From 5d8e17469ced6d116967ad98eb16fc9412f6fbd6 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sun, 5 Apr 2020 12:51:00 -0400 Subject: [PATCH 01/48] Move to container edge. Commented out lines are buggy --- rlbench_empty_container.py | 22 ++++++++++++++++++---- 1 file changed, 18 insertions(+), 4 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 2085fa1..8170027 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -1,6 +1,6 @@ import numpy as np import scipy as sp -from quaternion import from_rotation_matrix, quaternion +from quaternion import from_rotation_matrix, quaternion, as_euler_angles from rlbench.environment import Environment from rlbench.action_modes import ArmActionMode, ActionMode @@ -38,14 +38,19 @@ def act(self, obs): class MoveAgent: def act(self, obs, target_pos): - stepsize = 0.015 + stepsize = 0.005 movementVector = np.asarray([(target_pos[0]-obs.gripper_pose[0]), (target_pos[1]-obs.gripper_pose[1]), (target_pos[2]-obs.gripper_pose[2])]) + + # if np.linalg.norm(movementVector)<0.02: + # return [0, 0, 0, 0, 0, 0, 0, 1, 0] + unitMovementVector = movementVector / np.linalg.norm(movementVector) robotStep = unitMovementVector * stepsize delta_quat = np.asarray([0, 0, 0, 1]) # xyzw - gripper_pos = np.asarray([0]) + # delta_quat = quat + gripper_pos = np.asarray([1]) return np.concatenate((robotStep, delta_quat, gripper_pos)) @@ -83,7 +88,7 @@ def get_poses(self): action_mode = ActionMode(ArmActionMode.DELTA_EE_POSE) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable - agent = moveAgent() + agent = MoveAgent() obj_pose_sensor = NoisyObjectPoseSensor(env) descriptions, obs = task.reset() @@ -92,6 +97,15 @@ def get_poses(self): # Getting noisy object poses obj_poses = obj_pose_sensor.get_poses() small_container_pos = obj_poses['small_container0'][:3] + small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) + small_container_euler = as_euler_angles(small_container_quat) + print(small_container_euler) + z = small_container_euler[0] + # small_container_pos[2] += 0.1 + + # The size of the small container is .25x by .14y by .07z (m) + small_container_pos[0] += 0.070*np.sin(z) + small_container_pos[1] += 0.070*np.cos(z) # Getting various fields from obs current_joints = obs.joint_positions From 01a3752ea9e1e4b3691058e963e9bf2cd801fe0d Mon Sep 17 00:00:00 2001 From: htqcheng Date: Thu, 9 Apr 2020 13:20:24 -0400 Subject: [PATCH 02/48] Different States --- rlbench_empty_container.py | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 8170027..10bf5e5 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -34,17 +34,18 @@ def act(self, obs): gripper_pos = [np.random.rand() > 0.5] return delta_pos + delta_quat + gripper_pos - class MoveAgent: def act(self, obs, target_pos): + global state stepsize = 0.005 movementVector = np.asarray([(target_pos[0]-obs.gripper_pose[0]), (target_pos[1]-obs.gripper_pose[1]), (target_pos[2]-obs.gripper_pose[2])]) - # if np.linalg.norm(movementVector)<0.02: - # return [0, 0, 0, 0, 0, 0, 0, 1, 0] + if np.linalg.norm(movementVector)<0.02: + state = 1 + return [0, 0, 0, 0, 0, 0, 1, 0] unitMovementVector = movementVector / np.linalg.norm(movementVector) robotStep = unitMovementVector * stepsize @@ -90,16 +91,17 @@ def get_poses(self): task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable agent = MoveAgent() obj_pose_sensor = NoisyObjectPoseSensor(env) + state = 0 descriptions, obs = task.reset() - print(descriptions) + # print(descriptions) while True: # Getting noisy object poses obj_poses = obj_pose_sensor.get_poses() small_container_pos = obj_poses['small_container0'][:3] small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) small_container_euler = as_euler_angles(small_container_quat) - print(small_container_euler) + # print(small_container_euler) z = small_container_euler[0] # small_container_pos[2] += 0.1 @@ -115,7 +117,10 @@ def get_poses(self): mask = obs.wrist_mask # Perform action and step simulation - action = agent.act(obs, small_container_pos) + if state == 1: + print(state) + if state == 0: + action = agent.act(obs, small_container_pos) obs, reward, terminate = task.step(action) # if terminate: From e2ed4ee67173cd412d4b200af28a5e13b60e35c9 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sat, 11 Apr 2020 21:15:09 -0400 Subject: [PATCH 03/48] Lifting the red container --- rlbench_empty_container.py | 44 +++++++++++++++++++++++++++++++++----- 1 file changed, 39 insertions(+), 5 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 10bf5e5..568ac9a 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -36,14 +36,14 @@ def act(self, obs): class MoveAgent: - def act(self, obs, target_pos): + def move2box(self, obs, target_pos): global state stepsize = 0.005 movementVector = np.asarray([(target_pos[0]-obs.gripper_pose[0]), (target_pos[1]-obs.gripper_pose[1]), (target_pos[2]-obs.gripper_pose[2])]) - if np.linalg.norm(movementVector)<0.02: + if np.linalg.norm(movementVector)<0.01: state = 1 return [0, 0, 0, 0, 0, 0, 1, 0] @@ -55,6 +55,30 @@ def act(self, obs, target_pos): return np.concatenate((robotStep, delta_quat, gripper_pos)) + def moveleft(self, obs, x, y): + global state, count + count += 1 + print(count) + if count >= 10: + state = 2 + stepsize = 0.005 + robotStep = np.asarray([stepsize*x, stepsize*y, 0]) + delta_quat = np.asarray([0, 0, 0, 1]) # xyzw + # delta_quat = quat + gripper_pos = np.asarray([0]) + + return np.concatenate((robotStep, delta_quat, gripper_pos)) + + def moveup(self, obs, length): + global state + stepsize = 0.005 + robotStep = np.asarray([0, 0, stepsize]) + delta_quat = np.asarray([0, 0, 0, 1]) # xyzw + # delta_quat = quat + gripper_pos = np.asarray([0]) + + return np.concatenate((robotStep, delta_quat, gripper_pos)) + class NoisyObjectPoseSensor: @@ -92,19 +116,26 @@ def get_poses(self): agent = MoveAgent() obj_pose_sensor = NoisyObjectPoseSensor(env) state = 0 - + count = 0 + descriptions, obs = task.reset() # print(descriptions) while True: # Getting noisy object poses obj_poses = obj_pose_sensor.get_poses() small_container_pos = obj_poses['small_container0'][:3] + small_container_pos[2] -= 0.01 small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) small_container_euler = as_euler_angles(small_container_quat) # print(small_container_euler) z = small_container_euler[0] # small_container_pos[2] += 0.1 + # Get shapes + shape0_pos = obj_poses['Shape'][:3] + shape1_pos = obj_poses['Shape1'][:3] + shape3_pos = obj_poses['Shape3'][:3] + # The size of the small container is .25x by .14y by .07z (m) small_container_pos[0] += 0.070*np.sin(z) small_container_pos[1] += 0.070*np.cos(z) @@ -117,10 +148,13 @@ def get_poses(self): mask = obs.wrist_mask # Perform action and step simulation + + if state == 2: + action = agent.moveup(obs, 1) if state == 1: - print(state) + action = agent.moveleft(obs, np.sin(z), np.cos(z)) if state == 0: - action = agent.act(obs, small_container_pos) + action = agent.move2box(obs, small_container_pos) obs, reward, terminate = task.step(action) # if terminate: From f7d2b020c491d681512131370dad9d583e401b26 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sat, 11 Apr 2020 22:05:37 -0400 Subject: [PATCH 04/48] Quaternions? --- rlbench_empty_container.py | 26 ++++++++++++++++---------- 1 file changed, 16 insertions(+), 10 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 568ac9a..528dc8e 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -49,8 +49,8 @@ def move2box(self, obs, target_pos): unitMovementVector = movementVector / np.linalg.norm(movementVector) robotStep = unitMovementVector * stepsize - delta_quat = np.asarray([0, 0, 0, 1]) # xyzw - # delta_quat = quat + # delta_quat = np.asarray([0, 0, 0, 1]) # xyzw + delta_quat = target_pos[3:7] gripper_pos = np.asarray([1]) return np.concatenate((robotStep, delta_quat, gripper_pos)) @@ -110,7 +110,7 @@ def get_poses(self): if __name__ == "__main__": - action_mode = ActionMode(ArmActionMode.DELTA_EE_POSE) # See rlbench/action_modes.py for other action modes + action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable agent = MoveAgent() @@ -123,7 +123,7 @@ def get_poses(self): while True: # Getting noisy object poses obj_poses = obj_pose_sensor.get_poses() - small_container_pos = obj_poses['small_container0'][:3] + small_container_pos = obj_poses['small_container0'][:7] small_container_pos[2] -= 0.01 small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) small_container_euler = as_euler_angles(small_container_quat) @@ -148,13 +148,19 @@ def get_poses(self): mask = obs.wrist_mask # Perform action and step simulation - - if state == 2: - action = agent.moveup(obs, 1) - if state == 1: - action = agent.moveleft(obs, np.sin(z), np.cos(z)) + # if state == 2: + # action = agent.moveup(obs, 1) + # if state == 1: + # action = agent.moveleft(obs, np.sin(z), np.cos(z)) + # if state == 0: + # action = agent.move2box(obs, small_container_pos) + if state == 0: - action = agent.move2box(obs, small_container_pos) + action = np.concatenate((small_container_pos, np.array([1]))) + state = 1 + elif state == 1: + action = obs.gripper_pose + action[-1] = 0 obs, reward, terminate = task.step(action) # if terminate: From 3247b4cf42fe980a56d24766295fb5ae197249de Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sat, 11 Apr 2020 22:31:25 -0400 Subject: [PATCH 05/48] Quaternion 2 --- rlbench_empty_container.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 528dc8e..6cdc910 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -123,7 +123,8 @@ def get_poses(self): while True: # Getting noisy object poses obj_poses = obj_pose_sensor.get_poses() - small_container_pos = obj_poses['small_container0'][:7] + small_container_pos = obj_poses['small_container0'][:3] + small_container_quat2 = obj_poses['small_container0'][3:7] small_container_pos[2] -= 0.01 small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) small_container_euler = as_euler_angles(small_container_quat) @@ -156,7 +157,7 @@ def get_poses(self): # action = agent.move2box(obs, small_container_pos) if state == 0: - action = np.concatenate((small_container_pos, np.array([1]))) + action = np.concatenate((small_container_pos, gripper_pose[3:7], np.array([1]))) state = 1 elif state == 1: action = obs.gripper_pose From 6ff6b25b17ae319d2bf8f440d7b04dcbd9af4927 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Mon, 13 Apr 2020 20:26:35 -0400 Subject: [PATCH 06/48] Grab Red Container but not lifting --- rlbench_empty_container.py | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 6cdc910..c054c3c 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -160,8 +160,22 @@ def get_poses(self): action = np.concatenate((small_container_pos, gripper_pose[3:7], np.array([1]))) state = 1 elif state == 1: - action = obs.gripper_pose + action = np.concatenate((obs.gripper_pose, np.array([0]))) action[-1] = 0 + state = 2 + elif state == 2: + pose = obs.gripper_pose + pose[0] += np.sin(z)*0.05 + pose[1] += np.cos(z)*0.05 + action = np.concatenate((pose, np.array([0]))) + state = 3 + elif state == 3: + pose = obs.gripper_pose + pose[2] += 0.1 + action = np.concatenate((pose, np.array([0]))) + state = 4 + elif state == 4: + action = np.concatenate((obs.gripper_pose, np.array([0]))) obs, reward, terminate = task.step(action) # if terminate: From 653fa303d9b07e303488191085a5e18c7e8445f8 Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Mon, 13 Apr 2020 20:32:38 -0400 Subject: [PATCH 07/48] move container above big container --- rlbench_empty_container.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index c054c3c..4d94951 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -124,6 +124,7 @@ def get_poses(self): # Getting noisy object poses obj_poses = obj_pose_sensor.get_poses() small_container_pos = obj_poses['small_container0'][:3] + large_container_pos = obj_poses['large_container'][:3] small_container_quat2 = obj_poses['small_container0'][3:7] small_container_pos[2] -= 0.01 small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) @@ -175,7 +176,7 @@ def get_poses(self): action = np.concatenate((pose, np.array([0]))) state = 4 elif state == 4: - action = np.concatenate((obs.gripper_pose, np.array([0]))) + action = np.concatenate((large_container_pos, obs.gripper_pose[3:7], np.array([0]))) obs, reward, terminate = task.step(action) # if terminate: From d98fc9f378149a446decfdb3164a77e999c4f6a8 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Mon, 13 Apr 2020 20:59:27 -0400 Subject: [PATCH 08/48] Changed Lateral Movement amount --- rlbench_empty_container.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 4d94951..0f74cf3 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -166,8 +166,8 @@ def get_poses(self): state = 2 elif state == 2: pose = obs.gripper_pose - pose[0] += np.sin(z)*0.05 - pose[1] += np.cos(z)*0.05 + pose[0] += np.sin(z)*0.02 + pose[1] += np.cos(z)*0.02 action = np.concatenate((pose, np.array([0]))) state = 3 elif state == 3: From d1c37c3260c0980bb0d0c0ba7fd6a2432b22da85 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Tue, 14 Apr 2020 17:11:54 -0400 Subject: [PATCH 09/48] Simulated Grasp --- rlbench_empty_container.py | 46 ++++++++++++++++++++++++-------------- 1 file changed, 29 insertions(+), 17 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 0f74cf3..ef90ff9 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -107,6 +107,10 @@ def get_poses(self): obj_poses[name] = pose return obj_poses + + def get_objs(self): + objs = self._env._scene._active_task.get_base().get_objects_in_tree(exclude_base=True, first_generation_only=False) + return objs if __name__ == "__main__": @@ -118,21 +122,28 @@ def get_poses(self): state = 0 count = 0 + gripper = task._robot.gripper + objs = obj_pose_sensor.get_objs() + for obj in objs: + if (obj.get_name()=='small_container0'): + small_container0_obj = obj + descriptions, obs = task.reset() # print(descriptions) - while True: - # Getting noisy object poses - obj_poses = obj_pose_sensor.get_poses() - small_container_pos = obj_poses['small_container0'][:3] - large_container_pos = obj_poses['large_container'][:3] - small_container_quat2 = obj_poses['small_container0'][3:7] - small_container_pos[2] -= 0.01 - small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) - small_container_euler = as_euler_angles(small_container_quat) - # print(small_container_euler) - z = small_container_euler[0] - # small_container_pos[2] += 0.1 + # Getting noisy object poses + obj_poses = obj_pose_sensor.get_poses() + small_container_pos = obj_poses['small_container0'][:3] + large_container_pos = obj_poses['large_container'][:3] + small_container_quat2 = obj_poses['small_container0'][3:7] + small_container_pos[2] -= 0.01 + small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) + small_container_euler = as_euler_angles(small_container_quat) + # print(small_container_euler) + z = small_container_euler[0] + # small_container_pos[2] += 0.1 + + while True: # Get shapes shape0_pos = obj_poses['Shape'][:3] shape1_pos = obj_poses['Shape1'][:3] @@ -161,22 +172,23 @@ def get_poses(self): action = np.concatenate((small_container_pos, gripper_pose[3:7], np.array([1]))) state = 1 elif state == 1: - action = np.concatenate((obs.gripper_pose, np.array([0]))) - action[-1] = 0 + action = np.concatenate((obs.gripper_pose, np.array([1]))) + # action[-1] = 0 + gripper.grasp(small_container0_obj) state = 2 elif state == 2: pose = obs.gripper_pose pose[0] += np.sin(z)*0.02 pose[1] += np.cos(z)*0.02 - action = np.concatenate((pose, np.array([0]))) + action = np.concatenate((pose, np.array([1]))) state = 3 elif state == 3: pose = obs.gripper_pose pose[2] += 0.1 - action = np.concatenate((pose, np.array([0]))) + action = np.concatenate((pose, np.array([1]))) state = 4 elif state == 4: - action = np.concatenate((large_container_pos, obs.gripper_pose[3:7], np.array([0]))) + action = np.concatenate((large_container_pos, obs.gripper_pose[3:7], np.array([1]))) obs, reward, terminate = task.step(action) # if terminate: From 03ae5cf9026defd1a8db60460fa5db96cbdfb9a0 Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Tue, 14 Apr 2020 18:49:30 -0400 Subject: [PATCH 10/48] picks up box and flips --- rlbench_empty_container.py | 34 +++++++++++++++++++++++++++++----- 1 file changed, 29 insertions(+), 5 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index ef90ff9..a0f3e3c 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -1,6 +1,6 @@ import numpy as np import scipy as sp -from quaternion import from_rotation_matrix, quaternion, as_euler_angles +from quaternion import from_rotation_matrix, quaternion, as_euler_angles, from_euler_angles, as_float_array from rlbench.environment import Environment from rlbench.action_modes import ArmActionMode, ActionMode @@ -142,6 +142,15 @@ def get_objs(self): # print(small_container_euler) z = small_container_euler[0] # small_container_pos[2] += 0.1 + above_large_container = large_container_pos + above_large_container[2] += 0.3 + + flipped = quaternion(obs.gripper_pose[3],obs.gripper_pose[4],obs.gripper_pose[5],obs.gripper_pose[6]) + flipped_euler = as_euler_angles(flipped) + print(flipped_euler) + flipped_euler[2] -= 2 + flipped = from_euler_angles(flipped_euler) + flipped_array = as_float_array(flipped) while True: # Get shapes @@ -153,6 +162,8 @@ def get_objs(self): small_container_pos[0] += 0.070*np.sin(z) small_container_pos[1] += 0.070*np.cos(z) + + # Getting various fields from obs current_joints = obs.joint_positions gripper_pose = obs.gripper_pose @@ -168,27 +179,40 @@ def get_objs(self): # if state == 0: # action = agent.move2box(obs, small_container_pos) + # move to red box + # state = 5 if state == 0: action = np.concatenate((small_container_pos, gripper_pose[3:7], np.array([1]))) state = 1 + # grasp box elif state == 1: - action = np.concatenate((obs.gripper_pose, np.array([1]))) + action = np.concatenate((obs.gripper_pose, np.array([0]))) # action[-1] = 0 gripper.grasp(small_container0_obj) state = 2 + # moving sideways elif state == 2: pose = obs.gripper_pose pose[0] += np.sin(z)*0.02 pose[1] += np.cos(z)*0.02 - action = np.concatenate((pose, np.array([1]))) + action = np.concatenate((pose, np.array([0]))) state = 3 + # moving up elif state == 3: pose = obs.gripper_pose pose[2] += 0.1 - action = np.concatenate((pose, np.array([1]))) + action = np.concatenate((pose, np.array([0]))) state = 4 + # above big container elif state == 4: - action = np.concatenate((large_container_pos, obs.gripper_pose[3:7], np.array([1]))) + action = np.concatenate((above_large_container, obs.gripper_pose[3:7], np.array([0]))) + state = 5 + #flip box + elif state ==5: + # print(flipped_array) + action = np.concatenate((above_large_container, flipped_array, np.array([0]))) + state = 6 + obs, reward, terminate = task.step(action) # if terminate: From 18d525b4ed201965bd7d88d807154308d1571b77 Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Thu, 16 Apr 2020 16:26:58 -0400 Subject: [PATCH 11/48] added offset --- rlbench_empty_container.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index a0f3e3c..4549622 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -145,13 +145,17 @@ def get_objs(self): above_large_container = large_container_pos above_large_container[2] += 0.3 - flipped = quaternion(obs.gripper_pose[3],obs.gripper_pose[4],obs.gripper_pose[5],obs.gripper_pose[6]) - flipped_euler = as_euler_angles(flipped) + notflipped = quaternion(obs.gripper_pose[3],obs.gripper_pose[4],obs.gripper_pose[5],obs.gripper_pose[6]) + notflipped_array = as_float_array(notflipped) + flipped_euler = as_euler_angles(notflipped) print(flipped_euler) - flipped_euler[2] -= 2 + flipped_euler[2] += 2 flipped = from_euler_angles(flipped_euler) flipped_array = as_float_array(flipped) + above_large_container[0] += 0.070*np.sin(z) + above_large_container[1] += 0.070*np.cos(z) + while True: # Get shapes shape0_pos = obj_poses['Shape'][:3] @@ -164,6 +168,8 @@ def get_objs(self): + + # Getting various fields from obs current_joints = obs.joint_positions gripper_pose = obs.gripper_pose From 53d395aea99e5fa879fd1c51c80ff786e572f12e Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Thu, 16 Apr 2020 17:00:37 -0400 Subject: [PATCH 12/48] puts box down and release --- rlbench_empty_container.py | 32 +++++++++++++++++++++++++++++++- 1 file changed, 31 insertions(+), 1 deletion(-) diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 4549622..d7336cd 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -134,6 +134,7 @@ def get_objs(self): # Getting noisy object poses obj_poses = obj_pose_sensor.get_poses() small_container_pos = obj_poses['small_container0'][:3] + small_container_pos_original = obj_poses['small_container0'][:3] large_container_pos = obj_poses['large_container'][:3] small_container_quat2 = obj_poses['small_container0'][3:7] small_container_pos[2] -= 0.01 @@ -149,13 +150,21 @@ def get_objs(self): notflipped_array = as_float_array(notflipped) flipped_euler = as_euler_angles(notflipped) print(flipped_euler) - flipped_euler[2] += 2 + + amount_2_flip = -2 + if np.cos(z)<0: + amount_2_flip = -amount_2_flip + flipped_euler[2] += amount_2_flip flipped = from_euler_angles(flipped_euler) flipped_array = as_float_array(flipped) above_large_container[0] += 0.070*np.sin(z) above_large_container[1] += 0.070*np.cos(z) + small_container_pos_original = small_container_pos + 0*small_container_pos + small_container_pos_original[0] = small_container_pos[0]+0.070*np.sin(z) + small_container_pos_original[1] = small_container_pos[1]+0.070*np.cos(z) + while True: # Get shapes shape0_pos = obj_poses['Shape'][:3] @@ -218,6 +227,27 @@ def get_objs(self): # print(flipped_array) action = np.concatenate((above_large_container, flipped_array, np.array([0]))) state = 6 + elif state ==6: + # print(flipped_array) + action = np.concatenate((above_large_container, notflipped_array, np.array([0]))) + state = 7 + elif state ==7: + # print(flipped_array) + action = np.concatenate((small_container_pos_original+[0,0,0.1], notflipped_array, np.array([0]))) + state = 8 + elif state ==8: + # print(flipped_array) + action = np.concatenate((small_container_pos_original, notflipped_array, np.array([0]))) + state = 9 + elif state ==9: + # print(flipped_array) + action = np.concatenate((small_container_pos_original, notflipped_array, np.array([1]))) + state = 10 + elif state ==10: + # print(flipped_array) + action = np.concatenate((small_container_pos_original+[0,0,0.3], notflipped_array, np.array([1]))) + state = 11 + obs, reward, terminate = task.step(action) From 8fc77fe423cb3c4e8b7267785d8707a0396beeb9 Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Wed, 22 Apr 2020 12:37:32 -0400 Subject: [PATCH 13/48] added initial function wrapper --- __pycache__/helper.cpython-36.pyc | Bin 0 -> 1983 bytes helper.py | 89 ++++++++++++++++++ rlbench_empty_container.py | 147 ++---------------------------- 3 files changed, 95 insertions(+), 141 deletions(-) create mode 100644 __pycache__/helper.cpython-36.pyc create mode 100644 helper.py diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc new file mode 100644 index 0000000000000000000000000000000000000000..f694d36f20679dc13bb3396b151a73a88b555be1 GIT binary patch literal 1983 zcmZuyJ#6Ge6rLIXu6H-tQ#O}uhz^wEq@^IIJL#Z^2nZx3is(2b3Kv-3wb$9r+Fr)q z)8+6sgzG4-pdl444H6OswA6HT77e0WaU~VSh3}0wxlM9o&71MO?|U_HIWSaZ=FipJJ&*kuO>3lKu^H3&ODp&o?3#a2ydVUg(!>qia zD3_L2fEkQaKlgko{o}q)=FuAHCi(~Hnc$2SY^E1_zzx>Hncrp_+haK^_=pEuryBLe zXe>sv!%p;>k&D7O;WIPW)My3H%+B?ZQHT>BSVv6u3cJo`c41Z43wvSREG+P9;MXuZ z*xgdQ6Wbzon^j0?Y8M)1_d=ruR-v`o2AkCj%yIT5_695Jfwjk=sVy`Mw$jv~(TjRv z7S2G2@9PJ1y2R+7YJcp{HN4HqV{?N9`Afo8EPDRQFSnll^V9yE-sUgP&d$2FBy`z` zryUm5F3KqBN$LTc5y}JmE;l#Dhi5D;xDdqMn z_V-dbjE0Fn{(;FYe8_+IcMsDz+|3UCX|nra+MmW@l4rXQ(_Wf;?@#kIN#kShflNnX zKi@qJ$8gPCljCxIGVC9D(}~whAA65{IrMu7U~*Ts1Hrh?TjDmixvlAZg`2!ZbFsy@ zM1zx*+d%c}ghfLxGIFen=Ff161@iAm$U8Y3@xnmli9mZQI*90z2=s`b@PUSys|Wgw zJrl_-;C0}83eQKH!f}N|93r;FNH4%Z)*4{&s(uLAAoBgiDz8iReRWE*S$oGzdn4H< z+B%6239=|}lGr4%0a2QMpZ+tYt_l|=x5{w&8Y$~b>H0brvWE~%v-ulHN}F#AM~x<> zCcn9ux75txJ9u}*CX)DE?kvr#b*zX@A>V}6Zml$uX*@Yr9#K_QQdyQ%M^*W($|@BA bMX1hs<;3=0oCf$ezDpHa6&9Os>vrdVYx&uJ literal 0 HcmV?d00001 diff --git a/helper.py b/helper.py new file mode 100644 index 0000000..ac46f6d --- /dev/null +++ b/helper.py @@ -0,0 +1,89 @@ +import numpy as np +from quaternion import from_rotation_matrix, quaternion, as_euler_angles, from_euler_angles, as_float_array + + + +def pick_up_box_variables(large_container_pos,obs,z,small_container_pos): + above_large_container = large_container_pos + above_large_container[2] += 0.3 + + notflipped = quaternion(obs.gripper_pose[3],obs.gripper_pose[4],obs.gripper_pose[5],obs.gripper_pose[6]) + notflipped_array = as_float_array(notflipped) + flipped_euler = as_euler_angles(notflipped) + + + amount_2_flip = -2 + if np.cos(z)<0: + amount_2_flip = -amount_2_flip + flipped_euler[2] += amount_2_flip + flipped = from_euler_angles(flipped_euler) + flipped_array = as_float_array(flipped) + + above_large_container[0] += 0.070*np.sin(z) + above_large_container[1] += 0.070*np.cos(z) + + small_container_pos_original = small_container_pos + 0*small_container_pos + small_container_pos_original[0] = small_container_pos[0]+0.070*np.sin(z) + small_container_pos_original[1] = small_container_pos[1]+0.070*np.cos(z) + + return above_large_container,small_container_pos_original,notflipped_array,flipped_array + +def pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,small_container_pos_original,gripper_pose,above_large_container,flipped_array,notflipped_array): + # move to red box + # state = 5 + if state == 0: + action = np.concatenate((small_container_pos, gripper_pose[3:7], np.array([1]))) + state = 1 + # grasp box + elif state == 1: + action = np.concatenate((obs.gripper_pose, np.array([0]))) + # action[-1] = 0 + gripper.grasp(small_container0_obj) + state = 2 + # moving sideways + elif state == 2: + pose = obs.gripper_pose + pose[0] += np.sin(z)*0.02 + pose[1] += np.cos(z)*0.02 + action = np.concatenate((pose, np.array([0]))) + state = 3 + # moving up + elif state == 3: + pose = obs.gripper_pose + pose[2] += 0.1 + action = np.concatenate((pose, np.array([0]))) + state = 4 + # above big container + elif state == 4: + action = np.concatenate((above_large_container, obs.gripper_pose[3:7], np.array([0]))) + state = 5 + #flip box + elif state ==5: + # print(flipped_array) + action = np.concatenate((above_large_container, flipped_array, np.array([0]))) + state = 6 + elif state ==6: + # print(flipped_array) + action = np.concatenate((above_large_container, notflipped_array, np.array([0]))) + state = 7 + elif state ==7: + # print(flipped_array) + action = np.concatenate((small_container_pos_original+[0,0,0.1], notflipped_array, np.array([0]))) + state = 8 + elif state ==8: + # print(flipped_array) + action = np.concatenate((small_container_pos_original, notflipped_array, np.array([0]))) + state = 9 + elif state ==9: + # print(flipped_array) + action = np.concatenate((small_container_pos_original, notflipped_array, np.array([1]))) + state = 10 + elif state ==10: + # print(flipped_array) + action = np.concatenate((small_container_pos_original+[0,0,0.3], notflipped_array, np.array([1]))) + state = 11 + else: + action = np.concatenate((obs.gripper_pose, np.array([1]))) + + return state,action + \ No newline at end of file diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index d7336cd..ef49b5e 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -7,6 +7,8 @@ from rlbench.observation_config import ObservationConfig from rlbench.tasks import * +from helper import pick_up_box, pick_up_box_variables + def skew(x): return np.array([[0, -x[2], x[1]], [x[2], 0, -x[0]], @@ -26,59 +28,6 @@ def sample_normal_pose(pos_scale, rot_scale): return pos, quat_wxyz -class RandomAgent: - - def act(self, obs): - delta_pos = [(np.random.rand() * 2 - 1) * 0.005, 0, 0] - delta_quat = [0, 0, 0, 1] # xyzw - gripper_pos = [np.random.rand() > 0.5] - return delta_pos + delta_quat + gripper_pos - -class MoveAgent: - - def move2box(self, obs, target_pos): - global state - stepsize = 0.005 - movementVector = np.asarray([(target_pos[0]-obs.gripper_pose[0]), - (target_pos[1]-obs.gripper_pose[1]), - (target_pos[2]-obs.gripper_pose[2])]) - - if np.linalg.norm(movementVector)<0.01: - state = 1 - return [0, 0, 0, 0, 0, 0, 1, 0] - - unitMovementVector = movementVector / np.linalg.norm(movementVector) - robotStep = unitMovementVector * stepsize - # delta_quat = np.asarray([0, 0, 0, 1]) # xyzw - delta_quat = target_pos[3:7] - gripper_pos = np.asarray([1]) - - return np.concatenate((robotStep, delta_quat, gripper_pos)) - - def moveleft(self, obs, x, y): - global state, count - count += 1 - print(count) - if count >= 10: - state = 2 - stepsize = 0.005 - robotStep = np.asarray([stepsize*x, stepsize*y, 0]) - delta_quat = np.asarray([0, 0, 0, 1]) # xyzw - # delta_quat = quat - gripper_pos = np.asarray([0]) - - return np.concatenate((robotStep, delta_quat, gripper_pos)) - - def moveup(self, obs, length): - global state - stepsize = 0.005 - robotStep = np.asarray([0, 0, stepsize]) - delta_quat = np.asarray([0, 0, 0, 1]) # xyzw - # delta_quat = quat - gripper_pos = np.asarray([0]) - - return np.concatenate((robotStep, delta_quat, gripper_pos)) - class NoisyObjectPoseSensor: @@ -117,7 +66,7 @@ def get_objs(self): action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable - agent = MoveAgent() + obj_pose_sensor = NoisyObjectPoseSensor(env) state = 0 count = 0 @@ -142,28 +91,8 @@ def get_objs(self): small_container_euler = as_euler_angles(small_container_quat) # print(small_container_euler) z = small_container_euler[0] - # small_container_pos[2] += 0.1 - above_large_container = large_container_pos - above_large_container[2] += 0.3 - - notflipped = quaternion(obs.gripper_pose[3],obs.gripper_pose[4],obs.gripper_pose[5],obs.gripper_pose[6]) - notflipped_array = as_float_array(notflipped) - flipped_euler = as_euler_angles(notflipped) - print(flipped_euler) - - amount_2_flip = -2 - if np.cos(z)<0: - amount_2_flip = -amount_2_flip - flipped_euler[2] += amount_2_flip - flipped = from_euler_angles(flipped_euler) - flipped_array = as_float_array(flipped) - above_large_container[0] += 0.070*np.sin(z) - above_large_container[1] += 0.070*np.cos(z) - - small_container_pos_original = small_container_pos + 0*small_container_pos - small_container_pos_original[0] = small_container_pos[0]+0.070*np.sin(z) - small_container_pos_original[1] = small_container_pos[1]+0.070*np.cos(z) + above_large_container,small_container_pos_original,notflipped_array,flipped_array = pick_up_box_variables(large_container_pos,obs,z,small_container_pos) while True: # Get shapes @@ -174,80 +103,16 @@ def get_objs(self): # The size of the small container is .25x by .14y by .07z (m) small_container_pos[0] += 0.070*np.sin(z) small_container_pos[1] += 0.070*np.cos(z) - - - - # Getting various fields from obs current_joints = obs.joint_positions gripper_pose = obs.gripper_pose rgb = obs.wrist_rgb depth = obs.wrist_depth mask = obs.wrist_mask - - # Perform action and step simulation - # if state == 2: - # action = agent.moveup(obs, 1) - # if state == 1: - # action = agent.moveleft(obs, np.sin(z), np.cos(z)) - # if state == 0: - # action = agent.move2box(obs, small_container_pos) - - # move to red box - # state = 5 - if state == 0: - action = np.concatenate((small_container_pos, gripper_pose[3:7], np.array([1]))) - state = 1 - # grasp box - elif state == 1: - action = np.concatenate((obs.gripper_pose, np.array([0]))) - # action[-1] = 0 - gripper.grasp(small_container0_obj) - state = 2 - # moving sideways - elif state == 2: - pose = obs.gripper_pose - pose[0] += np.sin(z)*0.02 - pose[1] += np.cos(z)*0.02 - action = np.concatenate((pose, np.array([0]))) - state = 3 - # moving up - elif state == 3: - pose = obs.gripper_pose - pose[2] += 0.1 - action = np.concatenate((pose, np.array([0]))) - state = 4 - # above big container - elif state == 4: - action = np.concatenate((above_large_container, obs.gripper_pose[3:7], np.array([0]))) - state = 5 - #flip box - elif state ==5: - # print(flipped_array) - action = np.concatenate((above_large_container, flipped_array, np.array([0]))) - state = 6 - elif state ==6: - # print(flipped_array) - action = np.concatenate((above_large_container, notflipped_array, np.array([0]))) - state = 7 - elif state ==7: - # print(flipped_array) - action = np.concatenate((small_container_pos_original+[0,0,0.1], notflipped_array, np.array([0]))) - state = 8 - elif state ==8: - # print(flipped_array) - action = np.concatenate((small_container_pos_original, notflipped_array, np.array([0]))) - state = 9 - elif state ==9: - # print(flipped_array) - action = np.concatenate((small_container_pos_original, notflipped_array, np.array([1]))) - state = 10 - elif state ==10: - # print(flipped_array) - action = np.concatenate((small_container_pos_original+[0,0,0.3], notflipped_array, np.array([1]))) - state = 11 + state,action = pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,small_container_pos_original,gripper_pose,above_large_container,flipped_array,notflipped_array) + obs, reward, terminate = task.step(action) From 9aede8bde3c9a935f254ab2066444c652d0e8cfe Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Sat, 25 Apr 2020 13:42:12 -0400 Subject: [PATCH 14/48] merged some of bryson's code --- __pycache__/helper.cpython-36.pyc | Bin 1983 -> 4847 bytes helper.py | 137 ++++++++++++++++++++++++++++++ rlbench_empty_container.py | 99 +++++++++++++++------ test.jpg | Bin 0 -> 6090 bytes 4 files changed, 208 insertions(+), 28 deletions(-) create mode 100644 test.jpg diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc index f694d36f20679dc13bb3396b151a73a88b555be1..52f1ae7ebb83b8661302c51136de677dafd59add 100644 GIT binary patch literal 4847 zcmb7ITa4Uh74~)P@mzM3Y?9qHL{E7DvxB~($=WwT8~OS4HQp%e?SJo9_Jp7q$% z-=6Gl@KmVNzEM<(zR>5sKf9M6#oZR&_MAYNYooPNlCq zdf#x2zUi3#s#BFqS{Wv&lc`>u^Y#WMG zw-k&{^&TM!