2, ch2, cw3, ch3, \
pos_x1, pos_x2, pos_x3 = x
dangle *= np.sign(rel_x)
settings[0]['do_gui'] = self.do_gui
kitchen = Kitchen2D(**settings[0])
kitchen.gui_world.colors['water'] = self.water_color
gripper = Gripper(kitchen, (5,8), 0)
cup1 = ks.make_cup(kitchen, (pos_x1, 0), 0, cw1, ch1, 0.5, user_data=self.base_cup_type)
cup2 = ks.make_cup(kitchen, (pos_x2, 0), 0, cw2, ch2, 0.5, user_data='cup2')
cup3 = ks.make_cup(kitchen, (pos_x3, 0), 0, cw3, ch3, 0.5, user_data=self.base_cup_type)
gripper.set_grasped(cup2, grasp_ratio, (pos_x2, 0), 0)
gripper.set_position((rel_x, rel_y), 0)
if not kitchen.planning:
g2 = gripper.simulate_itself()
_, collision = g2.check_path_collision((rel_x, rel_y), 0, (rel_x, rel_y), dangle)
if collision:
return False
self.kitchen = kitchen
self.gripper = gripper
self.cup1 = cup1
self.cup2 = cup2
self.cup3 = cup3
self.properties = x[4:10]
return True
def check_legal(self, x):
rel_x1, rel_y1, rel_x2, rel_y2, rel_x3, rel_y3, grasp_ratio, cw1, ch1 = x
settings[0]['do_gui'] = self.do_gui
kitchen = Kitchen2D(**settings[0])
gripper = Gripper(kitchen, (5, 8), 0)
cup = ks.make_cup(kitchen, (0, 0), 0, cw1, ch1, 0.5)
spoon = ks.make_spoon(kitchen, (5, 10), 0, 0.2, 3, 1.)
gripper.set_grasped(spoon, grasp_ratio, (5, 10), 0)
dposa1, dposa2 = gripper.get_scoop_init_end_pose(
cup, (rel_x1, rel_y1), (rel_x3, rel_y3))
gripper.set_grasped(spoon, grasp_ratio, dposa1[:2], dposa1[2])
g2 = gripper.simulate_itself()
collision = g2.check_point_collision(dposa1[:2], dposa1[2])
if collision:
return False
collision = g2.check_point_collision(dposa2[:2], dposa2[2])
if collision:
return False
self.kitchen = kitchen
self.gripper = gripper
self.cup = cup
self.spoon = spoon
return True
def genPour(grip_name, cup_name, kettle_name, pose2):
if kettle_name != 'cup' or cup_name != 'cream_cup':
return
if not np.isclose(pose2[2], 0, atol=0.05):
return
kitchen = ph.make_kitchen(planning=True)
gripper = Gripper(kitchen, init_pos=ph.gripperInitPos[:2], init_angle=ph.gripperInitPos[2])
cup = ph.make_body(kitchen, cup_name, ph.cupInitPos)
kettle = ph.make_body(kitchen, kettle_name, pose2)
# MITSETTA PLANNING GP (ZEPOLITAT) #
#####################GP START##############################
gp, c = helper.process_gp_sample(ph.expid_pour, ph.FLAG_LK, ph.IS_ADAPTIVE,
task_lengthscale=ph.TASK_LENGTH_SCALE)
while True:
grasp, rel_x, rel_y, dangle, _, _, _, _ = gp.sample(c)
#####################GP END##############################
dangle *= np.sign(rel_x)
rel_pose = (rel_x, rel_y, dangle)
pour_pose = tuple(np.array(pose2) + np.array(rel_pose))
initial_pose = tuple(np.array(pose2) + (rel_x, rel_y, 0))
if not gripper.set_grasped(cup, grasp, initial_pose[:2], initial_pose[2]):
return
g2 = gripper.simulate_itself()
if g2.check_point_collision(initial_pose[:2], initial_pose[2]):
continue
command = Command([], parameters=[rel_pose[:2], rel_pose[2]])
yield (grasp, initial_pose, command)
def generate(self, context=None):
self.enumerated = True # Prevents from being resampled
grip_name, pose1, cup_name, grasp, pose2 = self.inputs
if not ph.do_motion:
path = (pose1, pose2)
