finish data generate
This commit is contained in:
@@ -1,17 +1,19 @@
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# -*- coding: utf-8 -*-
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import json
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import os
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import pickle
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import random
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import time
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import random
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import numpy as np
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from pyboot.utils.log import Log
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from data_gen_dependencies.transforms import calculate_rotation_matrix
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from data_gen_dependencies.manip_solver import load_task_solution, generate_action_stages, split_grasp_stages
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from data_gen_dependencies.base_agent import BaseAgent
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from data_gen_dependencies.manip_solver import load_task_solution, generate_action_stages, split_grasp_stages
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from data_gen_dependencies.omni_robot import IsaacSimRpcRobot
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from data_gen_dependencies.transforms import calculate_rotation_matrix
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class Agent(BaseAgent):
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def __init__(self, robot: IsaacSimRpcRobot):
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@@ -59,7 +61,7 @@ class Agent(BaseAgent):
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self.add_object(object_info)
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time.sleep(2)
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self.arm = task_info["arm"]
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self.arm = task_info["robot"]["arm"]
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''' For A2D: Fix camera rotaton to look at target object '''
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task_related_objs = []
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@@ -195,142 +197,183 @@ class Agent(BaseAgent):
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return False
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return True
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def run(self, task_file, camera_list, use_recording, workspaces, fps=10, render_semantic=False):
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if not self.check_task_file(task_file):
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Log.error("Task file bad: %s" % task_file)
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return False
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print("Start Task:", task_file)
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self.reset()
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self.attached_obj_id = None
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def run(self, task_list, camera_list, use_recording, workspaces, fps=10, render_semantic=False):
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for index, task_file in enumerate(task_list):
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if not self.check_task_file(task_file):
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Log.error("Task file bad: %s" % task_file)
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continue
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Log.info("start task: "+ task_file)
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self.reset()
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self.attached_obj_id = None
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# import ipdb;ipdb.set_trace()
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# import ipdb;ipdb.set_trace()
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self.generate_layout(task_file)
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# import ipdb;ipdb.set_trace()
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self.robot.open_gripper(id='right')
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self.robot.open_gripper(id='left')
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self.generate_layout(task_file)
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# import ipdb;ipdb.set_trace()
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self.robot.open_gripper(id='right')
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self.robot.open_gripper(id='left')
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self.robot.reset_pose = {
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'right': self.robot.get_ee_pose(ee_type='gripper', id='right'),
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'left': self.robot.get_ee_pose(ee_type='gripper', id='left'),
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}
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print('Reset pose:', self.robot.reset_pose)
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self.robot.reset_pose = {
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'right': self.robot.get_ee_pose(ee_type='gripper', id='right'),
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'left': self.robot.get_ee_pose(ee_type='gripper', id='left'),
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}
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#print('Reset pose:', self.robot.reset_pose)
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task_info = json.load(open(task_file, 'rb'))
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stages, objects = load_task_solution(task_info)
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objects = self.update_objects(objects)
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split_stages = split_grasp_stages(stages)
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# import ipdb; ipdb.set_trace()
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if use_recording:
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self.start_recording(task_name="[%s]" % (os.path.basename(task_file).split(".")[0]),
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camera_prim_list=camera_list, fps=fps,
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render_semantic=render_semantic) # TODO 录制判断
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task_info = json.load(open(task_file, 'rb'))
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stages, objects = load_task_solution(task_info)
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objects = self.update_objects(objects)
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split_stages = split_grasp_stages(stages)
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# import ipdb; ipdb.set_trace()
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if use_recording:
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self.start_recording(task_name="[%s]" % (os.path.basename(task_file).split(".")[0]),
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camera_prim_list=camera_list, fps=fps,
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render_semantic=render_semantic) # TODO 录制判断
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stage_id = -1
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substages = None
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for _stages in split_stages:
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extra_params = _stages[0].get('extra_params', {})
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active_id, passive_id = _stages[0]['active']['object_id'], _stages[0]['passive']['object_id']
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arm = extra_params.get('arm', 'right')
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action_stages = generate_action_stages(objects, _stages, self.robot)
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if not len(action_stages):
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success = False
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print('No action stage generated.')