^rYVD+{)`comIzjAhS6JYaHvc^y>THq!oUSHF9gL$Wm^>Hjj8N4$`vm zTp4)W>)SkNyJ0`LVtX<5?Xd3!zP%l0n>3TO$^2lZUS_A8$uMH}rgzV`J-eL@V;07N z&_()YpLViiCorza3z<##YKPhEOQU2P)*@6~vBdzd;6C0Ek`W9>!f*!tJjp5JiS zZr^U*dd0o-{LR}hUN4NWKg_}?bs7Qp+U_(2aB_R6ktRIbpL1#x?i%+!r`8W+>a<{; zP9;oT+ItljbvwZ((n1$ehSLQ&^@KAR%|LLRI^*87b!Z{7>&zdvyh832D%Scy z;*Vj0A6-7bne_ehDaGpZ&nBH=A8|ZAFA{<~O$hEJ6`U{g$hpC8aXj#2vLU~82sjQp zJ7f~+IS{GVRGX@;Hf6N(ygUzT$`Xv*)sVn>oKy)<1;i={fMp}+os!K}}Q@$dp(p5y4T<#&OE|sk|Y4u54S(3&YBCnF`h*XtK6|KQ6#7M2D zBW}ygKn!f>W=$HIh_OO@ZcemUazye`6?jCpk%hM#;_ZYs2)!VclHgSLIYRF~M`cE? zE=VV(Q7uOwYo9@%l=2!gu1erkC!7gdaH`;Fc`dKxR#!vptZne4IFjI!cz(CKr((26 zC$^^(q4N^H7<~BBFV4LA*PpF&N@05+lfRmrq>FmMLlMFTN$PWfAO-v+G1X3za#B^O zX&5iponw*517ElRN(f=Y2o^~jW_7bEgwGoQkLpaBZldK!jn^`gcuwUk4 zr!irbN!)38eZ=<6T|vSQ2aYiX?u!ZEDo%gK``v_x0TnL7uuJlJ+R*Vq*x7Q212Rze zp2tJ4jY8oTSSboQNs={rUU?kmX{wsslq)b-^p#WcDWxtG9-&B?;0V+%jO+@oRwg`$vy zVZm4wDksJ=N3$d!GQt22#^5uD0Fj(8U(>;rFN ziqQW9=vScs<9+?QFll4zYS`DOv8KS@2G-nC-j?}_c!x=O4te`owf?32I5Q{=?diy1}ynO_QE|v20 z8)ce(9JW?wV6wb24190lCpZ3d|DDy~-5=BQ%T@kG;ypoR8Dx)=*j|+gRwkYze%kf{V3?V_|G1!Vq}_{#r+ zKa4K1KvIUQOfuYGDD1!?AO2}f3CtXMv#Z{b^2$T`N2HOF8@axKj7aaFV6*^1hH@ch zgrSZs^eefUSCO5t-hEvnu;Ikw>5dQ@G>q@EO1XwypXxlY27KEJ=XnR`iParC=_=_+ ze=2wf&JQ~jJpKn-+hHWe2c+@F*|RBbs`14?uQ6waw*P~JwT zFw@K*q~U$PX!cQQP^J1ZYVd>?M~88k-8?u~<@8UDJAf1x^P|jj>E8xLZKeu3Tq)E7 zKcgrHrRjTEMtT>7>H|xDN?t%+a9SaHLY>FlDTV5UqjFt2fuK~*SjN*r&f1qNC5{UD zsocEGH=uXW*e&C-o_0c1*b0KM3NcQfV_Z~f6tBv{ZGn2Hh=}hz w3SOd!7Nv>^ZsHX)8+;gI&8zqn#lK9RA!vF6L_Y5Qca6KJ#%#V~i#SQUsAG2qK7r8apd1yAu*GcOe|Puk0maRIu?Mtc|Jc z#72u$+V~H|dONX7A@)}8*qDKNW|;S#VfTCKHFL6I7|CJhuC5sfeWHmVqTd%8ZwWZa z!5%WPsKg__WJ*3Ui7%V7ub7Ijnkq() .008 or abs(object_pos[1] - obs.gripper_pose[1]) > .008: + movementVector = np.asarray([(object_pos[0] - obs.gripper_pose[0]), + (object_pos[1] - obs.gripper_pose[1]), + .1 * (object_pos[2] - obs.gripper_pose[2])]) + else: + movementVector = np.asarray([(object_pos[0] - obs.gripper_pose[0]), + (object_pos[1] - obs.gripper_pose[1]), + (object_pos[2] - obs.gripper_pose[2])]) + + + if np.linalg.norm(movementVector) < 0.006: + state = 1 + return [0, 0, 0, 0, 0, 0, 1, 0], state, shape + + unitMovementVector = movementVector / np.linalg.norm(movementVector) + robotStep = unitMovementVector * stepsize + delta_quat = np.asarray([0, 0, 0, 1]) # xyzw + gripper_pos = np.asarray([1]) + + return np.concatenate((robotStep, delta_quat, gripper_pos)), state, shape + + elif state == 1: + if obs.gripper_pose[2] > .95: + state = 2 + return [0, 0, stepsize, 0, 0, 0, 1, 0], state, shape + + elif state == 2: + # This was code to try and determine whether the object was actually picked up or not. It causes an error right now + # if np.linalg.norm(np.asarray([(object_pos[0] - obs.gripper_pose[0]), + # (object_pos[1] - obs.gripper_pose[1]), + # (object_pos[2] - obs.gripper_pose[2])])) > .1: + # state = 0 + + if abs(box_pos[0] - obs.gripper_pose[0]) > .005 or abs(box_pos[1] - obs.gripper_pose[1]) > .005: + movementVector = np.asarray([(box_pos[0] - obs.gripper_pose[0]), + (box_pos[1] - obs.gripper_pose[1]), + 0]) + else: + movementVector = np.asarray([(box_pos[0] - obs.gripper_pose[0]), + (box_pos[1] - obs.gripper_pose[1]), + (box_pos[2] - obs.gripper_pose[2])]) + + + unitMovementVector = movementVector / np.linalg.norm(movementVector) + robotStep = unitMovementVector * stepsize + delta_quat = np.asarray([0, 0, 0, 1]) # xyzw + gripper_pos = np.asarray([0]) + + if np.linalg.norm(movementVector) < 0.05: + state = 3 + return [0, 0, 0, 0, 0, 0, 1, 1], state, shape + + return np.concatenate((robotStep, delta_quat, gripper_pos)), state, shape + + elif state == 3: + if obs.gripper_pose[2] > 1: + state = 0 + shape = str(int(shape) + 2) + return [0, 0, stepsize, 0, 0, 0, 1, 1], state, shape \ No newline at end of file diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index ef49b5e..307d4c2 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -7,14 +7,14 @@ from rlbench.observation_config import ObservationConfig from rlbench.tasks import * -from helper import pick_up_box, pick_up_box_variables +from helper import pick_up_box, pick_up_box_variables, generate_bounding_box, get_objects +import helper def skew(x): return np.array([[0, -x[2], x[1]], [x[2], 0, -x[0]], [-x[1], x[0], 0]]) - def sample_normal_pose(pos_scale, rot_scale): ''' Samples a 6D pose from a zero-mean isotropic normal distribution @@ -27,7 +27,19 @@ def sample_normal_pose(pos_scale, rot_scale): return pos, quat_wxyz +class MoveAgent: + + def act(self, obs, target_pos): + stepsize = 0.015 + movementVector = np.asarray([(target_pos[0]-obs.gripper_pose[0]), + (target_pos[1]-obs.gripper_pose[1]), + (target_pos[2]-obs.gripper_pose[2])]) + unitMovementVector = movementVector / np.linalg.norm(movementVector) + robotStep = unitMovementVector * stepsize + delta_quat = np.asarray([0, 0, 0, 1]) # xyzw + gripper_pos = np.asarray([0]) + return np.concatenate((robotStep, delta_quat, gripper_pos)) class NoisyObjectPoseSensor: @@ -63,13 +75,18 @@ def get_objs(self): if __name__ == "__main__": - action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes + + mode = 0 + if mode ==1: + action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes + else: action_mode = ActionMode(ArmActionMode.DELTA_EE_POSE) env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable - + agent = MoveAgent() obj_pose_sensor = NoisyObjectPoseSensor(env) - state = 0 + update = 0 count = 0 + gripper = task._robot.gripper objs = obj_pose_sensor.get_objs() @@ -78,10 +95,18 @@ def get_objs(self): small_container0_obj = obj descriptions, obs = task.reset() - # print(descriptions) + print(descriptions) + global state + state = 0 + global shape + shape = '0' - # Getting noisy object poses + # initialize shape poses obj_poses = obj_pose_sensor.get_poses() + shape_pos = obj_poses['Shape' + shape][:3] + most_recent_shape_pos = shape_pos + + # Getting noisy object poses small_container_pos = obj_poses['small_container0'][:3] small_container_pos_original = obj_poses['small_container0'][:3] large_container_pos = obj_poses['large_container'][:3] @@ -89,34 +114,52 @@ def get_objs(self): small_container_pos[2] -= 0.01 small_container_quat = quaternion(obj_poses['small_container0'][3], obj_poses['small_container0'][4], obj_poses['small_container0'][5],obj_poses['small_container0'][6]) small_container_euler = as_euler_angles(small_container_quat) - # print(small_container_euler) + z = small_container_euler[0] above_large_container,small_container_pos_original,notflipped_array,flipped_array = pick_up_box_variables(large_container_pos,obs,z,small_container_pos) while True: - # Get shapes - shape0_pos = obj_poses['Shape'][:3] - shape1_pos = obj_poses['Shape1'][:3] - shape3_pos = obj_poses['Shape3'][:3] - - # The size of the small container is .25x by .14y by .07z (m) - small_container_pos[0] += 0.070*np.sin(z) - small_container_pos[1] += 0.070*np.cos(z) + if mode==0: + + # Getting noisy object poses + obj_poses = obj_pose_sensor.get_poses() + small_container_pos = obj_poses['small_container0'][:3] + + + # Perform action and step simulation + if int(shape) < 5: # shape goes from 0, 2, 4 + if state == 0: + try: + shape_pos = obj_poses['Shape' + shape][:3] + most_recent_shape_pos = shape_pos + except KeyError: + shape_pos = most_recent_shape_pos + elif state == 2: + try: + shape_pos = obj_poses['Shape' + shape][:3] + most_recent_shape_pos = shape_pos + except KeyError: + shape_pos = most_recent_shape_pos + else: + shape_pos = [0, 0, 0] + + + action, state, shape = get_objects(state, shape, obs, shape_pos, small_container_pos) - # Getting various fields from obs - current_joints = obs.joint_positions - gripper_pose = obs.gripper_pose - rgb = obs.wrist_rgb - depth = obs.wrist_depth - mask = obs.wrist_mask - - state,action = pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,small_container_pos_original,gripper_pose,above_large_container,flipped_array,notflipped_array) - + if mode == 1: + call_once = 0 + if call_once == 0: + pass + obj_poses = obj_pose_sensor.get_poses() - obs, reward, terminate = task.step(action) + current_joints = obs.joint_positions + gripper_pose = obs.gripper_pose + small_container_pos[0] += 0.070*np.sin(z) + small_container_pos[1] += 0.070*np.cos(z) + update,action = 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z>6(lCrK%>297KTDwL8cRUyRj^&`z?zCln;xvm#=%x;SFuIXV&r()41jJuENiFNDLjf7o2=uX1e2rCsR1yHnG4WYm4t?lrc$6uyQdW_#a!UdP4 z%y*$xI5rn5H`0~(`-jRkVZC|F@^`&7e}Xb(ZZ zL+eYsn?tzI9yUx0XGqo8sRafzy**!b9+I*RXJxS`g<%n2gL7@Z_U~w)n*BI)5h3Vx z;ufExuO&(ZzO5dr{Bv-=Y)>)5A|XSSoy`-}Cwn`EP`i@z4RW}FKSo&FKrz`e998hF zJp2?cIxGujEV-I~AbfV+3euBJ1YW|J+~n062A7`78@aq=e|Gccmg5u=a0Vw`eqYNj zMox(U-ycN}DfHn~2!IS(_s`Uu-gTSGi5ZFp&({?|d5YR~F4#8oh(KYU#~C^7%*e-v zLGk)Lk`^cISMgth`fMxT(8McspX8Oz%+9c^8^zvhsTLE{pz%Bix`x+_ ztI@De9RekZ4AH9D?t>Xho5(1(xBKhI4Q{E1G6*sAK_hb@5lT+N(IJd2a)lEa%lMpD zJppm_G6i2?>REW;O4_#7T05$}gzJi_vBabOA|ar3T$ejN1<|p|M!TR(_^u%)*$Pu=3v zli8OhYhybc%N~hxL|_NBLZfz^I+4)sIX!A8tB7b-Bhb(n|gDckxpwQ#9Yv( z#ZcW4#H?axne7d;Sc*?z_veg@$(GH?ly zV{?9Di);rj&c(R|^#+@$)UwEb?q!8i`S|p>1@#K!a2U9pCzdLFx&5-ss)SjPj;CMD zf3zs<=f7F!7ww6ii*)=3QfGQdQWWj^K74hBub_J4E`hCl>)6W$(qpX3W^(%*Bd2#~O?HBRv~XDk6bT#*2Y zSC}FiH9l^5rdD1ZTV%Nv`G)l|ufmX)5b~kd_c}1X0J>Jc+|e5v)4`7B+9CohXaurl z&kE1d>hJEStAF$|zy_oYQZ`h7Se8;i5mO#lUJmr3xHUXOMJXttSW4PNB$V*S=1G>X0*)@1x*?ELC(1yh(7{i6)@3lt)}6?s$u HCC>d1@cV#o literal 0 HcmV?d00001 From 9afbd523375aa6cadae299b5bfa12f235ee5e71f Mon Sep 17 00:00:00 2001 From: brysonjones Date: Sat, 25 Apr 2020 14:34:15 -0400 Subject: [PATCH 15/48] changed to absolute code --- helper.py | 44 +++++++++----------------------------- rlbench_empty_container.py | 4 +--- 2 files changed, 11 insertions(+), 37 deletions(-) diff --git a/helper.py b/helper.py index 148e1ec..2d2e0ef 100644 --- a/helper.py +++ b/helper.py @@ -165,25 +165,16 @@ def get_objects(state, shape, obs, object_pos, box_pos): stepsize = 0.01 if state == 0: if abs(object_pos[0] - obs.gripper_pose[0]) > .008 or abs(object_pos[1] - obs.gripper_pose[1]) > .008: - movementVector = np.asarray([(object_pos[0] - obs.gripper_pose[0]), - (object_pos[1] - obs.gripper_pose[1]), - .1 * (object_pos[2] - obs.gripper_pose[2])]) - else: - movementVector = np.asarray([(object_pos[0] - obs.gripper_pose[0]), - (object_pos[1] - obs.gripper_pose[1]), - (object_pos[2] - obs.gripper_pose[2])]) + action = np.concatenate((np.array([object_pos[0], object_pos[1], 0]), obs.gripper_pose[3:7], np.array([1]))) + else: + action = np.concatenate((object_pos, obs.gripper_pose[3:7], np.array([1]))) - if np.linalg.norm(movementVector) < 0.006: + if np.isclose(object_pos, obs.gripper_pose, .005): state = 1 return [0, 0, 0, 0, 0, 0, 1, 0], state, shape - unitMovementVector = movementVector / np.linalg.norm(movementVector) - robotStep = unitMovementVector * stepsize - delta_quat = np.asarray([0, 0, 0, 1]) # xyzw - gripper_pos = np.asarray([1]) - - return np.concatenate((robotStep, delta_quat, gripper_pos)), state, shape + return action, state, shape elif state == 1: if obs.gripper_pose[2] > .95: @@ -191,32 +182,17 @@ def get_objects(state, shape, obs, object_pos, box_pos): return [0, 0, stepsize, 0, 0, 0, 1, 0], state, shape elif state == 2: - # This was code to try and determine whether the object was actually picked up or not. It causes an error right now - # if np.linalg.norm(np.asarray([(object_pos[0] - obs.gripper_pose[0]), - # (object_pos[1] - obs.gripper_pose[1]), - # (object_pos[2] - obs.gripper_pose[2])])) > .1: - # state = 0 - if abs(box_pos[0] - obs.gripper_pose[0]) > .005 or abs(box_pos[1] - obs.gripper_pose[1]) > .005: - movementVector = np.asarray([(box_pos[0] - obs.gripper_pose[0]), - (box_pos[1] - obs.gripper_pose[1]), - 0]) - else: - movementVector = np.asarray([(box_pos[0] - obs.gripper_pose[0]), - (box_pos[1] - obs.gripper_pose[1]), - (box_pos[2] - obs.gripper_pose[2])]) - + action = np.concatenate((np.array([box_pos[0], box_pos[1], 0]), obs.gripper_pose[3:7], np.array([1]))) - unitMovementVector = movementVector / np.linalg.norm(movementVector) - robotStep = unitMovementVector * stepsize - delta_quat = np.asarray([0, 0, 0, 1]) # xyzw - gripper_pos = np.asarray([0]) + else: + action = np.concatenate((box_pos, obs.gripper_pose[3:7], np.array([1]))) - if np.linalg.norm(movementVector) < 0.05: + if np.isclose(box_pos, obs.gripper_pose, .05): state = 3 return [0, 0, 0, 0, 0, 0, 1, 1], state, shape - return np.concatenate((robotStep, delta_quat, gripper_pos)), state, shape + return action, state, shape elif state == 3: if obs.gripper_pose[2] > 1: diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 307d4c2..e4c63a9 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -77,9 +77,7 @@ def get_objs(self): if __name__ == "__main__": mode = 0 - if mode ==1: - action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes - else: action_mode = ActionMode(ArmActionMode.DELTA_EE_POSE) + action_mode = ActionMode(ArmActionMode.ABS_EE_POSE) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable agent = MoveAgent() From 59db086019c93031d512d1608cb8cbcd11fcebdf Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Sat, 25 Apr 2020 15:21:21 -0400 Subject: [PATCH 16/48] cycles from picking up objects to dumping them --- __pycache__/helper.cpython-36.pyc | Bin 4847 -> 4503 bytes helper.py | 92 ++++++++++++++++++++++-------- rlbench_empty_container.py | 28 +++++---- 3 files changed, 80 insertions(+), 40 deletions(-) diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc index 52f1ae7ebb83b8661302c51136de677dafd59add..d3cad4335d996bc2789db2d7490ccd4de521b15a 100644 GIT binary patch delta 881 zcmaE_I$fE|n3tE!yk|*Vu);>JM;wf|HoxWIVPrJh{EL%~nNfc-Bd@Z&0Rsa=ks*jM z1rgdH!U#l|fC%Hs&b*!VPC#ZdE06#IHXsJEoq@Pmf{B5lh9QM9o2kgFgdvNuhB<{X zg{hTE5-0|Q%<0VH3^hzyOest$EFe*!8s-$%bjD`JH0EZ;TGkZST80|d8ipDmKNw^Z zE6}7VXeQNzjAA2b6g!$x>_DULp&5nSQH)5AVnQ{kK7}cpX#!)B7T7QrB7BH!7ze6h zDI8$4%CMNliPejY>Gg=<;zBcw3vAdSEQS#ddTwO1N?1x*Yk>Bou!}PQBL)~wwV=pi ztO0r#=zrp46cL*#48aVVJbp!tz=Tqy1|-sr!Qire5f?~^7bH|Ivd;ZsRf~O*5J*TJ zBs6O#2<)^k(f|o*GBEftXtEWFgE-b80-Qvpfvj81#U({W{6H2^-WDXlTAYzskXob< zWJhu3CuOB3m&6z37e}!t6Gj#$E+!z&1f@ZIW-f?0 e1}(tI!f3)+%%;&8LR&vTv?vszezX-S!m2%ZkoMA|l7nT_*{(_2Y@FRnt+QRR zUc5*lis;!