command = Command([HoldingTrajectory(grip_name, cup_name, grasp, path)])
return [(command,)]
kitchen = ph.make_kitchen(planning=True)
if self.use_context and (context is not None):
for atom in context.conditions:
_, name, pose = atom.head.args
if name not in [grip_name, cup_name] and not isinstance(pose, SharedOutputSet):
ph.make_body(kitchen, name, pose)
gripper = Gripper(kitchen, init_pos=pose1[:2], init_angle=pose1[2])
cup = ph.make_body(kitchen, cup_name, ph.cupInitPos)
gripper.set_grasped(cup, grasp, pose1[:2], pose1[2])
motion_angle = min(pose1[2], pose2[2])
path = gripper.plan_path(pose2[:2], pose2[2],
motion_angle=motion_angle, collision_buffer=ph.buffer_distance)
if path is None:
return []
command = Command([HoldingTrajectory(grip_name, cup_name, grasp, path)])
return [(command,)]
def execute_plan_command(plan, kitchen_params, gripperInitPos, cupInitPos,
cupSize, kettleInitPos, kettleSize, **kwargs):
kitchen = Kitchen2D(planning=False, **kitchen_params)
kitchen.enable_gui()
gripper = Gripper(kitchen,
init_pos=gripperInitPos[:2],
init_angle=gripperInitPos[2])
cup = ks.make_cup(kitchen, cupInitPos[:2], cupInitPos[2], *cupSize)
kettle = ks.make_cup(kitchen, kettleInitPos[:2], kettleInitPos[2],
*kettleSize)
pause = False
def execute_command(command):
for traj in command.trajectories:
print traj
if pause:
raw_input('Execute?')
if isinstance(traj, FreeTrajectory):
if gripper.attached:
gripper.open()
gripper.release()
else:
if not gripper.attached:
gripper.close()
gripper.attach(cup)
gripper.apply_control(traj.path, maxspeed=2.5)
raw_input('Begin?')
for i, (action, args) in enumerate(plan):
print i, action, args
if action.name == 'fill':
pass
elif action.name == 'place':
execute_command(args[-1].reverse())
elif action.name == 'pour-gp':
kp, p2 = args[-2:]
rel_pose = np.array(p2) - np.array(kp)
poured, score = gripper.pour(kettle, rel_pose[:2], rel_pose[2],
0.45, 200)
else:
execute_command(args[-1])
def test_collision(command, body_name, pose):
'''
Returns True if the trajectory associated by command is colliding
with a body of name body_name and pose pose. Otherwise False.
'''
if not ph.do_collisions:
return False
for traj in command.trajectories:
if body_name == traj.gripper or (isinstance(traj, HoldingTrajectory)
and (body_name == traj.body)):
continue
kitchen = ks.b2WorldInterface(False)
init_pose = ph.gripperInitPos
gripper = Gripper(kitchen,
init_pos=init_pose[:2],
init_angle=init_pose[2])
if isinstance(traj, FreeTrajectory):
gripper.release()
gripper.set_open()
elif isinstance(traj, PushTrajectory):
body = ph.make_body(kitchen, traj.body, traj.init_pose)
gripper.set_closed()
gripper.attach(body)
elif isinstance(traj, ClosedTrajectory):
gripper.release()
gripper.set_closed()
else:
body = ph.make_body(kitchen, traj.body, ph.cupInitPos)
gripper.set_grasped(body, traj.pos_ratio, init_pose[:2],
init_pose[2])
ph.make_body(kitchen, body_name, pose)
g2 = gripper.simulate_itself()
for q in traj.path:
if g2.check_point_collision(q[:2], q[2]):
print 'Collision: {}'.format(body_name)
return True
return False
def main():
kitchen = Kitchen2D(**SETTING)