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break
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stage_id = -1
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success = False
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substages = None
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for _stages in split_stages:
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extra_params = _stages[0].get('extra_params', {})
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active_id, passive_id = _stages[0]['active']['object_id'], _stages[0]['passive']['object_id']
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arm = extra_params.get('arm', 'right')
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action_stages = generate_action_stages(objects, _stages, self.robot)
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if not len(action_stages):
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success = False
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print('No action stage generated.')
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break
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# Execution
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success = True
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# Execution
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success = True
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for action, substages in action_stages:
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stage_id += 1
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print('>>>> Stage [%d] <<<<' % (stage_id + 1))
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active_id, passive_id = _stages[stage_id]['active']['object_id'], _stages[stage_id]['passive'][
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'object_id']
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if action in ['reset']:
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init_pose = self.robot.reset_pose[arm]
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curr_pose = self.robot.get_ee_pose(ee_type='gripper', id=arm)
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print(arm)
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print(curr_pose)
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interp_pose = init_pose.copy()
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interp_pose[:3, 3] = curr_pose[:3, 3] + (init_pose[:3, 3] - curr_pose[:3, 3]) * 0.25
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success = self.robot.move_pose(self.robot.reset_pose[arm], type='AvoidObs', arm=arm, block=True)
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continue
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for action, substages in action_stages:
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stage_id += 1
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Log.info(f'start action stage: {action} ({stage_id}/{len(action_stages)})')
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active_id, passive_id = _stages[stage_id]['active']['object_id'], _stages[stage_id]['passive'][
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'object_id']
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if action in ['reset']:
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init_pose = self.robot.reset_pose[arm]
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curr_pose = self.robot.get_ee_pose(ee_type='gripper', id=arm)
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interp_pose = init_pose.copy()
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interp_pose[:3, 3] = curr_pose[:3, 3] + (init_pose[:3, 3] - curr_pose[:3, 3]) * 0.25
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success = self.robot.move_pose(self.robot.reset_pose[arm], type='AvoidObs', arm=arm, block=True)
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continue
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# if action in ['grasp', 'pick']:
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# obj_id = substages.passive_obj_id
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# if obj_id.split('/')[0] not in self.articulated_objs:
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# self.robot.target_object = substages.passive_obj_id
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while len(substages):
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objects = self.update_objects(objects, arm=arm)
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while len(substages):
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# get next step actionddd
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objects = self.update_objects(objects, arm=arm)
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target_gripper_pose, motion_type, gripper_action, arm = substages.get_action(objects)
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arm = extra_params.get('arm', 'right')
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, arm=arm,
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target_pose=target_gripper_pose)
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target_gripper_pose, motion_type, gripper_action, arm = substages.get_action(objects)
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arm = extra_params.get('arm', 'right')
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, arm=arm,
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target_pose=target_gripper_pose)
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if target_gripper_pose is not None:
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self.robot.move_pose(target_gripper_pose, motion_type, arm=arm, block=True)
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# execution action
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if target_gripper_pose is not None:
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self.robot.move_pose(target_gripper_pose, motion_type, arm=arm, block=True)
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set_gripper_open = gripper_action == 'open'
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set_gripper_close = gripper_action == 'close'
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, set_gripper_open,
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set_gripper_close, arm=arm, target_pose=target_gripper_pose)
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self.robot.set_gripper_action(gripper_action, arm=arm)
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if gripper_action == 'open':
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time.sleep(1)
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set_gripper_open = gripper_action == 'open'