(FQW7$c=Av1xQM7nK}GOXJosj^N!y616Xwm#d%xeCH@}(9ywE~8(+*Gj7K*%GrEF@nm9Lb@Hj$6;q|A1{Y*RO(QV2BkXQS zs!BHt)@^Jo!Bhj6p3-6LM@8f*t2ol@V}D5?`Q7Xm7no{Q<2n>+)DZhj)d-HV?Wa-_ zdnQL5&nZ)g>sy5VC^ERgwIYg4Q9w#kJr#<|NRR4am|HN{xydu!nuCHnxe!&QW_76* z9EqAW6*QctdaDSo$(%8vP{p<)5Y>T5*h7#MB3)uc;;92l|f7X_5a^FVfMgeJNHAt;K|`(ClybqHZbjM}f0ar*|EJRnUg8HuG{P=00%RP;*^8dXV(Xg#Bc(KG3QpI&sXZs zyqBo;*k=oDOazr6WNf$KW!YKb(1Pnu!(~G-FIj%M>duBU4L>LuWq(Ob5;F+hMo?LH zlU)n`O?SbqhnE55v!t+CuY?mjeHrGL{cs8>iACM{(3!ch=!Cf>>#<4$_7N$YkMf5~ z)371JDz@+lF5)~sK!oj8^5EM?^4P=$+(UYa1zzE?j588vb#N_2K}OrSJZ6*4ANi}< PQOM53zYeUg>^b)fmD3&A diff --git a/helper.py b/helper.py index 2d2e0ef..e540cf2 100644 --- a/helper.py +++ b/helper.py @@ -162,41 +162,83 @@ def pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,sma def get_objects(state, shape, obs, object_pos, box_pos): - stepsize = 0.01 + + #move above object if state == 0: - if abs(object_pos[0] - obs.gripper_pose[0]) > .008 or abs(object_pos[1] - obs.gripper_pose[1]) > .008: - action = np.concatenate((np.array([object_pos[0], object_pos[1], 0]), obs.gripper_pose[3:7], np.array([1]))) + + action = np.concatenate((object_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([1]))) + state = 1 - else: - action = np.concatenate((object_pos, obs.gripper_pose[3:7], np.array([1]))) + return action, state, shape + #move to object + elif state == 1: + + action = np.concatenate((object_pos[0:3]+[0,0,0.01], obs.gripper_pose[3:7], np.array([1]))) + + state = 2 - if np.isclose(object_pos, obs.gripper_pose, .005): - state = 1 - return [0, 0, 0, 0, 0, 0, 1, 0], state, shape + return action, state, shape + #move up + elif state == 2: + + action = np.concatenate((object_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([0]))) + state = 3 return action, state, shape - elif state == 1: - if obs.gripper_pose[2] > .95: - state = 2 - return [0, 0, stepsize, 0, 0, 0, 1, 0], state, shape + #move above box + elif state == 3: + + action = np.concatenate((box_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([0]))) + state = 4 - elif state == 2: - if abs(box_pos[0] - obs.gripper_pose[0]) > .005 or abs(box_pos[1] - obs.gripper_pose[1]) > .005: - action = np.concatenate((np.array([box_pos[0], box_pos[1], 0]), obs.gripper_pose[3:7], np.array([1]))) + return action, state, shape + + #move close to box + if state == 4: + + action = np.concatenate((box_pos[0:3]+[0,0,0.1], obs.gripper_pose[3:7], np.array([0]))) + state = 5 - else: - action = np.concatenate((box_pos, obs.gripper_pose[3:7], np.array([1]))) + return action, state, shape - if np.isclose(box_pos, obs.gripper_pose, .05): - state = 3 - return [0, 0, 0, 0, 0, 0, 1, 1], state, shape + #drop and move away + elif state == 5: + + action = np.concatenate((box_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([1]))) + state = 6 return action, state, shape - elif state == 3: - if obs.gripper_pose[2] > 1: - state = 0 - shape = str(int(shape) + 2) - return [0, 0, stepsize, 0, 0, 0, 1, 1], state, shape + else: + shape = str(int(shape) + 2) + state=0 + action = np.concatenate((box_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([1]))) + return action, state, shape + + + + # elif state == 1: + # if obs.gripper_pose[2] > .95: + # state = 2 + # return [0, 0, stepsize, 0, 0, 0, 1, 0], state, shape + + # elif state == 2: + # if abs(box_pos[0] - obs.gripper_pose[0]) > .005 or abs(box_pos[1] - obs.gripper_pose[1]) > .005: + # action = np.concatenate((np.array([box_pos[0], box_pos[1], 0]), obs.gripper_pose[3:7], np.array([1]))) + + # else: + # action = np.concatenate((box_pos, obs.gripper_pose[3:7], np.array([1]))) + + # if np.isclose(box_pos, obs.gripper_pose, .05): + # state = 3 + # return [0, 0, 0, 0, 0, 0, 1, 1], state, shape + + # return action, state, shape + + # elif state == 3: + # if obs.gripper_pose[2] > 1: + # state = 0 + # shape = str(int(shape) + 2) + # return [0, 0, stepsize, 0, 0, 0, 1, 1], state, shape \ No newline at end of file diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index e4c63a9..e98c35b 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -77,7 +77,7 @@ def get_objs(self): if __name__ == "__main__": mode = 0 - action_mode = ActionMode(ArmActionMode.ABS_EE_POSE) # See rlbench/action_modes.py for other action modes + action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable agent = MoveAgent() @@ -127,23 +127,21 @@ def get_objs(self): # Perform action and step simulation if int(shape) < 5: # shape goes from 0, 2, 4 - if state == 0: - try: - shape_pos = obj_poses['Shape' + shape][:3] - most_recent_shape_pos = shape_pos - except KeyError: - shape_pos = most_recent_shape_pos - elif state == 2: - try: - shape_pos = obj_poses['Shape' + shape][:3] - most_recent_shape_pos = shape_pos - except KeyError: - shape_pos = most_recent_shape_pos - else: - shape_pos = [0, 0, 0] + try: + shape_pos = obj_poses['Shape' + shape][:3] + most_recent_shape_pos = shape_pos + except KeyError: + shape_pos = most_recent_shape_pos + + print(int(shape)) + + action, state, shape = get_objects(state, shape, obs, shape_pos, small_container_pos) + print("done") + if int(shape)>5: + mode=1 if mode == 1: call_once = 0 From 7915923b3b1d1000e563c992343e3837c78314ff Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Sat, 25 Apr 2020 16:03:46 -0400 Subject: [PATCH 17/48] tuning and many little bugs --- __pycache__/helper.cpython-36.pyc | Bin 4503 -> 4638 bytes helper.py | 54 +++++++++++++++++++----------- rlbench_empty_container.py | 18 +++++----- 3 files changed, 44 insertions(+), 28 deletions(-) diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc index d3cad4335d996bc2789db2d7490ccd4de521b15a..45c31a5a81ed1bb28df4689cba5ea077443185bd 100644 GIT binary patch delta 1420 zcmah}J!lj`6rMMGySJI$O)klq9|eCBjb8rDk3qzrlLQoz1T~CS9xSUD9(Zb~#ZneOd)>hnvZPz&1%I;SK0bN^hE+CI&f2`~+vUh{D$*2Dg19 zP1;Gt@v$9ew-evtHu4S5qDaJ65hj&=$G3czOH7lD8~S$lvHYldjEe#YA^Gj=Zx1g2 zT+Iqk_M+Iv+PXas!5F$`9W?ThaTC7@{7PRaAwJ>hIVvud3CFnrDMNw!7B}!su_MIG^mMR9SJVuq|Un+t99~p?r0LpBjOhZiu3W>VZ zI7m#*VjMO{S3vamh^)B2%MG~<$T9sy6$0+m*1_cvg)AA`ji_0>DvhCLsMDCSG^R=; zYH9RpyV2@X+znWlsDis%0pzrp7ZdZ8*h`hzmXfhD>p|!;H^z94iuX0*HPj7Rqnl#r zra2m{P+>)Iwg+y-;1-HgaY3Q=9&pv-?d7Fnyp-bQG|!Kt1G!$!6;dqVCTUi{g}QCi zqC9WvQtEA|Me4U(>uySg{>Q%9(d7gW%DyRe8qP1;rSeSq-r<2^eOC18_?#6zcm@PR zvzXL~q5Pxt>&xF3m$Eya;c&?vyZS?(9?^;>V{e)B;(oC#+OfCg%swd2qIMBKaX^B4 zrRkTZPXf%mm?_O?ye(5@5Q8Cj-G@%f_>eTGq*0t<*&3B*B%JU@f``~7h7C6KLIP|W zZ*>^b$H0R9__ooVUJ4krDLjKN{ihxB53KfAe$}@SZBqjBWmMxkK#XJNaMNp}A7Smg zw*cX*rdw0al&YR8T6DpD$g1k;JLmU{U!NxLUdxIWIfvtDb}yw9*vnX|Wa6w0_l7r9 gM_@2qNS(3XqoXtwuBZCJ47XEvU@V+$z5+M?01b~P^#A|> delta 1231 zcmZ{iJ!lj`6vt;~zh`fgJqhMwB*vVmM-meAsTes>@T&-FAcch(Z_L6)PMNzxbe02S zx)gya#1vNP1R=!26gI)a!a~q0*jQKuQ(EVIGkZDjjP9~;X5Rb%-p;&vuTH$k($OHG zlgn#&W_s7@rW4TEt(ZkikVVWK`Pmt)Iu`0eOnDvU?Ld>rKvPJV%xgrnz7a8)Ba9Bz ziDF;Cyp`@m!e-IY!i6$KY zEj&-4Im2nym?7dPq1iZ9Mzx>35R6}qM)mV0zoR-c=kQJ#w*A7xQem!gzXTueRzSaU zTM?ftKjMSRF#skPY+L1u(hSM>LH5|N3Y<}9Tp7ji5oN}d8I`qQWcC(Jk>TQA>=GAe z2-TyFkHCAlJ`eSb;yzeYlEF6Kw|!0X#19^lA@X%wHw+se+aBXkU$?sLEnON@K4{O% zIP?kgE}oEI)7S9SZ}uz)i~s-t diff --git a/helper.py b/helper.py index e540cf2..d60b622 100644 --- a/helper.py +++ b/helper.py @@ -85,7 +85,7 @@ def pick_up_box_variables(large_container_pos,obs,z,small_container_pos): flipped_euler = as_euler_angles(notflipped) - amount_2_flip = -2 + amount_2_flip = -2.4 if np.cos(z)<0: amount_2_flip = -amount_2_flip flipped_euler[2] += amount_2_flip @@ -104,61 +104,83 @@ def pick_up_box_variables(large_container_pos,obs,z,small_container_pos): def pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,small_container_pos_original,gripper_pose,above_large_container,flipped_array,notflipped_array): # move to red box # state = 5 - if state == 0: - action = np.concatenate((small_container_pos, gripper_pose[3:7], np.array([1]))) + if state == -1: + print('state -1') + action = np.concatenate((small_container_pos_original+[0,0,.3], gripper_pose[3:7], np.array([1]))) + state = 0 + return state,action + + elif state == 0: + print('state 0') + action = np.concatenate((small_container_pos_original+[0,0,0.01], gripper_pose[3:7], np.array([1]))) state = 1 - # grasp box + return state,action + # wait elif state == 1: - action = np.concatenate((obs.gripper_pose, np.array([0]))) + print('state 1') + action = np.concatenate((obs.gripper_pose, np.array([1]))) # action[-1] = 0 - gripper.grasp(small_container0_obj) + state = 2 + return state,action # moving sideways elif state == 2: pose = obs.gripper_pose pose[0] += np.sin(z)*0.02 pose[1] += np.cos(z)*0.02 action = np.concatenate((pose, np.array([0]))) + state = 3 + return state,action # moving up elif state == 3: pose = obs.gripper_pose pose[2] += 0.1 + gripper.grasp(small_container0_obj) action = np.concatenate((pose, np.array([0]))) state = 4 + return state,action # above big container elif state == 4: action = np.concatenate((above_large_container, obs.gripper_pose[3:7], np.array([0]))) state = 5 + return state,action #flip box elif state ==5: # print(flipped_array) action = np.concatenate((above_large_container, flipped_array, np.array([0]))) state = 6 + return state,action elif state ==6: # print(flipped_array) action = np.concatenate((above_large_container, notflipped_array, np.array([0]))) state = 7 + return state,action elif state ==7: # print(flipped_array) action = np.concatenate((small_container_pos_original+[0,0,0.1], notflipped_array, np.array([0]))) state = 8 + return state,action elif state ==8: # print(flipped_array) action = np.concatenate((small_container_pos_original, notflipped_array, np.array([0]))) state = 9 elif state ==9: + return state,action # print(flipped_array) action = np.concatenate((small_container_pos_original, notflipped_array, np.array([1]))) state = 10 + return state,action elif state ==10: # print(flipped_array) action = np.concatenate((small_container_pos_original+[0,0,0.3], notflipped_array, np.array([1]))) state = 11 + return state,action else: action = np.concatenate((obs.gripper_pose, np.array([1]))) + return state,action - return state,action + def get_objects(state, shape, obs, object_pos, box_pos): @@ -166,14 +188,14 @@ def get_objects(state, shape, obs, object_pos, box_pos): #move above object if state == 0: - action = np.concatenate((object_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([1]))) + action = np.concatenate((object_pos[0:3]+[0,0,0.15], obs.gripper_pose[3:7], np.array([1]))) state = 1 return action, state, shape #move to object elif state == 1: - action = np.concatenate((object_pos[0:3]+[0,0,0.01], obs.gripper_pose[3:7], np.array([1]))) + action = np.concatenate((object_pos[0:3]+[0,0,0.001], obs.gripper_pose[3:7], np.array([1]))) state = 2 @@ -181,7 +203,7 @@ def get_objects(state, shape, obs, object_pos, box_pos): #move up elif state == 2: - action = np.concatenate((object_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([0]))) + action = np.concatenate((object_pos[0:3]+[0,0,0.15], obs.gripper_pose[3:7], np.array([0]))) state = 3 return action, state, shape @@ -189,7 +211,7 @@ def get_objects(state, shape, obs, object_pos, box_pos): #move above box elif state == 3: - action = np.concatenate((box_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([0]))) + action = np.concatenate((box_pos[0:3]+[0,0,0.15], obs.gripper_pose[3:7], np.array([0]))) state = 4 return action, state, shape @@ -197,23 +219,17 @@ def get_objects(state, shape, obs, object_pos, box_pos): #move close to box if state == 4: - action = np.concatenate((box_pos[0:3]+[0,0,0.1], obs.gripper_pose[3:7], np.array([0]))) + action = np.concatenate((box_pos[0:3]+[0,0,0.07], obs.gripper_pose[3:7], np.array([0]))) state = 5 return action, state, shape #drop and move away - elif state == 5: - - action = np.concatenate((box_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([1]))) - state = 6 - - return action, state, shape else: shape = str(int(shape) + 2) state=0 - action = np.concatenate((box_pos[0:3]+[0,0,0.3], obs.gripper_pose[3:7], np.array([1]))) + action = np.concatenate((box_pos[0:3]+[0,0,0.15], obs.gripper_pose[3:7], np.array([1]))) return action, state, shape diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index e98c35b..e853365 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -140,19 +140,19 @@ def get_objs(self): action, state, shape = get_objects(state, shape, obs, shape_pos, small_container_pos) print("done") - if int(shape)>5: - mode=1 - - if mode == 1: - call_once = 0 - if call_once == 0: - pass + if int(shape)>0: + mode=0.5 + + if mode == 0.5: obj_poses = obj_pose_sensor.get_poses() - - current_joints = obs.joint_positions + small_container_pos = obj_poses['small_container0'][:3] gripper_pose = obs.gripper_pose small_container_pos[0] += 0.070*np.sin(z) small_container_pos[1] += 0.070*np.cos(z) + update=-1 + mode = 1 + + if mode == 1: update,action = pick_up_box(update,obs,gripper,small_container0_obj,z,small_container_pos,small_container_pos_original,gripper_pose,above_large_container,flipped_array,notflipped_array) From e5d7c2f586e528841e45ba5d06570404977c5151 Mon Sep 17 00:00:00 2001 From: brysonjones Date: Sun, 26 Apr 2020 13:19:27 -0400 Subject: [PATCH 18/48] remove unnecessary file and have the arm pick up all 3 objects --- __pycache__/helper.cpython-36.pyc | Bin 4638 -> 0 bytes rlbench_empty_container.py | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) delete mode 100644 __pycache__/helper.cpython-36.pyc diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc deleted file mode 100644 index 45c31a5a81ed1bb28df4689cba5ea077443185bd..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4638 zcmai2ON<;>6|GmF?&|8#%-G{^OjJrBq!Y)VaWKe)Ogt0EB#OsQJBUyMO4a>pda7Mr z)p=DtGi|C@o$QFjB0_>So3KEz16EP8Wd#VKS|A}-BiO(aA%$~ab&tEpBe_O>-{*eb zr|v!X)?BOCtrvg#iytb_D9S&Sxkp9+HT;qcge#818COH*sIt`@9jz7`{gPAa8;;R0 zJLSIVnEi@VVTG*aSW>p?RMF~TwO?~;l4qb_ck1Yuc=-dxX>gNQ&@OR{SJ5u>8n2^W z;p%;**?9Q5_3loP*xNzq+nqQ{y&y{L9X}lS!rmT6oivCsu^kIL-SO?K*I&ARea&vg z?Krh>4%0Y_`y=a(Ao4={o``#XC%t4#gL_^Ad;LM^r#`paBYQ)Pk~p&8iX%U{XumV` zqcn)@%^g4LUbMW3+xK_8VPv;PzPMyfp6dO!w_2EiGp2UBtbf|?zHZ|Zf}NO zlGyRKy>?~os&#;CRJNK%zPc^qzANI?qiwr=FBQRlZoNPBQeQ-v%9p&v^@pJ^TrcW| zev+?9m4&GWWVXZDOI=S0Z`5RY6}OQLa5(G&Lz6Bl9*U%+(aL!0_?h@^;+JeNMM;$& z%ZREIb*!P)GA(17I?={DMtY|8jI`7%PuN@!@BJffY)DxGZRJp2Qz20+Jr^stOs7HcP^{(3b#H| zF*@ISiX_ledKWS)tMv?CnXoS7OB~)fF_`lHXWykAeu>vJYoanGv*4R6o{NjLY&dh zN;!D5-uIFR2W5D!zXAmGL?45cNi}Y~LsZO~!h3`4leh^Wo1@Cl9 zLE_TcD|k`&VjLpL4T&;>UVu}J1&7lNB*&?7;qA?~id*UL3A~AB-6>BaA+OGPXI`E2 zI7fq{AZ6gyy29tq639lpe>Vz8Zy=QXT*oO!x#9D!pE!DlHo{zI`KagRtdncl>nDnM z790HU^~*bP-@lv?R$qQS?hO0D@#L~h2<|K)xYJZ{xyU1z2BZ8`*N@1D{30L_IOyz? zOC*;-lxjn3Xtvg1XxTDb1~r+5IZ(C1RMlb^Si`W`(`ro>Ux7wPCp|nh{7U#q>;-rz znKIThV5y;;Q@HwdMN?h@x@4?}ta`3!^=WHN+tN8@q62x=%m7lAQcbpHUIj+#Jp;JS zxCsnwXJ%Cyo4{CUJu|1)OBs-ST!B82ZERt6Q?6ctcA2zSl|m96>yRVu9&$8pX4o62IM$Ri)s`F!96hUMrOevaft|H2aROJ;y(XVOtsiI@9ng&( z7)0p4rcCWM8I;|Bz4P0rKm6x!)&=FV8Sm4kDM&T1bwwcYY!D~DAaz03#2I30oj4I> zH`kINYS!|Tp(nb&j0e;c(xHJIaT`ANFh7~}y)Zn&Jms~4OYRXp$BN=~JEWC)zWk_P zBxa{RWfd9Sse63@ed?|udj|ujJX1UrlYy3BIA(n}7D1P)80qB&`7#~o)F9|QaEAl( zR(IDEf!9XWa2KouRh^#4}^8vgXIhId=$1}}Z6o+FONku@i5TZ4~Pxi*G&R^3J& z2P+z^{1{f?hYMEBCs<(%Rv4^&3M=s9sTJ1K=T^oZv9h(GV?9uR!o+ikFMV7?-q*;# zp<`q^qNaN2-?buUz$qgd;G3nBRbV*9TDy56} zUz2a{alPdQy=AGlUFc@QK(tu2UM<0 z*nF1eC6U-tox_$Lu##O61sTs|F926eb+LCA2xB4-mIznaX>~SQW)?dw-$OPo3~{iv1LkIyT{n79DBlfTZF8Kca`d?kpb^{`HTYG#chx2D~VBU z^TZv_y@5v-Wpq}zih7))aGK{oUoUEQnfm|t$-n=2r+sf-MxczhN3{V3Ub7@)N_-Rj z!s#iXkor?0mJ0s2Xu?2|h%X?DB*!W~&QRDUPMK0EI^s2Oj^^8H*H0<9P%9_D2S1_s zLQJSHGhMY*wCc2_v1S$Xv({LK-@nYnE$B2)|CFVB&D5}j@@a2a8FuY2t$!QQ>2J!