145 lines
6.7 KiB
Python
145 lines
6.7 KiB
Python
import os
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import numpy as np
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from scipy.spatial.transform import Rotation as R
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from data_gen_dependencies.action.base import StageTemplate
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class PullRevoluteStage(StageTemplate):
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DELTA_DISTANCE = 0.003 # meter
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def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, objects=[], **kwargs):
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super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
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#import ipdb;ipdb.set_trace()
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self.objects = objects
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self.passive_obj = objects[passive_obj_id]
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self.active_obj = objects[active_obj_id]
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main_part_name= passive_element["part_id"]
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self.obj_base = os.path.dirname(passive_obj_id)
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main_part_id = os.path.join(self.obj_base, main_part_name)
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if main_part_id not in objects:
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raise ValueError(f"Cannot find main part {main_part_name} in objects")
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self.root_id = os.path.join(self.obj_base, "root")
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self.main_part_obj = objects[main_part_id]
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self.root_obj = objects[self.root_id]
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self.revolute_radius = np.linalg.norm(self.passive_obj.obj_pose[:3,3] - self.main_part_obj.obj_pose[:3,3])
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self.revolute_joint_position = self.main_part_obj.obj_pose[:3,3]
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self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
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self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
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correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
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self.joint_lower_limit = correspond_joint_info["lower_bound"]
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self.joint_upper_limit = correspond_joint_info["upper_bound"]
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self.joint_axis = correspond_joint_info["joint_axis"]
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self.joint_type = correspond_joint_info["joint_type"]
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assert self.joint_type == 'revolute', "joint_type must be revolute for pull_revolute action"
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if self.joint_position_threshold is None:
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self.joint_position_threshold = 0.7
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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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vector_direction = passive_element['direction']
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self.extra_params = {} if extra_params is None else extra_params
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self.generate_substage(target_pose, vector_direction)
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def generate_substage(self, gripper2obj, vector_direction):
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vector_direction = vector_direction / np.linalg.norm(vector_direction)
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total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
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arc_length = abs(self.revolute_radius * total_angle)
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step = int(arc_length / self.DELTA_DISTANCE)
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from pyboot.utils.log import Log
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Log.debug(f'PullRevoluteStage: total_angle={total_angle}, arc_length={arc_length}, step={step}')
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trajectory = self.generate_trajectory(gripper2obj, vector_direction)
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self.save_visualized_gripper_trajectory(trajectory, "pull_revolute_traj.txt")
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self.sub_stages.append([trajectory, None, np.eye(4), 'Trajectory'])
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self.sub_stages.append([None, "open", np.eye(4), 'Simple'])
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free_delta_pose = np.eye(4)
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free_delta_pose[2,3] = -0.03
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self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])
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def generate_trajectory(self, gripper2passive_obj, init_vector_direction):
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trajectory = []
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total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
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total_angle *= self.joint_direction
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arc_length = abs(self.revolute_radius * total_angle)
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num_steps = int(np.ceil(arc_length / self.DELTA_DISTANCE))
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if num_steps < 1:
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num_steps = 1
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delta_theta = total_angle / num_steps
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rotation_axis = np.array(self.joint_axis, dtype=float)
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rotation_axis /= np.linalg.norm(rotation_axis)
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passive_obj_2_root = np.linalg.inv(self.root_obj.obj_pose) @ self.passive_obj.obj_pose
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gripper_2_root = passive_obj_2_root @ gripper2passive_obj
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pos0 = gripper_2_root[:3, 3]
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R0 = gripper_2_root[:3, :3]
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joint_2_root = np.linalg.inv(self.root_obj.obj_pose) @ self.main_part_obj.obj_pose
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pivot = joint_2_root[:3, 3]
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for i in range(1, num_steps + 1):
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angle = i * delta_theta
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R_delta = R.from_rotvec(rotation_axis * angle).as_matrix()
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pos_rot = R_delta @ (pos0 - pivot) + pivot
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R_new = R_delta @ R0
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waypoint_2_root = np.eye(4)
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waypoint_2_root[:3, :3] = R_new
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waypoint_2_root[:3, 3] = pos_rot
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waypoint_2_obj = np.linalg.inv(passive_obj_2_root) @ waypoint_2_root
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trajectory.append(waypoint_2_obj)
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return np.asarray(trajectory)
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def save_visualized_gripper_trajectory(self, gripper_trajectory, save_path):
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#import ipdb; ipdb.set_trace()
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N = len(gripper_trajectory)
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gripper_pts = np.zeros((1, 60, 3))
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for i in range(10):
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gripper_pts[0, i] = np.array([0, 0.01, 0.002*i])
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gripper_pts[0, i+10] = np.array([0, 0.01, 0.002*i + 0.001])
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gripper_pts[0, i+20] = np.array([0, -0.01, 0.002*i])
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gripper_pts[0, i+30] = np.array([0, -0.01, 0.002*i + 0.001])
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gripper_pts[0, i+40] = np.array([0, -0.01 + 0.002 * i, 0])
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for i in range(5):
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gripper_pts[0, i+50] = np.array([0, 0, -0.002*i])
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gripper_pts[0, i+55] = np.array([0, 0, -0.002*i + 0.001])
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gripper_pts -= np.array([0, 0, 0.002*10 + 0.001])
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gripper_pts = gripper_pts.repeat(N, axis=0)
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gripper_trajectory = gripper_trajectory.reshape(N, 1, 4, 4)
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gripper_trajectory = gripper_trajectory.repeat(60, axis=1)
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gripper_pts = gripper_pts.reshape(-1, 3)
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gripper_trajectory = gripper_trajectory.reshape(-1, 4, 4)
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gripper_pts_2_obj = (gripper_trajectory[:, :3, :3] @ gripper_pts[..., None]).squeeze(-1)+ gripper_trajectory[:, :3, 3]
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np.savetxt(save_path, gripper_pts_2_obj, fmt="%.6f")
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def axis_angle_to_matrix(self, axis, angle):
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axis = axis / np.linalg.norm(axis)
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K = np.array([[0, -axis[2], axis[1]],
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[axis[2], 0, -axis[0]],
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[-axis[1], axis[0], 0]])
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R = np.eye(3) + np.sin(angle) * K + (1 - np.cos(angle)) * (K @ K)
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T = np.eye(4)
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T[:3, :3] = R
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return T
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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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succ = False
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if self.step_id >= 0:
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succ = True
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if succ:
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self.step_id += 1
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return succ |