expid_pour, expid_scoop = 0, 0
# Try setting is_adaptive to be False. It will use the adaptive sampler that samples uniformly from
# the feasible precondition. If is_adaptive is False, it uses the diverse sampler. If flag_lk is False,
# and is_adaptive is False, it uses the diverse sampler with a fixed kernel. If flag_lk is True,
# and is uniform is Ture, it uses the diverse sampler with the kernel parameters learned from plan feedbacks.
gp_pour, c_pour = helper.process_gp_sample(expid_pour,
exp='pour',
is_adaptive=False,
flag_lk=False)
pour_to_w, pour_to_h, pour_from_w, pour_from_h = c_pour
gp_scoop, c_scoop = helper.process_gp_sample(expid_scoop,
exp='scoop',
is_adaptive=True,
flag_lk=False)
scoop_w, scoop_h = c_scoop
holder_d = 0.5
# Create objects
gripper = Gripper(kitchen, (0, 8), 0)
cup1 = ks.make_cup(kitchen, (10, 0), 0, pour_from_w, pour_from_h, holder_d)
cup2 = ks.make_cup(kitchen, (-25, 0), 0, pour_to_w, pour_to_h, holder_d)
block = ks.make_block(kitchen, (-9, 0), 0, 4, 4)
large_cup = ks.make_cup(kitchen, (23, 0), 0, scoop_w, scoop_h, holder_d)
# Move
query_gui('MOVE', kitchen, dontask=True)
gripper.find_path((-5., 10), 0, maxspeed=0.5)
# Push
query_gui('PUSH', kitchen, dontask=True)
gripper.push(block, (1., 0.), -6, 0.5)
# Pick
query_gui('GRASP', kitchen, dontask=True)
# Sample from the super level set of the GP learned for pour
grasp, rel_x, rel_y, dangle, _, _, _, _ = gp_pour.sample(c_pour)
dangle *= np.sign(rel_x)
gripper.find_path((15, 10), 0)
gripper.grasp(cup1, grasp)
# Get water
query_gui('GET-WATER', kitchen, dontask=True)
gripper.get_liquid_from_faucet(5)
# Pour
query_gui('POUR', kitchen, dontask=True)
print(gripper.pour(cup2, (rel_x, rel_y), dangle))
# Place
query_gui('PLACE', kitchen, dontask=True)
gripper.place((10, 0), 0)
# Scoop
kitchen.gen_liquid_in_cup(large_cup, 1000, 'sugar')
kitchen.gen_liquid_in_cup(cup1, 200)
spoon = ks.make_spoon(kitchen, (23, 10), 0, 0.2, 3, 1.)
query_gui('SCOOP', kitchen, dontask=True)
rel_x1, rel_y1, rel_x2, rel_y2, rel_x3, rel_y3, grasp, _, _ = gp_scoop.sample(
c_scoop)
rel_pos1 = (rel_x1, rel_y1)
rel_pos2 = (rel_x2, rel_y2)
rel_pos3 = (rel_x3, rel_y3)
gripper.set_grasped(spoon, grasp, (23, 10), 0)
print(gripper.scoop(large_cup, rel_pos1, rel_pos2, rel_pos3))
# Dump
query_gui('DUMP', kitchen, dontask=True)
gripper.dump(cup1, 0.9)
# Place
query_gui('PLACE', kitchen, dontask=True)
gripper.place((26, 10.), 0)
# Stir
query_gui('STIR', kitchen, dontask=True)
stirrer = ks.make_stirrer(kitchen, (0, 3.5), 0., 0.2, 5., 0.5)
gripper.set_grasped(stirrer, 0.8, (10, 10), 0)
gripper.stir(cup1, (0, 0.0), (1, 0.0))
gripper.find_path(gripper.position + [0, 5], 0)