_e P3|NiTRP$ByoZ0$6mO+Hz diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index e853365..b764281 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -140,7 +140,7 @@ def get_objs(self): action, state, shape = get_objects(state, shape, obs, shape_pos, small_container_pos) print("done") - if int(shape)>0: + if int(shape)>4: mode=0.5 if mode == 0.5: From be1dbfcc51dfeb6a4d0d86dbd557f493d8de2e8e Mon Sep 17 00:00:00 2001 From: brysonjones Date: Sun, 26 Apr 2020 16:51:55 -0400 Subject: [PATCH 19/48] added some of the code to check if the objects are inside the large container --- helper.py | 75 +++++++++++++++++++++++++++++++++++++- rlbench_empty_container.py | 35 ++++++++++++++---- 2 files changed, 101 insertions(+), 9 deletions(-) diff --git a/helper.py b/helper.py index d60b622..752903c 100644 --- a/helper.py +++ b/helper.py @@ -13,6 +13,8 @@ import imutils from imutils import perspective from imutils import contours +from collections import namedtuple + def generate_bounding_box(rgb_img, lower_bound, upper_bound): ''' @@ -165,8 +167,8 @@ def pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,sma # print(flipped_array) action = np.concatenate((small_container_pos_original, notflipped_array, np.array([0]))) state = 9 - elif state ==9: return state,action + elif state ==9: # print(flipped_array) action = np.concatenate((small_container_pos_original, notflipped_array, np.array([1]))) state = 10 @@ -257,4 +259,73 @@ def get_objects(state, shape, obs, object_pos, box_pos): # state = 0 # shape = str(int(shape) + 2) # return [0, 0, stepsize, 0, 0, 0, 1, 1], state, shape - \ No newline at end of file + + +def checkShapePosition(obj_poses, obs): + # have while loop to check for all of shape positions being accessible + shapePosAccessible = False + while not shapePosAccessible: + try: + shape0_pos = obj_poses['Shape0'][:3] + shape2_pos = obj_poses['Shape2'][:3] + shape4_pos = obj_poses['Shape4'][:3] + shapePosAccessible = True + + except KeyError: + Warning('Can''t access all shapes yet.') + + # once we can access the object shape positions, we need to + # we need to check if there are within the bounds of the large container + largeContainerPosition = obj_poses['large_container'][:3] + largeContainerOrientation = obj_poses['large_container'][3:] + + largeContainerOrientation = quaternion(largeContainerOrientation[0], + largeContainerOrientation[1], + largeContainerOrientation[2], + largeContainerOrientation[3]) + largeContainerOrientation = as_euler_angles(largeContainerOrientation) + + transformValues = namedtuple('transformValues', ['x', 'y', 'yaw']) + transformValuesPosition = transformValues(x=0, y=0, yaw=largeContainerOrientation[1]) + + H_box = getTransform(transformValuesPosition) + + # get dimensions of box !!!!!!!!!!!!! THESE ARE RANDOM VALUES RIGHT NOW!!!!!!!! + largeContainerLength = 1 # x dimension + largeContainerWidth = 1 # y dimension + + boxCornerPoints = np.array([[largeContainerLength / 2, -largeContainerLength / 2, -largeContainerLength / 2, largeContainerLength / 2], + [largeContainerWidth / 2, largeContainerWidth / 2, -largeContainerWidth / 2, -largeContainerWidth / 2], + [1, 1, 1, 1]]) + + rotatedBoxCornerPoints = H_box @ boxCornerPoints + + finalBoxCornerPoints = rotatedBoxCornerPoints + np.array([[largeContainerPosition[0]], + [largeContainerPosition[1]], + [1]]) + + +def getTransform(ArgStruct): + ''' + getTransformation + + Returns the 2D homogeneous transformation for the given pose. + + Args: ArgStruct + ArgStruct.x: x axis position of frame 2's origin in frame 1 [m] + ArgStruct.y: y axis position of frame 2's origin in frame 1 [m] + ArgStruct.yaw: angle between frames [rad] + + Returns: H + H: 2D homogeneous transformation matrix [m] + + Raises: + none + + ''' + H = np.asarray([[np.cos(ArgStruct.yaw), -np.sin(ArgStruct.yaw), ArgStruct.x], + [np.sin(ArgStruct.yaw), np.cos(ArgStruct.yaw), ArgStruct.y], + [0, 0, 1]]) + + return H + diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index b764281..01b8c4d 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -1,6 +1,8 @@ import numpy as np import scipy as sp from quaternion import from_rotation_matrix, quaternion, as_euler_angles, from_euler_angles, as_float_array +import time +from collections import namedtuple from rlbench.environment import Environment from rlbench.action_modes import ArmActionMode, ActionMode @@ -8,7 +10,7 @@ from rlbench.tasks import * from helper import pick_up_box, pick_up_box_variables, generate_bounding_box, get_objects -import helper +from helper import * def skew(x): return np.array([[0, -x[2], x[1]], @@ -115,7 +117,7 @@ def get_objs(self): z = small_container_euler[0] - above_large_container,small_container_pos_original,notflipped_array,flipped_array = pick_up_box_variables(large_container_pos,obs,z,small_container_pos) + above_large_container,small_container_pos_original, notflipped_array,flipped_array = pick_up_box_variables(large_container_pos,obs,z,small_container_pos) while True: if mode==0: @@ -134,14 +136,24 @@ def get_objs(self): shape_pos = most_recent_shape_pos print(int(shape)) - + largeContainerPosition = obj_poses['large_container'][:3] + largeContainerOrientation = obj_poses['large_container'][3:] + + largeContainerOrientation = quaternion(largeContainerOrientation[0], + largeContainerOrientation[1], + largeContainerOrientation[2], + largeContainerOrientation[3]) + largeContainerOrientation = as_euler_angles(largeContainerOrientation) + + print('Large Container Position (x, y, z): ', largeContainerPosition) + print('Large Container Orientation (yaw): ', largeContainerOrientation[1] * 180 / np.pi) action, state, shape = get_objects(state, shape, obs, shape_pos, small_container_pos) print("done") - if int(shape)>4: - mode=0.5 + if int(shape) > 4: + mode = 0.5 if mode == 0.5: obj_poses = obj_pose_sensor.get_poses() @@ -153,9 +165,18 @@ def get_objs(self): mode = 1 if mode == 1: - update,action = pick_up_box(update,obs,gripper,small_container0_obj,z,small_container_pos,small_container_pos_original,gripper_pose,above_large_container,flipped_array,notflipped_array) + update, action = pick_up_box(update,obs,gripper, + small_container0_obj,z, + small_container_pos, + small_container_pos_original, + gripper_pose,above_large_container, + flipped_array,notflipped_array) + if update == 11: + mode == 2 + + if mode == 2: + checkShapePosition(obj_poses, obs) - obs, reward, terminate = task.step(action) env.shutdown() From 40f751c419a6bd202944832e7926c3017813713d Mon Sep 17 00:00:00 2001 From: brysonjones Date: Sun, 26 Apr 2020 17:41:57 -0400 Subject: [PATCH 20/48] code should work to check if objects are within bound, but need to still get the real box dimensions to really test the code --- helper.py | 18 ++++++++++++++++++ rlbench_empty_container.py | 4 +++- 2 files changed, 21 insertions(+), 1 deletion(-) diff --git a/helper.py b/helper.py index 752903c..3f8a478 100644 --- a/helper.py +++ b/helper.py @@ -14,6 +14,8 @@ from imutils import perspective from imutils import contours from collections import namedtuple +from shapely.geometry import Point, Polygon +import time def generate_bounding_box(rgb_img, lower_bound, upper_bound): @@ -273,6 +275,7 @@ def checkShapePosition(obj_poses, obs): except KeyError: Warning('Can''t access all shapes yet.') + time.sleep(1) # once we can access the object shape positions, we need to # we need to check if there are within the bounds of the large container @@ -304,6 +307,21 @@ def checkShapePosition(obj_poses, obs): [largeContainerPosition[1]], [1]]) + finalBoxCornerCoords = [(finalBoxCornerPoints[0, 0], finalBoxCornerPoints[1, 0]), + (finalBoxCornerPoints[0, 1], finalBoxCornerPoints[1, 1]), + (finalBoxCornerPoints[0, 2], finalBoxCornerPoints[1, 2]), + (finalBoxCornerPoints[0, 3], finalBoxCornerPoints[1, 3])] + + boxPolygon = Polygon(finalBoxCornerCoords) + + # check if points are in bounds + shapes = [shape0_pos, shape2_pos, shape4_pos] + shapeNum = ['0', '2', '4'] + for i in range(3): + pointToCheck = Point(shapes[i][0], shapes[i][1]) + isWithinBox = pointToCheck.within(boxPolygon) + print('Shape' + shapeNum[i], 'within bounds: ', isWithinBox) + def getTransform(ArgStruct): ''' diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 01b8c4d..928808d 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -171,8 +171,10 @@ def get_objs(self): small_container_pos_original, gripper_pose,above_large_container, flipped_array,notflipped_array) + + shape = '0' if update == 11: - mode == 2 + mode = 2 if mode == 2: checkShapePosition(obj_poses, obs) From cb1f07de93f56a6ed583ed2d57719ba83c16d221 Mon Sep 17 00:00:00 2001 From: brysonjones Date: Sun, 26 Apr 2020 21:04:00 -0400 Subject: [PATCH 21/48] a few bugs cleaned up --- helper.py | 6 +++++- rlbench_empty_container.py | 16 +++------------- 2 files changed, 8 insertions(+), 14 deletions(-) diff --git a/helper.py b/helper.py index 3f8a478..bcdfb59 100644 --- a/helper.py +++ b/helper.py @@ -16,6 +16,7 @@ from collections import namedtuple from shapely.geometry import Point, Polygon import time +import warnings def generate_bounding_box(rgb_img, lower_bound, upper_bound): @@ -269,12 +270,15 @@ def checkShapePosition(obj_poses, obs): while not shapePosAccessible: try: shape0_pos = obj_poses['Shape0'][:3] + print('Shape0 position accessed') shape2_pos = obj_poses['Shape2'][:3] + print('Shape2 position accessed') shape4_pos = obj_poses['Shape4'][:3] + print('All shape positions are available') shapePosAccessible = True except KeyError: - Warning('Can''t access all shapes yet.') + warnings.warn('Can''t access all shapes yet.') time.sleep(1) # once we can access the object shape positions, we need to diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 928808d..b684a35 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -137,19 +137,6 @@ def get_objs(self): print(int(shape)) - largeContainerPosition = obj_poses['large_container'][:3] - largeContainerOrientation = obj_poses['large_container'][3:] - - largeContainerOrientation = quaternion(largeContainerOrientation[0], - largeContainerOrientation[1], - largeContainerOrientation[2], - largeContainerOrientation[3]) - largeContainerOrientation = as_euler_angles(largeContainerOrientation) - - print('Large Container Position (x, y, z): ', largeContainerPosition) - print('Large Container Orientation (yaw): ', largeContainerOrientation[1] * 180 / np.pi) - - action, state, shape = get_objects(state, shape, obs, shape_pos, small_container_pos) print("done") if int(shape) > 4: @@ -172,11 +159,14 @@ def get_objs(self): gripper_pose,above_large_container, flipped_array,notflipped_array) + print('state update (mode 1, pick-up box): ', update) + shape = '0' if update == 11: mode = 2 if mode == 2: + print('In mode 2') checkShapePosition(obj_poses, obs) obs, reward, terminate = task.step(action) From e1fc93d4a4b1c69956c682c40eb569662fc6a87e Mon Sep 17 00:00:00 2001 From: brysonjones Date: Sun, 26 Apr 2020 21:21:18 -0400 Subject: [PATCH 22/48] have close dimensions for the large container inserted. within bounds appears to work. --- helper.py | 4 ++-- rlbench_empty_container.py | 1 - 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/helper.py b/helper.py index bcdfb59..b6793e0 100644 --- a/helper.py +++ b/helper.py @@ -298,8 +298,8 @@ def checkShapePosition(obj_poses, obs): H_box = getTransform(transformValuesPosition) # get dimensions of box !!!!!!!!!!!!! THESE ARE RANDOM VALUES RIGHT NOW!!!!!!!! - largeContainerLength = 1 # x dimension - largeContainerWidth = 1 # y dimension + largeContainerLength = .28 # x dimension + largeContainerWidth = .28 # y dimension boxCornerPoints = np.array([[largeContainerLength / 2, -largeContainerLength / 2, -largeContainerLength / 2, largeContainerLength / 2], [largeContainerWidth / 2, largeContainerWidth / 2, -largeContainerWidth / 2, -largeContainerWidth / 2], diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index b684a35..9939c2f 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -166,7 +166,6 @@ def get_objs(self): mode = 2 if mode == 2: - print('In mode 2') checkShapePosition(obj_poses, obs) obs, reward, terminate = task.step(action) From 7f0c662ca9f6d2c7712ffabb37ea269d6e933061 Mon Sep 17 00:00:00 2001 From: brysonjones Date: Sun, 26 Apr 2020 21:29:28 -0400 Subject: [PATCH 23/48] added code for passing out shapes to be reset --- helper.py | 7 +++++++ rlbench_empty_container.py | 2 +- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/helper.py b/helper.py index b6793e0..70e3c47 100644 --- a/helper.py +++ b/helper.py @@ -321,10 +321,17 @@ def checkShapePosition(obj_poses, obs): # check if points are in bounds shapes = [shape0_pos, shape2_pos, shape4_pos] shapeNum = ['0', '2', '4'] + shapesToBeReset = [] for i in range(3): pointToCheck = Point(shapes[i][0], shapes[i][1]) isWithinBox = pointToCheck.within(boxPolygon) print('Shape' + shapeNum[i], 'within bounds: ', isWithinBox) + if not isWithinBox: + shapesToBeReset.append(shapeNum[i]) + + mode = 3 + + return mode, shapesToBeReset def getTransform(ArgStruct): diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 9939c2f..29bcc60 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -166,7 +166,7 @@ def get_objs(self): mode = 2 if mode == 2: - checkShapePosition(obj_poses, obs) + mode, shapesToBeReset = checkShapePosition(obj_poses, obs) obs, reward, terminate = task.step(action) From 08861536aec40569120242a2ea00fc01e382c31a Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Sun, 26 Apr 2020 22:01:25 -0400 Subject: [PATCH 24/48] added loop to pick up extra objects --- __pycache__/helper.cpython-36.pyc | Bin 0 -> 7850 bytes helper.py | 55 +++++++++++++++++++++++++++++- rlbench_empty_container.py | 26 +++++++++++++- 3 files changed, 79 insertions(+), 2 deletions(-) create mode 100644 __pycache__/helper.cpython-36.pyc diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc new file mode 100644 index 0000000000000000000000000000000000000000..74dc699c800dcff4c938cf4d31ea8a5bd9701136 GIT binary patch literal 7850 zcmb_hOKjZeedlwA!+B^VjU>zVy38WjthT#;Xk8}|w(GUEe(ctky|Pp9GTlt6`6!BG z4mtkFu{0_ND54~%1jr$m=Fnq-Lo*)=hzqg}V_qFo9ay*YbMw97%W zH*e4P7VL$B#-hC_XteAWGg#%DlD))CRzNBj#=25S*1-6L#ENihP z)aRJ;NLpJy{HghP&yTHLKX9#16ef-z#@3!2^j&W44#H02M;O?RxRva=)|G2-UAwk! zZAUv%V%-=dQ5f}x=50T80_!14eOBwC4;$YkTPOi{_@oL)Y_N>%JQV!1`+FKX-ZTCqwi8_M`W$ z&A^FcE84ZzFRx!QkMSv_tu;Ms?eeJC=27C%w%a`?;r>BpJ{vfR%R>xhb57iL2Z77m zPUr=0oXrcAnV|+?c7w=C+79Q=a81stxQ)1v!(kWb8gx<7fX8T?q0@6&GQdICluUmZ z`C*ckA4b8@i^7gdJHu1QYvA3)8{d>ADUrHzN~Ln7j8xQWs-|+P9H}D>JuOwcdQ$3^ zkL0NqcC3VlIW?Jj&ta2oKGMfYM z){b;pdiIkiw8K|eJvEOMSxQat?!42+MVc0#jlRR3p2fYLw%_wMEGMM4<@X%Vwf6mF zk4B;$Vo$KKlUVUyGzgfr=R9{U$J&VoA@f5|&?0)%&rWn;MPRg{zRU6x z=SPJ=VTz;`tpBF9zvp-MaL9OaLNpFeJ>}Gi$A=Yg;Bc+y#7~dQ;9QRTmX6n{U?{eZ zsZTQCL%f8@#hD8J$B@pFVc$LeEy0q?JTwwFPA+!)-kQQm8bopYTRdy3pvzk{Dkxsa z)XwvD+vq$`HlrZoc75}~y$9Rv?K?NuZ{FFq%YL{G@pZH6j-TxNu?t~lS;>iM%}fdV znLfZazG63WJm9R~*}n0KUAyB9;@Ee>o56tF`lb_xL%YQM0Q$k!T^=#luI>6E+bje; z(>hUqXxF!IJ>G8L`uOp!?X4U4?8VKyH$K>E-+1_N`@zTUM<3jOc<)wL_IrcG4`RFS zac8GJRuP=U-mb?HPbOn_wV1uZUB|BW{E!;k;7+^b$89=$1s_W2k~q_a7UJ{)>{`Sb zn5Iu!CbnygJNx6U;#PY59A9FsZkG#5$f{G^nN_Da&Q`%FFiZHfZSFFA4#myr;6WG+ zZ$p&aOv5RLneH;rjcu)ie8yjlrKxF^bWL3 zDtBSISMypcYQ3mStJ0AM&8wt3G*u~4MO|i9=t!-rLvPE>fDYVAjjA*?yPO`C0vR3ws`*j`Y{=*W4f_poeH|IVp4ri2&MPWAN}=( zZ~fC>UFXfIxzE-NPN-SUm{U~-hp>v|f&(fsYiDFK4Gd1?ZwOY0qINWoEJiy-& z3=Pc@?SRJ)v&FdQ1i^{PC1(eEseJ;^Hp3{{4QOSSHD9!I!)@1#sodh*b*BeKpS0Iu z-Tl5@9wSb`grH^TPg%bmao-~^M{s#we2EUU)b~42+k-xFYx}vweP;(=#bZpxucDA- zO>Qc$fmaPxlN)jgyo7?%J*dc8stkG)nNBk;&0&SsRpU3PWZc)%M4~p zvojb`(wbOB73a%W(PviC#VUNVN-jmULaG!<8E&Q6^XF;RXK2+0tsjYX4Wc-6$N3)e zJ8sP2H3Z%-3%ttIj&ta_8R$7cE4)-do1cR&%|Mp~^t%E&|Nb@cp+ACi{F`p~9qsB$1QdSu--d&tYeC9Y!X*gS~`!`2_-ci;7EBkcG;07|gi8R?l>? 