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set_gripper_close = gripper_action == 'close'
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, set_gripper_open,
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set_gripper_close, arm=arm, target_pose=target_gripper_pose)
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self.robot.set_gripper_action(gripper_action, arm=arm)
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if gripper_action == 'open':
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time.sleep(1)
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, arm=arm,
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target_pose=target_gripper_pose)
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, arm=arm,
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target_pose=target_gripper_pose)
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# check sub-stage completion
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objects['gripper'].obj_pose = self.robot.get_ee_pose(ee_type='gripper', id=arm)
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objects = self.update_objects(objects, arm=arm)
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# check sub-stage completion
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objects['gripper'].obj_pose = self.robot.get_ee_pose(ee_type='gripper', id=arm)
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objects = self.update_objects(objects, arm=arm)
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success = substages.check_completion(objects)
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, arm=arm,
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target_pose=target_gripper_pose)
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if success == False:
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# import ipdb;ipdb.set_trace()
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self.attached_obj_id = None
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Log.error('Failed at sub-stage %d' % substages.step_id)
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break
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success = substages.check_completion(objects)
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, arm=arm,
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target_pose=target_gripper_pose)
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if success == False:
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# import ipdb;ipdb.set_trace()
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self.attached_obj_id = None
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print('Failed at sub-stage %d' % substages.step_id)
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break
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# attach grasped object to gripper # TODO avoid articulated objects
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if gripper_action == 'close': # TODO 确定是grasp才行！！
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self.attached_obj_id = substages.passive_obj_id
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elif gripper_action == 'open':
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self.attached_obj_id = None
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, arm=arm,
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target_pose=target_gripper_pose)
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# attach grasped object to gripper # TODO avoid articulated objects
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if gripper_action == 'close': # TODO 确定是grasp才行！！
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self.attached_obj_id = substages.passive_obj_id
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elif gripper_action == 'open':
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self.attached_obj_id = None
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self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
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self.attached_obj_id is not None, arm=arm,
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target_pose=target_gripper_pose)
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# change object position
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num_against = substages.extra_params.get('against', 0)
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against_area = substages.extra_params.get('against_range', [])
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against_type = substages.extra_params.get('against_type', None)
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if num_against > 0 and gripper_action == 'open' and action == 'pick' and (
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against_type is not None):
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parts = against_type.split('_')
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need_move_objects = [passive_id]
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if parts[0] == 'move' and parts[1] == 'with':
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for workspace in objects:
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if parts[2] in workspace:
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need_move_objects.append(workspace)
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## 目前就集体向一个方向移动
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offset_y = random.uniform(0, 0.2)
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poses = []
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for move_object in need_move_objects:
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response = self.robot.client.get_object_pose(f'/World/Objects/{move_object}')
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# change object position
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num_against = substages.extra_params.get('against', 0)
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against_area = substages.extra_params.get('against_range', [])
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against_type = substages.extra_params.get('against_type', None)
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if num_against > 0 and gripper_action == 'open' and action == 'pick' and (
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against_type is not None):
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parts = against_type.split('_')
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need_move_objects = [passive_id]
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if parts[0] == 'move' and parts[1] == 'with':
