96 lines
4.3 KiB
Python
96 lines
4.3 KiB
Python
import numpy as np
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from data_gen_dependencies.action.base import StageTemplate, pose_difference
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class PushStage(StageTemplate):
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def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), vector_direction=None, extra_params=None, **kwargs):
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super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
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extra_params = {} if extra_params is None else extra_params
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self.pre_distance = extra_params.get('pre_distance', -0.03)
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self.move_distance = extra_params.get('move_distance', 0.14)
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vector_direction = vector_direction / np.linalg.norm(vector_direction)
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self.goal_transform = np.eye(4)
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self.goal_transform[:3,3] = vector_direction * self.move_distance
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if passive_element is not None:
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self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.5)
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assert self.joint_position_threshold >= 0 and self.joint_position_threshold <= 1
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self.joint_direction = passive_element.get('joint_direction', 1)
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assert self.joint_direction in [-1, 1]
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self.joint_velocity_threshold = passive_element.get('joint_velocity_threshold', 999)
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self.generate_substage(target_pose, vector_direction)
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def generate_substage(self, target_pose, vector_direction):
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vector_direction = vector_direction / np.linalg.norm(vector_direction)
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# moveTo pre-place position
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pre_pose = target_pose.copy()
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pre_pose[:3,3] += vector_direction * self.pre_distance
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self.sub_stages.append([pre_pose, 'close', np.eye(4), 'AvoidObs'])
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# insert
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move_pose = target_pose.copy()
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move_pose[:3,3] += vector_direction * self.move_distance
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self.sub_stages.append([move_pose, None, np.eye(4), 'Straight'])
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def check_completion(self, objects):
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if self.__len__()==0:
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return True
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# TODO 铰接joitn判定
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if self.step_id==0:
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succ = True
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if self.step_id>=1:
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if objects[self.passive_obj_id].is_articulated:
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joint_position = objects[self.passive_obj_id].joint_position
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joint_velocity = objects[self.passive_obj_id].joint_velocity
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lower_bound = objects[self.passive_obj_id].part_joint_limit['lower_bound']
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upper_bound = objects[self.passive_obj_id].part_joint_limit['upper_bound']
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if self.joint_direction == 1:
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succ = joint_position > lower_bound + (upper_bound - lower_bound) * self.joint_position_threshold
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else:
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succ = joint_position < lower_bound + (upper_bound - lower_bound) * self.joint_position_threshold
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succ = succ and joint_velocity < self.joint_velocity_threshold
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else:
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sub_stage = self.sub_stages[self.step_id]
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last_pose = self.last_statement['objects'][self.passive_obj_id].obj_pose
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target_obj_pose = last_pose @ self.goal_transform
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current_obj_pose = objects[self.passive_obj_id].obj_pose
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pos_diff, _ = pose_difference(current_obj_pose, target_obj_pose)
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succ = pos_diff < 0.04
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if succ:
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self.step_id += 1
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return succ
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class ClickStage(StageTemplate):
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def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=None, vector_direction=None, **kwargs):
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super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
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self.pre_distance = -0.03
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self.move_distance = 0.00
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self.generate_substage(target_pose, vector_direction)
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def generate_substage(self, target_pose, vector_direction):
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vector_direction = vector_direction / np.linalg.norm(vector_direction)
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# moveTo pre-place position
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pre_pose = target_pose.copy()
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pre_pose[:3,3] += vector_direction * self.pre_distance
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self.sub_stages.append([pre_pose, 'close', np.eye(4), 'AvoidObs'])
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# insert
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move_pose = target_pose.copy()
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move_pose[:3,3] += vector_direction * self.move_distance
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self.sub_stages.append([move_pose, None, np.eye(4), 'Simple'])
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