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THESE ARE RANDOM VALUES RIGHT NOW!!!!!!!! - largeContainerLength = .32 # x dimension - largeContainerWidth = .32 # y dimension + largeContainerLength = .34 # x dimension + largeContainerWidth = .34 # y dimension boxCornerPoints = np.array([[largeContainerLength / 2, -largeContainerLength / 2, -largeContainerLength / 2, largeContainerLength / 2], [largeContainerWidth / 2, largeContainerWidth / 2, -largeContainerWidth / 2, -largeContainerWidth / 2], From a6ab45f14e3081e12198ea87cd0ccca198f0d760 Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Sun, 26 Apr 2020 22:26:41 -0400 Subject: [PATCH 28/48] fixed end state and changed parameters --- helper.py | 2 +- rlbench_empty_container.py | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/helper.py b/helper.py index 5a3e8f4..db4f184 100644 --- a/helper.py +++ b/helper.py @@ -395,7 +395,7 @@ def put_in_big_container(state, shape, obs, object_pos, box_pos): #move close to box if state == 4: - action = np.concatenate((box_pos[0:3]+[0,0,0.07], obs.gripper_pose[3:7], np.array([0]))) + action = np.concatenate((box_pos[0:3]+[0,0,0.1], obs.gripper_pose[3:7], np.array([0]))) state = 5 return action, state, 1 diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 4c1e49e..f389cff 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -188,12 +188,12 @@ def get_objs(self): print("shape",shape) action, state, do_once_per_loop = put_in_big_container(state, shape, obs, shape_pos, large_container_pos) - if (do_once_per_loop==0) and ((i+1)len(shapesToBeReset)) : - mode=4 + if (do_once_per_loop==0): + if ((i+1)>=len(shapesToBeReset)) : + mode=4 + else: + i+=1 + shape = shapesToBeReset[i] if mode==4: print("end") From b9b675e3cbea220885d18a80e7c97c8185d9445d Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sun, 26 Apr 2020 22:55:03 -0400 Subject: [PATCH 29/48] Cleaned up CV2 imports --- __pycache__/helper.cpython-36.pyc | Bin 0 -> 6393 bytes helper.py | 119 +++++++++++++++--------------- rlbench_empty_container.py | 2 +- 3 files changed, 60 insertions(+), 61 deletions(-) create mode 100644 __pycache__/helper.cpython-36.pyc diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc new file mode 100644 index 0000000000000000000000000000000000000000..90169fbd983473acb3a3cf4b5610e2a152826412 GIT binary patch literal 6393 zcmb_gON<;>6|HY~P4#zXdVaR!R4kFuQ8KnCmII?G6WhU#7)>g0`MAoHV6!<}>Z(j9$yKPoV_$fp5JO_)hqg^?J|oBhR<4>^i>tlxh3Sy0L5bd~2)k@Ky7Q&3(u9 z9P3r5-3HZ{eebTrLoe!^uWsFV(Yn&M!_W$LthIA%=glJ=t+ZL!liCgsI!zu#HZ8l^ zu_Ny7C+3}=9XZ?wD5=a zN?L1Kt!H&^MLN_5dZfhqp*+Y%s;KjO4``q!be)=4eFl9gV2Wh}D|3Bn=8N+F1J-^^z19nDLy15i=Xf zsKtnh5iKsnx!By%AYjGKBhmo(8S(vQ<48sCh)(QCr-IHa8&qH5I5Wxp>+3&1{q4W} zY~x7uQbP5^y1|JwDZ1S2LO7eihQF9Ga zjy3h*ffG%KXiMdoF3y2NFMpjr{ZZv%5jZIlCL(X_2O!6`I!^YTmJKGgHB{ zss65Z`^iGrYu#@4y3Orizj@c@p1lpJzX8_a85EMN$yMcX*^muYlgn~Wu2Ne$A)io+ zGL`%^uv!Je#aF_g4p@lzKX9|L#A>${el>!CAIh>6$$LtiV=8`{t3o95OlP@oD=Rdj zGTD_6&IeVgE&r{ak_@|jLQ>rWkL7*jBaLZ#VK}W0=oii zh37JC^8xJK1a?kfKQFM;`!9-{dyuX=L01)Y?UXKl5PNn4dsbk-KY=|iQ*#s8a{~M0 zu{EVKna(m!H-Dc_U{8^np{z0qW^G}USD*$5MhI8qSWll%P1n%ManhHgJYnQhjC1Zc zYd`to9}nKy7(&i-6XO~9y$$#MAJF%U4Nh)^lcMo5iX(%H87c_>NO1l)zPgd<_JZ1xgB=vr9>BN;tK@KXZAFy9WzJgn!)xSUnJ@! zDo#=%I4)D`1QjbNlAJAqghUe-nXHyDUHlOmER5NoHUQyW6p{)XBR>h-VyeRNZ`Ak|X%T&wes21?C{%}0SUzYhQW^R%7qK`bs$ddh9IBQ1M z2WXp6$x~@Y)VB3T>gSPYcrf|wVlvDl~ zr#v|QVG5_|Yq~GfI#Z5uQlJeoe^T(GsPkd_8|P&l<7Eh5cc<{0nYzPqUSxeoXBBCY z9>XWF{E`IQjME+eX{XtN7zYA%y-3v=CNAJW-)@7_SpR4|i<@BSMo*=nLXs3QUqbxmz^& zQ^er7PPk4)$_3=`mlzMvp@2>(7i3K_71T;rQ(rYx_^{TikoyZVzW|yR#a8r@B9dhg ze)%$>I7emw?N|xF)4vYyN|Fp8OR_sq;UD4IWb(QQJ4bL0@LUGZkHK}o4T7_ofpSZ_ zlhfcGZ=3vWS)yO0Ko?BmyAYtV0=2#dtgqsKi{>bf@yca=l}TbP`3M0kDL8WvZkJ^!PC=dR%STGw01RCNPjLo2IR67n{lZs4a#v@aL&=1T^W%MR_!86aAm?n z$Xtml>;(2uVJBCl9R>9%(R(E8off@Evz{e-k5SLn2Gyt-S25dctRjfkU3DYYyTDF!og#g+HFfH%?K&9Z0=b0UE6C@aC-CL~;?cp1hyP{Y35C_v$J~b}sSHQSo^c?ni(B z?AO2ltKV)U^0`D_OXLfQF7|j(x#vZ@NKdyB$g^55E9q&=Ks z4CF*kbaS}v)Nqlx;uJL`ItE;aQy9_6rQ3qbMkeF4`bshbJ0w!6P#CesoVc6oL3l~r zt%nO~m;!c=(6aX0So?x#FNzzvl0G0f91MhrG*%|zuW=7~zsSz{MOx9)vFjQU>enb` zY1Ag^UqKEO?KaZ9ZZz91j{#T#{*?gl2ACZtI&3V8hX99NJ_fJtP=@so=#?Pg4EqJs zEYDAJ;vB+;A?nRuC#j^6o55vg%L$z*k-bK-OS9h$@Uqdm-6(kBEg?#nF3~yxbB=q1 zIV5(i+c!whhMPAbJK;BQJQ4z+oUDkXj1sdnIV&R=s%cduZU#nk=ov~?o>M4=)08vv zX&O<=z%QbtAB~y7qZIE1QG==mC&ORH94(Sm`pB73SR|atD`=1-#$SmM?i^A}OIrn) z^*xxU`;hxs7(tLD!Y0Ki)X5Z`u2J`vP%l z&+wkK!|~E%tv!LqC6S3+Fajy;y!A%s&FQTA>sJ5&#mc_7Zi%NUYukzLIoO++KD6H8 zHhXil#q6Ngt!v{;y0-q1Q%hgO#7>5ETecTE;rg&khvegpE}bd0dcvaR(>x<@hiP&_ zDTT12X@)VftaYU^Gdkr&zIIIBIZ4-b5^%Ce(wqf>EGq&!JvRRxaN)(|7@keUEQn+I zO_8Okh{r`tgBp=}7J1U!gD#?U%8YYkQ95O;h&)*?i_(#^@*hs&lz%9vEFK zJcZNrH7R3jqF0ddHQ^lu-uZ&yrG1M1jq{p0#%o6K`qmU)=F}aI^D2z-`w`x`)`E1B)CK;rGfhY60mQAs=k!un@tw9n$1M_ zd!24S)haz~d3dc;!pygmDNY?c<*4GBlQR5v8#x0#$P2&Us0#Pf?ytHI9tk7f7hYbt zeSV4PHmINnJdyi~ltGw$p>CWOG^U**OA$%C@f;i#9?74l=pv*{UlV!yDXo~gpi9Pz Mv1PnsTs4;e1Dl-qv;Y7A literal 0 HcmV?d00001 diff --git a/helper.py b/helper.py index db4f184..ff4d1bf 100644 --- a/helper.py +++ b/helper.py @@ -9,72 +9,71 @@ import numpy as np import scipy as sp from quaternion import from_rotation_matrix, quaternion, as_euler_angles, from_euler_angles, as_float_array -import cv2 -import imutils -from imutils import perspective -from imutils import contours +# import imutils +# from imutils import perspective +# from imutils import contours from collections import namedtuple from shapely.geometry import Point, Polygon import time import warnings -def generate_bounding_box(rgb_img, lower_bound, upper_bound): - ''' - :param rgb_img: an rgb image with an object that should have a bounding - box overlaid onto it - :param lower_bound: lower thresholding bound (1 x 3) - :param upper_bound: upper thresholding bound (1 x 3) - :return: bgr_modified_img: image in bgr format, which has bounding box - overlaid - ''' - - # convert rgb to hsv - bgr = cv2.cvtColor(rgb_img, cv2.COLOR_RGB2BGR) - - # create bounded mask - mask_red = cv2.inRange(bgr, lower_bound, upper_bound) - - # bitwise mask - redBoxOnlyFrame = cv2.bitwise_and(bgr.astype(np.uint8), bgr.astype(np.uint8), mask=mask_red) - - # convert image to gray - gray = cv2.cvtColor(redBoxOnlyFrame, cv2.COLOR_BGR2GRAY) - gray = cv2.GaussianBlur(gray, (7, 7), 0) - # perform edge detection, then perform a dilation + erosion to - # close gaps in between object edges - edges = cv2.Canny(gray, 50, 100) - edges = cv2.dilate(edges, None, iterations=1) - edges = cv2.erode(edges, None, iterations=1) - - # find contours in the edge map - cnts = cv2.findContours(edges.copy(), cv2.RETR_EXTERNAL, - cv2.CHAIN_APPROX_SIMPLE) - cnts = imutils.grab_contours(cnts) - # sort the contours from left-to-right and initialize the - # 'pixels per metric' calibration variable - (cnts, _) = contours.sort_contours(cnts) - - # loop over the contours individually - bgr_modified_img = bgr.copy() - for c in cnts: - # if the contour is not sufficiently large, ignore it - if cv2.contourArea(c) < 100: - continue - # compute the rotated bounding box of the contour - box = cv2.minAreaRect(c) - box = cv2.boxPoints(box) if imutils.is_cv2() else cv2.boxPoints(box) - box = np.array(box, dtype="int") - # order the points in the contour such that they appear - # in top-left, top-right, bottom-right, and bottom-left - # order, then draw the outline of the rotated bounding - # box - box = perspective.order_points(box) - cv2.drawContours(bgr_modified_img, [box.astype("int")], -1, (0, 255, 0), 2) - - cv2.imwrite('test.jpg', bgr_modified_img) - - return bgr_modified_img +# def generate_bounding_box(rgb_img, lower_bound, upper_bound): +# ''' +# :param rgb_img: an rgb image with an object that should have a bounding +# box overlaid onto it +# :param lower_bound: lower thresholding bound (1 x 3) +# :param upper_bound: upper thresholding bound (1 x 3) +# :return: bgr_modified_img: image in bgr format, which has bounding box +# overlaid +# ''' + +# # convert rgb to hsv +# bgr = cv2.cvtColor(rgb_img, cv2.COLOR_RGB2BGR) + +# # create bounded mask +# mask_red = cv2.inRange(bgr, lower_bound, upper_bound) + +# # bitwise mask +# redBoxOnlyFrame = cv2.bitwise_and(bgr.astype(np.uint8), bgr.astype(np.uint8), mask=mask_red) + +# # convert image to gray +# gray = cv2.cvtColor(redBoxOnlyFrame, cv2.COLOR_BGR2GRAY) +# gray = cv2.GaussianBlur(gray, (7, 7), 0) +# # perform edge detection, then perform a dilation + erosion to +# # close gaps in between object edges +# edges = cv2.Canny(gray, 50, 100) +# edges = cv2.dilate(edges, None, iterations=1) +# edges = cv2.erode(edges, None, iterations=1) + +# # find contours in the edge map +# cnts = cv2.findContours(edges.copy(), cv2.RETR_EXTERNAL, +# cv2.CHAIN_APPROX_SIMPLE) +# cnts = imutils.grab_contours(cnts) +# # sort the contours from left-to-right and initialize the +# # 'pixels per metric' calibration variable +# (cnts, _) = contours.sort_contours(cnts) + +# # loop over the contours individually +# bgr_modified_img = bgr.copy() +# for c in cnts: +# # if the contour is not sufficiently large, ignore it +# if cv2.contourArea(c) < 100: +# continue +# # compute the rotated bounding box of the contour +# box = cv2.minAreaRect(c) +# box = cv2.boxPoints(box) if imutils.is_cv2() else cv2.boxPoints(box) +# box = np.array(box, dtype="int") +# # order the points in the contour such that they appear +# # in top-left, top-right, bottom-right, and bottom-left +# # order, then draw the outline of the rotated bounding +# # box +# box = perspective.order_points(box) +# cv2.drawContours(bgr_modified_img, [box.astype("int")], -1, (0, 255, 0), 2) + +# cv2.imwrite('test.jpg', bgr_modified_img) + +# return bgr_modified_img diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index f389cff..4f189b9 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -9,7 +9,7 @@ from rlbench.observation_config import ObservationConfig from rlbench.tasks import * -from helper import pick_up_box, pick_up_box_variables, generate_bounding_box, get_objects +from helper import pick_up_box, pick_up_box_variables, get_objects from helper import * def skew(x): From 40f76add20a483ff74646c559c4263e704485f00 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sun, 26 Apr 2020 23:05:59 -0400 Subject: [PATCH 30/48] Works now --- __pycache__/helper.cpython-36.pyc | Bin 6393 -> 6393 bytes helper.py | 2 +- rlbench_empty_container.py | 3 ++- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc index 90169fbd983473acb3a3cf4b5610e2a152826412..f5ff0dd9d55c33de3f9600070e4c6a2492aa522b 100644 GIT binary patch delta 25 hcmexq_|uTnn3tD}$!l4h+eXgie2m4LH}ZLK0RU`w2l4;_ delta 25 hcmexq_|uTnn3tE!-*Z`<(?-tae2hh#H}ZLK0RV9V2sr=% diff --git a/helper.py b/helper.py index ff4d1bf..2e8e203 100644 --- a/helper.py +++ b/helper.py @@ -325,7 +325,7 @@ def checkShapePosition(obj_poses, obs): pointToCheck = Point(shapes[i][0], shapes[i][1]) isWithinBox = pointToCheck.within(boxPolygon) print('Shape' + shapeNum[i], 'within bounds: ', isWithinBox) - if isWithinBox:#################################################need to change back: if not isWithinBox: + if not isWithinBox:#################################################need to change back: if not isWithinBox: shapesToBeReset.append(shapeNum[i]) mode = 3 diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index 4f189b9..5e3f1fd 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -78,7 +78,7 @@ def get_objs(self): if __name__ == "__main__": - mode = 2 + mode = 0 action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable @@ -138,6 +138,7 @@ def get_objs(self): print(int(shape)) action, state, shape = get_objects(state, shape, obs, shape_pos, small_container_pos) + print(state) print("done") if int(shape) > 4: mode = 0.5 From 916e0e4b5c141f89d75fa631558e67c0be0594fe Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Sun, 26 Apr 2020 23:14:52 -0400 Subject: [PATCH 31/48] working state --- __pycache__/helper.cpython-36.pyc | Bin 0 -> 7924 bytes helper.py | 8 ++++++-- rlbench_empty_container.py | 14 ++++++++------ 3 files changed, 14 insertions(+), 8 deletions(-) create mode 100644 __pycache__/helper.cpython-36.pyc diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc new file mode 100644 index 0000000000000000000000000000000000000000..d2f17305d523cc1aa6f0dc67a1654dbcaabb8d08 GIT binary patch literal 7924 zcmb_h+ixUSTCZz&b@j!!wmqIqhS~^a{j$YjQuOTvuD>zOb~?Pi;DpK`f+ zs;hcVRgc}KT0-kxo>-BGeSm%75ovh<@q*xqDESW-u|oBL7V&}wFCf7KLRx;`sp@vO z<7I+GwfbDY?>m?J?)6r^ZZ6;ZlkfiFHzetwq=`pC`(6Cw&rmSQmYB?xK(-Z8tG0$( z4fJlwE_HQV@0RUy*RYLl#jeOXtZAD9wrW>VYeBVJvuk2bN4svoww%;8VmMKf=In#I0n{wXR-&^ZNBQ zYdhMB66bULXk|hZ4J2B{Wdx4v{%-R`PxA-8ALhFMlbmKRy zZ}r_U@k484&kemdOebX4qdlh|TH6DcUotlw9=e|IS`XYH0M>`0|J>!VpA5_g+mGI} zHUcM(t!UR;yRvrGJjSb#Hdpnmxyz$&i${q=+irE8g!>1X`K<3GE)Ox3%{Xz(?FTMz zIiVN0aW*GVriL1T*$pBmX*rxbgH<`J;x^(Q4u@T!YtThSeIBE2hECUINgoGYRWf}m z^1~!6Z$-hti^8@_JHu1Q-@tzZ|M-?HNr}{vQ!14sWvHT7Q#F-SXFR!rxO3!v(M3A zqW-W38p}r#|96a>OKV4RXpCBzD|J@V8mln#hYEVZy68$Wm&8cjufIF4DB{toI!5bS>`fwEV8OZaE>fEx+q{uC?zc zdo&X55PO1+oy3awqJF@vJ?FV=Io3|p51Ai&f)>%6e0HJ(D+2Qcj?XN5@0OoTE*eDp z;3h$0-4Y!v!CkBn5Y3#p_1abIzPF1p^<9>q zI6o=`3R5JlVEs3&{XM_EheO8W6QXf&<|!vmJUXm^1BYu}Cw_Wd2Iq3zw{*Nl1w*lU zOns68AL1oMF3wc&KZbOc40`VIF9?=Y=An_eadN5C^Hvp3(jbcCU*K6)1zp~xQ91Ek6j2e%Suj6Yi3H= z%k)0B@lCst;{j*w?)J@(?b=*m(h_QQ`_kKTW{`Sb zn5IWsCbnygJNu)p;#Ru*9B*Q^ZkG#5$f^_EnN=q^&Q`%FFiUu~E$%XV2F0!D;9(dH z?m(2>Ov5P#neH;rjcu)sP#dbHHe}TDtUQa- zkWGxCR2s6PnDPa=p_}qWrKa%LfYH_n4^IvM68=K>LU~B3G}Kb)Qe9e+nDPxtmEMMS zN#zbK_ex%CMXeWgX+=8Hpm~*4ho&kes;JAX3LU9+bm(oF8PI_{sZo`N26U{To*D)9 zQVLBztN-Z&;hbxb#QtW!bvRZOby3ZeA=^;>^+ z@dy9%7dQCq#N21A1}D_4=5b%>vtAUtoX|N@;|+l%Vtm7x#70!#Z+$b?Yh&2qEA|D zu%aExV81%;l8s2ui`PL;#W{e zvL??euYy+%Rg)WX3A~H8a$Y{K)MP68Hv!eI5-c9ljC4_gSN{`=GnH8Lslx9h;M5~o zmJ+$6z`m>aX`YIATV^^d{Xkiv8I{3m9?82Zc&y6QA+XcxF8n-DQ9CNEvRW*z=cZ)u(9H1+707>l#FH>W=e0 zx-E+78U4e!T)M9*K};I9+z zuTk*^ies|R#}z6}Do7GJ*_~A*(|a6tHrHWfvfJ28h(EtbKyOlUnF_K{nGS;)_g3qf zE_TGP(qOqzi&^uOQn}KCJIcwG;%`xbFtea|jat{K_;nQUYD5T@X+p7*jh)aw)d}s> z#Z>$pg#?>u$ge~57|L|(9CVNYOIae#BQGhV-mGlOO9I}MU&(9b9M!O`qgsql^ryxF z#cyNfHt8;U$N-G>SS{CMq&q%<7mtXBVpq~xs9|#jA1fV&DNGZZ4ABtN$C^xMB|^%MMGiuF}a zIPnHgC<^JWZss08Npaz2d~qX>3WRg<-#_`cpFY^xx*;T3$m@ysL4vzl5;Do(K|2>i z5=b}~3Fq_q{JS)u!wp4@B_z?z!#}vraaJZ{jRq$(d)lH`JvSlYgf|}l4d&x@6p$(9 znye|Nf?6qR>Z@ixep182Yw|fr3f0$S{sFMt6avw+f>O z*`h39YI*HxteXEkSRU{$@&jpoRvI?ahM-)cJ$o`dChQs+g{mhL9DL}RbcUVB8D`i^ zE7Gol`hw`aT=XuA-merrOZ2`*Jx?3XCbe`HtIZ*2qoum14(Hh-TVl&-EqKzfdGOt& zj(m)aEXnq8F=?dp=^}2I?k{g)H@Kgrbg46w&VkZ0-rc!$fuNQpwvsL%sd(?ppUUyi z(`IKjpP@JQsr>BcPrxC=bLqLXNxt3cE1P%h5|U><_lmHKhv)K+1rGNq4`w;-wj0NY z@^Y}X0%Gl#LR>ri+RY$9mIOq{K(Xa;WJ{hq2$$jHK0bU2@pDoTx8Snp@Ub;;lS{&U zXEUe#^<3;J^2lZq?u0RADt^le`bfmd2bny`)Pb{)gunxU@J%WnqVT@>kJrBQ2cQ4l zjZD6h$!nQ>Ez`vr4`(R3Ls<{X;Kb_|k_(hU5Cz(#O-5}oP6MOyqAkX0OQZ3kEyhVh zjmAZLj{gRRGUGSh!EMeXo*DZ{RU%xCGmToAmiUOC^*C_do(PTdIEWk!1W9i4cy#Ps zg$YlBG(x6h!gDz}A$BQ07K}e4n~<%pWEE&6Qdw>+)R{dm-py7N-xTlG#|yDdF?NN( ziuT$>`?ln%d7J6b;Vy2gn5Jqms7<~06&WOb80 zJCF0mt3B}<24?`j5h1_J^8|;zBoekF|1dS)L?*@wZk>WYHM$WYC4%#UXpwZyO5z@3 z+Yt3;znjhEBafq7?zS7dNhbStO(ansN60|8pW0PFej->2%OT^1M9^uwFyAJ?ME;|WJLsb6yW7SUIT7bQ$w->ZdeIF6VBJHJg-nFs41_=7ik8`3q!7< zq#w)YI6pNx-K zT-3UCZ*oib)~)~j*77eG;v^%yZ3l_Yczx8RlZE(}lCP9&J)zOcdAw3~;yiCi!HLkK zd8{(ltgDJ$8DC8%-#f+c{A1vKNDNK^k~D9DAsdPqJ=@Fw8DL?>@Kr-(=;6!2w|*?5 zJr$n4@M%!P$1i+X%3G~w@4|}8Cs%+!q2fa-UZa9Cgd)5av4pS%LJm3YbV6)JazJDyjkjUJ@Rjo&+CluQ eC^V4@xBy!NYa@QbMybX-#)`3RY#DcqbN>SbOQatF literal 0 HcmV?d00001 diff --git a/helper.py b/helper.py index db4f184..a08c02c 100644 --- a/helper.py +++ b/helper.py @@ -230,7 +230,11 @@ def get_objects(state, shape, obs, object_pos, box_pos): return action, state, shape #drop and move away - + if state == 5: + shape = str(int(shape) + 2) + state=0 + action = np.concatenate((obs.gripper_pose, np.array([1]))) + return action, state, shape else: shape = str(int(shape) + 2) state=0 @@ -326,7 +330,7 @@ def checkShapePosition(obj_poses, obs): pointToCheck = Point(shapes[i][0], shapes[i][1]) isWithinBox = pointToCheck.within(boxPolygon) print('Shape' + shapeNum[i], 'within bounds: ', isWithinBox) - if isWithinBox:#################################################need to change back: if not isWithinBox: + if not isWithinBox:#################################################need to change back: if not isWithinBox: shapesToBeReset.append(shapeNum[i]) mode = 3 diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index f389cff..bc23e7b 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -78,7 +78,7 @@ def get_objs(self): if __name__ == "__main__": - mode = 2 + mode = 0 action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable @@ -120,6 +120,8 @@ def get_objs(self): above_large_container,small_container_pos_original, notflipped_array,flipped_array = pick_up_box_variables(large_container_pos,obs,z,small_container_pos) while True: + + print(mode) if mode==0: # Getting noisy object poses @@ -142,7 +144,7 @@ def get_objs(self): if int(shape) > 4: mode = 0.5 - if mode == 0.5: + elif mode == 0.5: obj_poses = obj_pose_sensor.get_poses() small_container_pos = obj_poses['small_container0'][:3] gripper_pose = obs.gripper_pose @@ -151,7 +153,7 @@ def get_objs(self): update=-1 mode = 1 - if mode == 1: + elif mode == 1: update, action = pick_up_box(update,obs,gripper, small_container0_obj,z, small_container_pos, @@ -165,7 +167,7 @@ def get_objs(self): if update == 11: mode = 2 - if mode == 2: + elif mode == 2: mode, shapesToBeReset = checkShapePosition(obj_poses, obs) action = np.concatenate((obs.gripper_pose, np.array([1]))) print(mode) @@ -174,7 +176,7 @@ def get_objs(self): do_once_per_loop=0 # mode = 3 - if mode ==3: + elif mode ==3: obj_poses = obj_pose_sensor.get_poses() large_container_pos = obj_poses['large_container'][:3] @@ -195,7 +197,7 @@ def get_objs(self): i+=1 shape = shapesToBeReset[i] - if mode==4: + elif mode==4: print("end") action = np.concatenate((obs.gripper_pose, np.array([1]))) From cad60f13e14e39b47ca3c34533165ebaf4ef138a Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sun, 26 Apr 2020 23:29:46 -0400 Subject: [PATCH 32/48] Delete helper.cpython-36.pyc --- __pycache__/helper.cpython-36.pyc | Bin 6393 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 __pycache__/helper.cpython-36.pyc diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc deleted file mode 100644 index f5ff0dd9d55c33de3f9600070e4c6a2492aa522b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 6393 zcmb_gON<;>6|HY~P4#zXdVaR!R4kFuQ8KnCmII?G6WhU9`3%n3VCaxEHT`O8YTRAb zepPKx57iRN1Xdut$c8LfB83Hr9c)lUwyc6cs1_)Q4I|jFfCWN=b6-`ryT^?jB&yZ# zbKkx9{qFZYS1OsxD?fVs>hqHHCu!