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for workspace in objects:
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if parts[2] in workspace:
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need_move_objects.append(workspace)
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## 目前就集体向一个方向移动
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offset_y = random.uniform(0, 0.2)
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poses = []
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for move_object in need_move_objects:
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response = self.robot.client.get_object_pose(f'/World/Objects/{move_object}')
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pos = [response.object_pose.position.x,
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response.object_pose.position.y + offset_y,
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response.object_pose.position.z]
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quat_wxyz = np.array(
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[
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response.object_pose.rpy.rw,
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response.object_pose.rpy.rx,
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response.object_pose.rpy.ry,
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response.object_pose.rpy.rz,
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]
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)
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object_pose = {}
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object_pose["prim_path"] = f'/World/Objects/{move_object}'
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object_pose["position"] = pos
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object_pose["rotation"] = quat_wxyz
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poses.append(object_pose)
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print(poses)
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self.robot.client.SetObjectPose(poses, [])
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self.robot.client.DetachObj()
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elif (num_against > 0 and gripper_action == 'open' and action == 'pick') or \
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(num_against > 0 and action == 'place' and gripper_action == 'close'):
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# import ipdb;ipdb.set_trace()
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x_min, x_max = 999.0, -999.0
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y_min, y_max = 999.0, -999.0
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if against_area:
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selected_against_area = random.choice(against_area)
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if selected_against_area in workspaces:
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position = workspaces[selected_against_area]['position']
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size = workspaces[selected_against_area]['size']
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x_min, x_max = position[0] - size[0] / 2, position[0] + size[0] / 2
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y_min, y_max = position[1] - size[1] / 2, position[1] + size[1] / 2
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x_size, y_size, z_size = objects[passive_id].info['size']
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up_axis = objects[passive_id].info['upAxis']
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axis_mapping = {
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'x': (y_size / 2000.0, z_size / 2000.0),
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'y': (x_size / 2000.0, z_size / 2000.0),
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'z': (x_size / 2000.0, y_size / 2000.0)
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}
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dimensions = axis_mapping[up_axis[0]]
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distance = np.linalg.norm(dimensions)
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x_min += distance * 1.5
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x_max -= distance * 1.5
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y_min += distance * 1.5
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y_max -= distance * 1.5
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else:
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print("against_range not set")
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continue
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response = self.robot.client.get_object_pose(f'/World/Objects/{passive_id}')
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pos = [response.object_pose.position.x,
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response.object_pose.position.y + offset_y,
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response.object_pose.position.z]
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response.object_pose.position.y,
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response.object_pose.position.z + 0.02]
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quat_wxyz = np.array(
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[
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response.object_pose.rpy.rw,
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@@ -339,121 +382,44 @@ class Agent(BaseAgent):
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response.object_pose.rpy.rz,
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]
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)
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# import ipdb;ipdb.set_trace()
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# if position is close to the gripper, then random position again
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while True:
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pos[0] = random.uniform(x_min, x_max)
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pos[1] = random.uniform(y_min, y_max)
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distance = np.linalg.norm(
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[pos[0] - target_gripper_pose[0][3], pos[1] - target_gripper_pose[1][3]])
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if distance >= 0.2:
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break
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poses = []
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object_pose = {}