_c(0&R3@IDGAH6$i8r7brUQL7CNwc6G@xkj#| zH}p=vk?$A{qchW(kqK98o1H?VAliDn*eNwiopPfr`bxXfs0cpQMwR7Q{#~gt%M3Py zdXAZ_fO?)4SqXKGm01P#0;{rF)Qe2HA=T#&J~D6adZD%BwH>P!_>t}Tp|$I@yAHQ@ zdVVYN0swXbZbiF}b^hYB7cZ_^Tfue^S(kcI;0K+)dDZjnwsoBcdrm7_wFJX^b_jl* zZrh0*W^MPa%e)^3zV%ArJK;0d8$HL5Jm0#q>-g?7rtLH9#;)D-t*ySpSIsLn_Z`=B ztk<1(8&qHRy}J$%y{K=#zIEee>q^@WLo3*^*3PY+H;-_%(q>&xYCAmWGDwKLMLq1M zt|a>P!1JRde?4gT-N0{YG(El|{yF@w;2$coB*oG|i*doav?4L(c}bOCkRmCT_i*Ja zX{}|op4GV(=};T!krL~N@*o$fqRz9zz=*UxJys57X55zec5D=+ff46Z?y-?^&&7Gr z&47LewTamcG5ZXt^F&>fQcR4PqY=S(G@>#iR%_CdG$_PqW9?(qOHy25#tRZg%xom1 z79%D`w73xGVsl4>fE727NCVvG#P^$xBNe?PI`R;^EU(Txui`WNc~3_YMVfL}XkK%udB?iVOa;%T z`n%fgCktJ#b-UT?Hn)TQ=3Se6_BN#c23Ut@P)M>SSCuDaLpD@RF3UN&N^RwYd_pP8 zRPxinY840c zYf5D@on@SE{sEo9o+33vS!EK;+QKHUKn)Iz5U$3to;{zMuA!CVq%TK#!pNr>=iG1B ze)7dX9=y9Tgq-Il#xwAH8}9o*pzjwOoZJW}MdM`@M+Ox$R1p4=;QViVbtBQc9FB<3 z0-h9LI3&X1z;PX_>5sL0|JM7j=i7wW}7YLZo>}gUvW{%D^gY7-ONYqPI zoTNfq?i6$&ESuJ6@_+vC!7_&cZ0K&T{Bo#JBej2vNP$pZ;utJ7n z!Vbaq$cxIbSCvh9QQ({MnY31xsg})AE#PDQ;dqL_Eb~>&+#>5mA9;?ECHu8-){Lyj zE0MG(!?__!BddiP&RR&avZpYGX~LFCux0wlmg$UiU5A9gwh3znZRhVz;gowMr~ENa zd2sr}6i(CE^gyO{rX1s>KpSNKwBSWi=cD#F&dWH)%MiToPT@5(b%*1;$oh`XD$*i7 zhEHJmB?-0}r#(Q3gd6xYD;&Fl2ONcd7B+=K3O&rii;p(=nxNA*_gaqC)2|UMGMa?%D`OgeIBL7sS65m?U{}w`lNZ zh{184aGi*h3&`OwF&>^n0i94T$eLm*sFkdyzG|lMVXapo_ZMV-0W>X&t>_~~B+DTD z@?}7Aj>`T!u@Zi#e;wYHBpE)IWOty#Kf<%gD`Z%y5cn?P{!${#MG&pK>R^s7utm0n z*1RhXYWr_TC5CxkmfqSLEJWpaE?&Ut()pz=tOn<^7%%Qs;#qK7!rd*$^Mth|v6Xn~ zP{qA3-Iv2p;@Vy{9ibb$FW>p(79?b_952T;iplC{Hm^2vNXoj-IiW`f%W21gTziyX zS$3=CgrUPSw6zRl?Z0ANIC$bxyKM=j86kz1%^l0WYkO@9PH!HZykh%N#@s@Pp5ljA z--%X*`X-fQ@p-E3d5llK$3pQwHNUR~wL&L#diDn5_G{pjzX z{rdNR_1ld^K9|UAiF_f^#U2kT_q=Eq>FG8Cc^0l)btRpGQWCVu_Y1%fPJkgiYZIz4 zFGDyjZ-`I2I)sb%EdLBZiSeq_{{rU$PmFs=fj!?16OCGl7I_^w_OR_ZU6Bciw1-oS zft<*RZVtDd8ZI(doT7$A$AIf_3L_f1bX#!Q$Ygw0UrA85#Q^3vyo8OWZ@=FS2ufkyf;H?7BvT`ZY>f z8nsFK*N_86yNxuj8_jmhV*plweOONbJtOSDeFoa5eL z4vAgs_6^dr;pR=qPWTNRkAwgyCo3W;qr@yt&dLaeYFZVEn}N|BdWKS!=M+leH06wZ znnsi|@QWzvM`I@ND8)NL)S#-t$?#V(M~fttK5`}$76~Wv8XDw?@mFGmJBQTL(pCXx zeGlg80ptM|MiAtPut{+dq>xjOWtbDy{wXFhEqvqRDrCVFV2o@zQIF%jiQbylUbc|? z2Cm~fK@XszfD4Mzi)QB|uB|`f)Y2C*v6CU)mhFX3xIXOCA^CWtOJ_>0p0H^7G|$M}VVYb} zN+GOhnqiDAYh7u~j7~X`uN{+jPSSOq1e`3AG-p8|%Zh+bkIjDvTzD}#hG!Eo3*uOQ zQ)Fo>;&Bnvphje#MV|Ebpo=J-GUMD>luj8dB2SjfqIBe}{D)IG#3ZPC;XJr`Y2nbM7f?9-g8>W&d*|;Q-Ga? z?EE|dC}8JnR6Iw;v?#sS?L|$`Z*F_;gEzum5?rE_(m?%x3D`G5RbNW-%_a+4&1Rze zy-v5EYLyP&ZBs8q-dZrHG{6cma+IkK`{>bP-afuZcYUlvYe#&?RHV M*fL%-t{Th#0ic8UZ2$lO From cf897ce1daf126b499caf73a59a7de427b361625 Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Sun, 26 Apr 2020 23:41:05 -0400 Subject: [PATCH 33/48] extra if statement --- helper.py | 4 ++-- rlbench_empty_container.py | 43 +++++++++++++++++++++----------------- 2 files changed, 26 insertions(+), 21 deletions(-) diff --git a/helper.py b/helper.py index 3973130..42e2af7 100644 --- a/helper.py +++ b/helper.py @@ -301,8 +301,8 @@ def checkShapePosition(obj_poses, obs): H_box = getTransform(transformValuesPosition) # get dimensions of box !!!!!!!!!!!!! THESE ARE RANDOM VALUES RIGHT NOW!!!!!!!! - largeContainerLength = .34 # x dimension - largeContainerWidth = .34 # y dimension + largeContainerLength = .25 # x dimension + largeContainerWidth = .25 # y dimension boxCornerPoints = np.array([[largeContainerLength / 2, -largeContainerLength / 2, -largeContainerLength / 2, largeContainerLength / 2], [largeContainerWidth / 2, largeContainerWidth / 2, -largeContainerWidth / 2, -largeContainerWidth / 2], diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index cd7f1a1..cfe5740 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -78,7 +78,7 @@ def get_objs(self): if __name__ == "__main__": - mode = 0 + mode = 2 action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable @@ -178,25 +178,30 @@ def get_objs(self): # mode = 3 elif mode ==3: - obj_poses = obj_pose_sensor.get_poses() - large_container_pos = obj_poses['large_container'][:3] - - - - - if do_once_per_loop==0: - print(shapesToBeReset) - shape = shapesToBeReset[i] - shape_pos = obj_poses['Shape' + shape][:3] - - print("shape",shape) - action, state, do_once_per_loop = put_in_big_container(state, shape, obs, shape_pos, large_container_pos) - if (do_once_per_loop==0): - if ((i+1)>=len(shapesToBeReset)) : - mode=4 - else: - i+=1 + + if shapesToBeReset==[]: + + mode=4 + else: + obj_poses = obj_pose_sensor.get_poses() + large_container_pos = obj_poses['large_container'][:3] + + + + + if do_once_per_loop==0: + print(shapesToBeReset) shape = shapesToBeReset[i] + shape_pos = obj_poses['Shape' + shape][:3] + + print("shape",shape) + action, state, do_once_per_loop = put_in_big_container(state, shape, obs, shape_pos, large_container_pos) + if (do_once_per_loop==0): + if ((i+1)>=len(shapesToBeReset)) : + mode=4 + else: + i+=1 + shape = shapesToBeReset[i] elif mode==4: print("end") From ba69d127417d2f10be09dde635b7c852da2cf8f3 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sun, 26 Apr 2020 23:43:48 -0400 Subject: [PATCH 34/48] Delete helper.cpython-36.pyc --- __pycache__/helper.cpython-36.pyc | Bin 7924 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 __pycache__/helper.cpython-36.pyc diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc deleted file mode 100644 index d2f17305d523cc1aa6f0dc67a1654dbcaabb8d08..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 7924 zcmb_h+ixUSTCZz&b@j!!wmqIqhS~^a{j$YjQuOTvuD>zOb~?Pi;DpK`f+ zs;hcVRgc}KT0-kxo>-BGeSm%75ovh<@q*xqDESW-u|oBL7V&}wFCf7KLRx;`sp@vO z<7I+GwfbDY?>m?J?)6r^ZZ6;ZlkfiFHzetwq=`pC`(6Cw&rmSQmYB?xK(-Z8tG0$( z4fJlwE_HQV@0RUy*RYLl#jeOXtZAD9wrW>VYeBVJvuk2bN4svoww%;8VmMKf=In#I0n{wXR-&^ZNBQ zYdhMB66bULXk|hZ4J2B{Wdx4v{%-R`PxA-8ALhFMlbmKRy 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4 insertions(+), 3 deletions(-) diff --git a/helper.py b/helper.py index 42e2af7..7a87f68 100644 --- a/helper.py +++ b/helper.py @@ -301,8 +301,8 @@ def checkShapePosition(obj_poses, obs): H_box = getTransform(transformValuesPosition) # get dimensions of box !!!!!!!!!!!!! THESE ARE RANDOM VALUES RIGHT NOW!!!!!!!! - largeContainerLength = .25 # x dimension - largeContainerWidth = .25 # y dimension + largeContainerLength = .35 # x dimension + largeContainerWidth = .35 # y dimension boxCornerPoints = np.array([[largeContainerLength / 2, -largeContainerLength / 2, -largeContainerLength / 2, largeContainerLength / 2], [largeContainerWidth / 2, largeContainerWidth / 2, -largeContainerWidth / 2, -largeContainerWidth / 2], diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index cfe5740..e58f7c4 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -78,7 +78,7 @@ def get_objs(self): if __name__ == "__main__": - mode = 2 + mode = 0 action_mode = ActionMode(ArmActionMode.ABS_EE_POSE_PLAN) # See rlbench/action_modes.py for other action modes env = Environment(action_mode, '', ObservationConfig(), False) task = env.get_task(EmptyContainer) # available tasks: EmptyContainer, PlayJenga, PutGroceriesInCupboard, SetTheTable @@ -169,6 +169,7 @@ def get_objs(self): mode = 2 elif mode == 2: + obj_poses = obj_pose_sensor.get_poses() mode, shapesToBeReset = checkShapePosition(obj_poses, obs) action = np.concatenate((obs.gripper_pose, np.array([1]))) print(mode) From cdb102f5947c09534508e7ce05064837d94340ec Mon Sep 17 00:00:00 2001 From: Shaun-CMU Date: Mon, 27 Apr 2020 12:51:07 -0400 Subject: [PATCH 36/48] more likely to pick up box --- helper.py | 5 +++-- rlbench_empty_container.py | 5 +++++ 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/helper.py b/helper.py index 7a87f68..c132503 100644 --- a/helper.py +++ b/helper.py @@ -110,13 +110,13 @@ def pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,sma # state = 5 if state == -1: print('state -1') - action = np.concatenate((small_container_pos_original+[0,0,.3], gripper_pose[3:7], np.array([1]))) + action = np.concatenate((small_container_pos_original+[np.sin(z)*0.02,np.cos(z)*0.02,0.3], gripper_pose[3:7], np.array([1]))) state = 0 return state,action elif state == 0: print('state 0') - action = np.concatenate((small_container_pos_original+[0,0,0.01], gripper_pose[3:7], np.array([1]))) + action = np.concatenate((small_container_pos_original+[np.sin(z)*0.02,np.cos(z)*0.02,0.01], gripper_pose[3:7], np.array([1]))) state = 1 return state,action # wait @@ -133,6 +133,7 @@ def pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,sma pose[0] += np.sin(z)*0.02 pose[1] += np.cos(z)*0.02 action = np.concatenate((pose, np.array([0]))) + gripper.grasp(small_container0_obj) state = 3 return state,action diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index e58f7c4..bf0e4ce 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -206,6 +206,11 @@ def get_objs(self): elif mode==4: print("end") + state = 0 + update = 0 + count = 0 + shape = '0' + mode=0 action = np.concatenate((obs.gripper_pose, np.array([1]))) obs, reward, terminate = task.step(action) From 08737cad6cbfabadc999d873e9a81ad0a09eaff5 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sat, 25 Apr 2020 14:14:04 -0400 Subject: [PATCH 37/48] TensorForce Files Layout --- TensorForceFiles/DQN_class.py | 24 ++++ TensorForceFiles/TensorForceRL_parent.py | 98 ++++++++++++++ TensorForceFiles/TensorForce_class.py | 33 +++++ TensorForceFiles/dqn_grasp_class.py | 114 +++++++++++++++++ TensorForceFiles/dqn_grasp_class_2.py | 98 ++++++++++++++ TensorForceFiles/dqn_place_class.py | 156 +++++++++++++++++++++++ requirements.txt | 4 +- 7 files changed, 526 insertions(+), 1 deletion(-) create mode 100644 TensorForceFiles/DQN_class.py create mode 100644 TensorForceFiles/TensorForceRL_parent.py create mode 100644 TensorForceFiles/TensorForce_class.py create mode 100644 TensorForceFiles/dqn_grasp_class.py create mode 100644 TensorForceFiles/dqn_grasp_class_2.py create mode 100644 TensorForceFiles/dqn_place_class.py diff --git a/TensorForceFiles/DQN_class.py b/TensorForceFiles/DQN_class.py new file mode 100644 index 0000000..c14b849 --- /dev/null +++ b/TensorForceFiles/DQN_class.py @@ -0,0 +1,24 @@ +from tensorforce import Agent +from TensorForceRL_parent import * +import numpy as np + + +class TensorForceDQN(TensorForce_Parent): + + def __init__(self,num_states=6, num_actions=4, load=None): + super().__init__(num_states=num_states, num_actions=num_actions,load=load) + + + def createRLagent(self, load): + states_dict = {'type': 'float', 'shape': self.num_states} + actions_dict = {'type': 'float', 'shape': self.num_actions, 'min_value': self.input_low, 'max_value': self.input_high} + + return Agent.create( + agent='dqn', + states = states_dict, # alternatively: states, actions, (max_episode_timesteps) + actions = actions_dict, + memory=10000, + exploration=0.3, + max_episode_timesteps= self.len_episode, + ) + diff --git a/TensorForceFiles/TensorForceRL_parent.py b/TensorForceFiles/TensorForceRL_parent.py new file mode 100644 index 0000000..6de029a --- /dev/null +++ b/TensorForceFiles/TensorForceRL_parent.py @@ -0,0 +1,98 @@ +from tensorforce import Agent +import numpy as np + + +class TensorForce_Parent: + + def __init__(self, num_states=6, num_actions=4, load=None): + + self.num_states = num_states + self.num_actions = num_actions + self.input_high = 1.0 + self.input_low = 0.0 + + + self.len_episode = 10 + self.explore = 0.5 + + self.x_r = [-0.025, 0.52] ## X Range: -0.025 - 0.52 + self.y_r = [-0.45, 0.45] ## Y Range: -0.45 - 0.45 + self.z_r = [0.751, 1.75] ## Z Range: 0.751 - 1.75 (Maybe a little higher) + + self.dist_before_action = 0 + self.dist_after_action = 0 + + self.has_object = False + + self.agent = self.createRLagent(load=load) + self.target_state = [] + + + + + def act(self, obs, obj_poses): + gripper_pose = obs.gripper_pose + + + key = 'sugar' + ########################################################### + ###### PREPARE INPUT STATES TO RL FUNCTION ################ + if key in obj_poses: + target_state = list(obj_poses[key]) + target_state[2] += 0.1 + else: + self.has_object = True + target_state = [0.2, 0.0, 1.1] + # in_states = list(gripper_pose) + # in_states.extend(target_state) + + in_states = list(gripper_pose[:3]) + in_states.extend(list(target_state[:3])) + # in_states.extend(list(obj_poses['cupboard'])) + ###### PREPARE INPUT STATES TO RL FUNCTION ################ + ########################################################### + + actions = self.agent.act(states= in_states) + if self.explore > np.random.uniform(): + actions = np.random.uniform(low=0.25, high=0.75, size=self.num_actions) + + a_in = self.scaleActions(actions) + + actions2 = list(a_in[:3]) + [0,1,0,0] + list([actions[3]>0.5]) + + self.dist_before_action = np.linalg.norm(target_state[:3] - gripper_pose[:3]) + return actions2 + + + def scaleActions(self, actions): + + actions[0] = actions[0]*(self.x_r[1] - self.x_r[0]) + self.x_r[0] + actions[1] = actions[1]*(self.y_r[1] - self.y_r[0]) + self.y_r[0] + actions[2] = actions[2]*(self.z_r[1] - self.z_r[0]) + self.z_r[0] + + return actions + + def calculateReward(self): + terminal = False + reward = -self.dist_before_action/4 + + + if self.dist_after_action < 0.2: + reward += 20 + 1/self.dist_after_action + + temp = (self.dist_before_action - self.dist_after_action) / self.dist_before_action * 3 + if temp > 0: + reward += temp + else: + reward += min(temp,-0.1) + + + + if self.has_object: + reward += 100.0 + terminal = True + + + + return reward, terminal + diff --git a/TensorForceFiles/TensorForce_class.py b/TensorForceFiles/TensorForce_class.py new file mode 100644 index 0000000..99ac959 --- /dev/null +++ b/TensorForceFiles/TensorForce_class.py @@ -0,0 +1,33 @@ +from tensorforce import Agent +from TensorForceRL_parent import * +import numpy as np + + +class TensorForceClass(TensorForce_Parent): + + def __init__(self, load=None): + super().__init__(load=load) + + + def createRLagent(self, load=None): + states_dict = {'type': 'float', 'shape': self.num_states} + actions_dict = {'type': 'float', 'shape': self.num_actions, 'min_value': self.input_low, 'max_value': self.input_high} + + agent = Agent.create( + agent='tensorforce', + states = states_dict, # alternatively: states, actions, (max_episode_timesteps) + actions = actions_dict, + memory=10000, + update=dict(unit='timesteps', batch_size=64), + max_episode_timesteps= self.len_episode, + optimizer=dict(type='adam', learning_rate=3e-4), + policy=dict(network='auto'), + objective='policy_gradient', + reward_estimation=dict(horizon=20) + ) + + if not load ==None: + agent.restore(directory=load) + + return agent + diff --git a/TensorForceFiles/dqn_grasp_class.py b/TensorForceFiles/dqn_grasp_class.py new file mode 100644 index 0000000..007c698 --- /dev/null +++ b/TensorForceFiles/dqn_grasp_class.py @@ -0,0 +1,114 @@ +from tensorforce import Agent +from TensorForceRL_parent import * +from DQN_class import * +import numpy as np + + +class DQN_grasp(TensorForceDQN): + + def __init__(self, num_actions=3, num_states=14, load=None): + self.num_states = num_states # Gripper pose, object pose + self.num_actions = num_actions # X, Y, Z, Yaw, Grasp + super().