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object_pose["prim_path"] = f'/World/Objects/{move_object}'
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object_pose["prim_path"] = f'/World/Objects/{passive_id}'
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object_pose["position"] = pos
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object_pose["rotation"] = quat_wxyz
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poses.append(object_pose)
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print(poses)
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self.robot.client.SetObjectPose(poses, [])
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self.robot.client.DetachObj()
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elif (num_against > 0 and gripper_action == 'open' and action == 'pick') or \
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(num_against > 0 and action == 'place' and gripper_action == 'close'):
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# import ipdb;ipdb.set_trace()
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x_min, x_max = 999.0, -999.0
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y_min, y_max = 999.0, -999.0
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if against_area:
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selected_against_area = random.choice(against_area)
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if selected_against_area in workspaces:
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position = workspaces[selected_against_area]['position']
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size = workspaces[selected_against_area]['size']
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x_min, x_max = position[0] - size[0] / 2, position[0] + size[0] / 2
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y_min, y_max = position[1] - size[1] / 2, position[1] + size[1] / 2
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x_size, y_size, z_size = objects[passive_id].info['size']
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up_axis = objects[passive_id].info['upAxis']
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axis_mapping = {
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'x': (y_size / 2000.0, z_size / 2000.0),
|
||||
'y': (x_size / 2000.0, z_size / 2000.0),
|
||||
'z': (x_size / 2000.0, y_size / 2000.0)
|
||||
}
|
||||
dimensions = axis_mapping[up_axis[0]]
|
||||
distance = np.linalg.norm(dimensions)
|
||||
x_min += distance * 1.5
|
||||
x_max -= distance * 1.5
|
||||
y_min += distance * 1.5
|
||||
y_max -= distance * 1.5
|
||||
else:
|
||||
print("against_range not set")
|
||||
continue
|
||||
response = self.robot.client.get_object_pose(f'/World/Objects/{passive_id}')
|
||||
pos = [response.object_pose.position.x,
|
||||
response.object_pose.position.y,
|
||||
response.object_pose.position.z + 0.02]
|
||||
quat_wxyz = np.array(
|
||||
[
|
||||
response.object_pose.rpy.rw,
|
||||
response.object_pose.rpy.rx,
|
||||
response.object_pose.rpy.ry,
|
||||
response.object_pose.rpy.rz,
|
||||
]
|
||||
)
|
||||
# import ipdb;ipdb.set_trace()
|
||||
# if position is close to the gripper, then random position again
|
||||
while True:
|
||||
pos[0] = random.uniform(x_min, x_max)
|
||||
pos[1] = random.uniform(y_min, y_max)
|
||||
distance = np.linalg.norm(
|
||||
[pos[0] - target_gripper_pose[0][3], pos[1] - target_gripper_pose[1][3]])
|
||||
if distance >= 0.2:
|
||||
break
|
||||
poses = []
|
||||
object_pose = {}
|
||||
object_pose["prim_path"] = f'/World/Objects/{passive_id}'
|
||||
object_pose["position"] = pos
|
||||
object_pose["rotation"] = quat_wxyz
|
||||
poses.append(object_pose)
|
||||
print(poses)
|
||||
self.robot.client.SetObjectPose(poses, [])
|
||||
self.robot.client.DetachObj()
|
||||
# if num_against > 0 and action == 'place' and gripper_action == 'close':
|
||||
# offset = random.uniform(-0.1, 0.1)
|
||||
# response = self.robot.client.get_object_pose('/World/Objects/%s'%passive_id)
|
||||
# pos = [response.object_pose.position.x,
|
||||
# response.object_pose.position.y - offset,
|
||||
# response.object_pose.position.z]
|
||||
# quat_wxyz = np.array(
|
||||
# [
|
||||
# response.object_pose.rpy.rw,
|
||||
# response.object_pose.rpy.rx,
|
||||
# response.object_pose.rpy.ry,
|
||||
# response.object_pose.rpy.rz,
|
||||
# ]
|
||||
# )
|
||||
# # import ipdb;ipdb.set_trace()
|
||||
# poses = []
|
||||
# object_pose ={}
|
||||
# object_pose["prim_path"] = '/World/Objects/' + passive_id
|
||||
# object_pose["position"] =pos
|
||||
# object_pose["rotation"] = quat_wxyz
|
||||
# poses.append(object_pose)
|
||||
# self.robot.client.SetObjectPose(poses, [])
|
||||
# index += 1
|
||||
# self.robot.client.DetachObj()
|
||||
|
||||
print(poses)
|
||||
self.robot.client.SetObjectPose(poses, [])
|
||||
self.robot.client.DetachObj()
|
||||
if success == False:
|
||||
self.attached_obj_id = None
|
||||
break
|
||||
if self.attached_obj_id is not None:
|
||||
if self.attached_obj_id.split('/')[0] not in self.articulated_objs:
|
||||
self.robot.client.DetachObj()
|
||||
self.robot.client.AttachObj(prim_paths=['/World/Objects/' + self.attached_obj_id],
|
||||
is_right=arm == 'right')
|
||||
if success == False:
|
||||
self.attached_obj_id = None
|
||||
break
|
||||
if self.attached_obj_id is not None:
|
||||
if self.attached_obj_id.split('/')[0] not in self.articulated_objs:
|
||||
self.robot.client.DetachObj()
|
||||
self.robot.client.AttachObj(prim_paths=['/World/Objects/' + self.attached_obj_id],
|
||||
is_right=arm == 'right')
|
||||
if success == False:
|
||||
break
|
||||
time.sleep(0.5)
|
||||
if self.attached_obj_id is None:
|
||||
self.robot.client.DetachObj()
|
||||
self.robot.client.stop_recording()
|
||||
# try:
|
||||
# step_id = substages.step_id if substages is not None and len(substages) else -1
|
||||
# except:
|
||||
# step_id = -1
|
||||
step_id = -1
|
||||
fail_stage_step = [stage_id, step_id] if success == False else [-1, -1]
|
||||
time.sleep(0.5)
|
||||
if self.attached_obj_id is None:
|
||||
self.robot.client.DetachObj()
|
||||
self.robot.client.stop_recording()
|
||||
step_id = -1
|
||||
fail_stage_step = [stage_id, step_id] if not success else [-1, -1]
|
||||
|
||||
task_info_saved = task_info.copy()
|
||||
self.robot.client.SendTaskStatus(success, fail_stage_step)
|
||||
if success:
|
||||
print(">>>>>>>>>>>>>>>> Success!!!!!!!!!!!!!!!!")
|
||||
task_info_saved = task_info.copy()
|
||||
self.robot.client.SendTaskStatus(success, fail_stage_step)
|
||||
if success:
|
||||
print(">>>>>>>>>>>>>>>> Success!!!!!!!!!!!!!!!!")
|
||||
|
||||
return True
|
||||
|
||||
Reference in New Issue
Block a user