__init__(num_states= self.num_states, num_actions=self.num_actions, load=load) + + self.x_r = [-.001, .001] + self.y_r = [-.001, .001] + self.z_r = [0.752, 1.0] ## Z Range: 0.751 - 1.75 (Maybe a little higher) + self.yaw_r = [0, np.pi] + self.gripper_open = True + self.target_start_pose = [0,0,0] + self.ee_pos = [0,0,0] + self.explore = 0.5 + self.target_num = 0 + self.target_name='' + + + + def act(self, obs, obj_poses, key='sugar'): + gripper_pose = obs.gripper_pose + self.ee_pos = gripper_pose + ########################################################### + ###### PREPARE INPUT STATES TO RL FUNCTION ################ + if key in obj_poses: + target_state = list(obj_poses[key]) + self.has_object = False + else: + self.has_object = True + target_state = gripper_pose + target_state[3] +=0.1 + + in_states = list(gripper_pose) + in_states.extend(list(target_state)) + ###### PREPARE INPUT STATES TO RL FUNCTION ################ + ########################################################### + + actions = self.agent.act(states=in_states) + + if self.explore > np.random.uniform(): + actions = np.random.uniform(low=0.0, high=1, size=self.num_actions) + + a_in = self.scaleActions(actions) + self.gripper_open = a_in[-1]>0.5 + + if self.num_actions == 5: + a_in[:2] += target_state[:2] + # a_in[:3] = gripper_pose[:3] + self.ee_pos = a_in[:3] + actions2 = list(self.ee_pos) + self.calculateQuaternion(a_in[3]) + list([self.gripper_open]) + + elif self.num_actions == 3: + self.ee_pos = [target_state[0], target_state[1], a_in[0]] + actions2 = list(self.ee_pos) + self.calculateQuaternion(a_in[1]) + list([self.gripper_open]) + + + self.dist_before_action = max(0.05,np.linalg.norm(target_state[:3] - gripper_pose[:3])) + return actions2 + + + def scaleActions(self, actions): + + if self.num_actions == 5: + actions[0] = actions[0]*(self.x_r[1] - self.x_r[0]) + self.x_r[0] + actions[1] = actions[1]*(self.y_r[1] - self.y_r[0]) + self.y_r[0] + actions[2] = actions[2]*(self.z_r[1] - self.z_r[0]) + self.z_r[0] + actions[3] = actions[3]*(self.yaw_r[1] - self.yaw_r[0]) + self.yaw_r[0] + else: + actions[0] = actions[0]*(self.z_r[1] - self.z_r[0]) + self.z_r[0] + actions[1] = actions[1]*(self.yaw_r[1] - self.yaw_r[0]) + self.yaw_r[0] + + if self.has_object: actions[-1] = 0 + + return actions + + + def calculateReward(self): + reward = 0 + terminal = False + + delta_dist = self.dist_before_action - self.dist_after_action + temp = (self.dist_before_action - self.dist_after_action) / self.dist_before_action * 3 + + if delta_dist > 0: + reward = temp + else: + reward += min(temp,-0.1) + + if self.has_object: + reward += 20 + if self.ee_pos[-1] > self.z_r[1] - 0.05: + reward += 250 + terminal = True + + if not self.gripper_open and not self.has_object: + reward -=1 + + return reward, terminal + + + def calculateQuaternion(self, angle): + firstElement = np.sin(angle/2) + secondElement = -np.cos(angle/2) + return [firstElement, secondElement, 0, 0] + + + diff --git a/TensorForceFiles/dqn_grasp_class_2.py b/TensorForceFiles/dqn_grasp_class_2.py new file mode 100644 index 0000000..ad647bc --- /dev/null +++ b/TensorForceFiles/dqn_grasp_class_2.py @@ -0,0 +1,98 @@ +from tensorforce import Agent +from TensorForceRL_parent import * +from DQN_class import * +from dqn_grasp import * +import numpy as np + + +class DQN_grasp_class_2(DQN_grasp): + + def __init__(self, num_states=16, num_actions=3, load=None): + self.num_states = 16 # Gripper pose, object pose, Gripper Open, Target_num + self.num_actions = 3 # Z, Yaw, Grasp + super().__init__(num_states=num_states, num_actions=num_actions, load=load) + + self.z_r = [0.752, 1.0] ## Z Range: 0.751 - 1.75 (Maybe a little higher) + self.explore = 0.3 + + + + def getInStates(self,key, obj_poses): + if key in obj_poses: + target_state = list(obj_poses[key]) + self.target_state = target_state + self.has_object = False + else: + self.has_object = True + self.target_state = self.ee_pos + self.target_state[3] +=0.1 + + in_states = list(self.ee_pos) + in_states.extend(list(self.target_state)) + + in_states.extend(list([self.gripper_open*1.0, self.target_num])) + return in_states + + + + def act(self, obs, obj_poses, key='sugar'): + gripper_pose = obs.gripper_pose + self.ee_pos = gripper_pose + + in_states = self.getInStates(key, obj_poses) + + actions = self.agent.act(states=in_states) + + if self.explore > np.random.uniform(): + actions = np.random.uniform(low=0.0, high=1, size=self.num_actions) + + a_in = self.scaleActions(actions) + self.gripper_open = a_in[-1]>0.5 + + self.ee_pos = [self.target_state[0], self.target_state[1], a_in[0]] + actions2 = list(self.ee_pos) + self.calculateQuaternion(a_in[1]) + list([self.gripper_open]) + + + self.dist_before_action = max(0.05,np.linalg.norm(self.target_state[:3] - gripper_pose[:3])) + return actions2 + + + def scaleActions(self, actions): + + actions[0] = actions[0]*(self.z_r[1] - self.z_r[0]) + self.z_r[0] + actions[1] = actions[1]*(self.yaw_r[1] - self.yaw_r[0]) + self.yaw_r[0] + + if self.has_object: actions[-1] = 0 + + return actions + + + def calculateReward(self): + reward = 0 + terminal = False + + delta_dist = self.dist_before_action - self.dist_after_action + temp = (self.dist_before_action - self.dist_after_action) / self.dist_before_action * 3 + + if delta_dist > 0: + reward = temp + else: + reward += min(temp,-0.1) + + if self.has_object: + reward += 50 + if self.ee_pos[-1] > self.target_start_pose[2] + 0.05: + reward += 700 + terminal = True + return reward, terminal + + if self.target_state[2] < 0.75 + (self.target_start_pose[2] - 0.75)/2: + reward -= 10 + + if not self.gripper_open and not self.has_object: + reward -=5 + + return reward, terminal + + + diff --git a/TensorForceFiles/dqn_place_class.py b/TensorForceFiles/dqn_place_class.py new file mode 100644 index 0000000..12d105e --- /dev/null +++ b/TensorForceFiles/dqn_place_class.py @@ -0,0 +1,156 @@ +from tensorforce import Agent +from TensorForceRL_parent import * +from dqn_grasp_class import * +import numpy as np +from quaternion import from_rotation_matrix, quaternion, as_euler_angles, from_euler_angles, as_quat_array +from scipy.spatial.transform import Rotation as R + + + +class DQN_place(DQN_grasp): + + def __init__(self, num_states=16, num_actions=5, load=None): + self.num_states = 16 # Object pose, cabinet pose, Gripper Open, Target_num + self.num_actions = 4 # X, Y, Z, yaw, grasp + super().__init__(num_states=num_states, num_actions=num_actions, load=load) + + self.x_r = [-0.1, 0.05] # Cupboard coords: Point down + self.y_r = [-0.1, 0.1] # Cupboad coords: Point to left of cupboard + self.z_r = [-0.275, 0.1] # Cupboard coords: Point to cupboard + self.z_r = [-0.1, 0.1] # Cupboard coords: Point to cupboard + self.yaw_r = [0, np.pi] + self.explore = 0.5 + self.stage_point = [] + self.obj_poses = [] + + def createRLagent(self, load): + states_dict = {'type': 'float', 'shape': self.num_states} + actions_dict = {'type': 'float', 'shape': self.num_actions, 'min_value': self.input_low, 'max_value': self.input_high} + + return Agent.create( + agent='dqn', + states = states_dict, # alternatively: states, actions, (max_episode_timesteps) + actions = actions_dict, + memory=10000, + exploration=0.75, + max_episode_timesteps= self.len_episode, + ) + + def getInStates(self, key, obj_poses): + target_state = list(obj_poses[key]) + self.target_state = target_state + self.has_object = False + + in_states = list(self.ee_pos) + in_states.extend(list(self.target_state)) + + in_states.extend(list([self.gripper_open*1.0, self.target_num])) + return in_states + + + + def act(self, obs, obj_poses, key='crackers'): + self.stage_point = obj_poses['waypoint3'] + gripper_pose = obs.gripper_pose + self.ee_pos = gripper_pose + self.obj_poses = obj_poses + + in_states = self.getInStates('waypoint4', obj_poses) + + actions = self.agent.act(states=in_states) + + # if self.explore > np.random.uniform(): + # actions = np.random.uniform(low=0.0, high=1, size=self.num_actions) + + a_in = self.scaleActions(actions) + self.gripper_open = a_in[-1]>0.5 + + self.ee_pos = a_in[:3] + # actions2 = list(self.ee_pos) + self.calculateQuaternion(a_in[3]) + list([self.gripper_open]) + actions2 = list(self.ee_pos) + list(self.stage_point[3:7]) + list([self.gripper_open]) + + self.dist_before_action = max(0.05,np.linalg.norm(self.target_state[:3] - gripper_pose[:3])) + + return actions2 + + + def scaleActions(self, actions): + + # Scale all the Actions + x_pre = actions[0]*(self.x_r[1] - self.x_r[0]) + self.x_r[0] + y_pre = actions[1]*(self.y_r[1] - self.y_r[0]) + self.y_r[0] + z_pre = actions[2]*(self.z_r[1] - self.z_r[0]) + self.z_r[0] + actions[3] = actions[3]*(self.yaw_r[1] - self.yaw_r[0]) + self.yaw_r[0] + + + trans = np.array([x_pre, y_pre, z_pre]) + + # Convert the Cabinet Frame Coordinates into the World Fram Coordinates + trans = self.convertTargetCoordsToWorld(trans) + + actions[:3] = trans + if self.has_object: actions[-1] = 0 + + return actions + + + def calculateReward(self): + if self.gripper_open: + t_pos = self.obj_poses[self.target_name[:-12]] + t_pos = self.convertTargetCoordsToCabinet(t_pos) + in_cab = self.x_r[0] <= t_pos[0] <= self.x_r[1] + in_cab = in_cab and self.y_r[0] <= t_pos[1] <= self.z_r[1] + in_cab = in_cab and self.z_r[0] <= t_pos[2] <= self.z_r[1] + if not in_cab: + reward = -1 + else: + reward = 5 + terminal = True + + else: + terminal = False + reward = 0 + + return reward, terminal + + def calculateQuaternion(self, angle): + firstElement = np.sin(angle/2) + secondElement = -np.cos(angle/2) + return [0, secondElement, 0, firstElement] + + + #### CODE TO TRANSLATE BETWEEN CUPBOARD AND WORLD FRAMES IMPLEMENT WITH RL SCALE AND ACTIONS + def convertTargetCoordsToWorld(self, target_coord, target_name='waypoint4'): + t_pos = self.obj_poses[target_name] + + # Create Rotation Matrix + rot_val = R.from_quat(self.obj_poses[target_name][3:7]) + to_world_mat = rot_val.as_matrix() + + # Make Rotation Matrix an Affine 4x4 matrix + to_world_mat = np.hstack((to_world_mat,np.array(t_pos[:3]).reshape([-1,1]))) + to_world_mat = np.vstack((to_world_mat, [0,0,0,1])) + + # Convert the Coordinates + go_pt = np.hstack((target_coord, 1)) + world_pt = to_world_mat @ go_pt.T + + return world_pt[:3] + + def convertTargetCoordsToCabinet(self, target_coord, target_name='waypoint4'): + t_pos = self.obj_poses[target_name] + + # Create Rotation Matrix + rot_val = R.from_quat(self.obj_poses[target_name][3:7]) + to_world_mat = rot_val.as_matrix() + + # Make Rotation Matrix an Affine 4x4 matrix + to_world_mat = np.hstack((to_world_mat,np.array(t_pos[:3]).reshape([-1,1]))) + to_world_mat = np.vstack((to_world_mat, [0,0,0,1])) + to_cupboard_mat = np.linalg.inv(to_world_mat) + + # Convert the Coordinates + world_pt = np.hstack((target_coord[:3],1)) + cab_pt = to_cupboard_mat @ world_pt.T + + return cab_pt \ No newline at end of file diff --git a/requirements.txt b/requirements.txt index a10ba80..58b978e 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,3 +1,5 @@ numpy scipy -numpy-quaternion \ No newline at end of file +numpy-quaternion +tensorflow +tensorforce[tf] \ No newline at end of file From 24ba0520b1b6f250ca2f947395631585cbd098bb Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sat, 25 Apr 2020 14:37:13 -0400 Subject: [PATCH 38/48] Changes --- TensorForceFiles/DQN_class.py | 5 +- TensorForceFiles/TensorForceRL_parent.py | 98 ------------------------ TensorForceFiles/TensorForce_class.py | 93 +++++++++++++++++++++- requirements.txt | 2 +- 4 files changed, 92 insertions(+), 106 deletions(-) delete mode 100644 TensorForceFiles/TensorForceRL_parent.py diff --git a/TensorForceFiles/DQN_class.py b/TensorForceFiles/DQN_class.py index c14b849..7b65be3 100644 --- a/TensorForceFiles/DQN_class.py +++ b/TensorForceFiles/DQN_class.py @@ -1,9 +1,9 @@ from tensorforce import Agent -from TensorForceRL_parent import * +from TensorForce_class import * import numpy as np -class TensorForceDQN(TensorForce_Parent): +class TensorForceDQN(TensorForceClass): def __init__(self,num_states=6, num_actions=4, load=None): super().__init__(num_states=num_states, num_actions=num_actions,load=load) @@ -21,4 +21,3 @@ def createRLagent(self, load): exploration=0.3, max_episode_timesteps= self.len_episode, ) - diff --git a/TensorForceFiles/TensorForceRL_parent.py b/TensorForceFiles/TensorForceRL_parent.py deleted file mode 100644 index 6de029a..0000000 --- a/TensorForceFiles/TensorForceRL_parent.py +++ /dev/null @@ -1,98 +0,0 @@ -from tensorforce import Agent -import numpy as np - - -class TensorForce_Parent: - - def __init__(self, num_states=6, num_actions=4, load=None): - - self.num_states = num_states - self.num_actions = num_actions - self.input_high = 1.0 - self.input_low = 0.0 - - - self.len_episode = 10 - self.explore = 0.5 - - self.x_r = [-0.025, 0.52] ## X Range: -0.025 - 0.52 - self.y_r = [-0.45, 0.45] ## Y Range: -0.45 - 0.45 - self.z_r = [0.751, 1.75] ## Z Range: 0.751 - 1.75 (Maybe a little higher) - - self.dist_before_action = 0 - self.dist_after_action = 0 - - self.has_object = False - - self.agent = self.createRLagent(load=load) - self.target_state = [] - - - - - def act(self, obs, obj_poses): - gripper_pose = obs.gripper_pose - - - key = 'sugar' - ########################################################### - ###### PREPARE INPUT STATES TO RL FUNCTION ################ - if key in obj_poses: - target_state = list(obj_poses[key]) - target_state[2] += 0.1 - else: - self.has_object = True - target_state = [0.2, 0.0, 1.1] - # in_states = list(gripper_pose) - # in_states.extend(target_state) - - in_states = list(gripper_pose[:3]) - in_states.extend(list(target_state[:3])) - # in_states.extend(list(obj_poses['cupboard'])) - ###### PREPARE INPUT STATES TO RL FUNCTION ################ - ########################################################### - - actions = self.agent.act(states= in_states) - if self.explore > np.random.uniform(): - actions = np.random.uniform(low=0.25, high=0.75, size=self.num_actions) - - a_in = self.scaleActions(actions) - - actions2 = list(a_in[:3]) + [0,1,0,0] + list([actions[3]>0.5]) - - self.dist_before_action = np.linalg.norm(target_state[:3] - gripper_pose[:3]) - return actions2 - - - def scaleActions(self, actions): - - actions[0] = actions[0]*(self.x_r[1] - self.x_r[0]) + self.x_r[0] - actions[1] = actions[1]*(self.y_r[1] - self.y_r[0]) + self.y_r[0] - actions[2] = actions[2]*(self.z_r[1] - self.z_r[0]) + self.z_r[0] - - return actions - - def calculateReward(self): - terminal = False - reward = -self.dist_before_action/4 - - - if self.dist_after_action < 0.2: - reward += 20 + 1/self.dist_after_action - - temp = (self.dist_before_action - self.dist_after_action) / self.dist_before_action * 3 - if temp > 0: - reward += temp - else: - reward += min(temp,-0.1) - - - - if self.has_object: - reward += 100.0 - terminal = True - - - - return reward, terminal - diff --git a/TensorForceFiles/TensorForce_class.py b/TensorForceFiles/TensorForce_class.py index 99ac959..baf70f3 100644 --- a/TensorForceFiles/TensorForce_class.py +++ b/TensorForceFiles/TensorForce_class.py @@ -1,12 +1,31 @@ from tensorforce import Agent -from TensorForceRL_parent import * import numpy as np -class TensorForceClass(TensorForce_Parent): +class TensorForceClass: - def __init__(self, load=None): - super().__init__(load=load) + def __init__(self, num_states=6, num_actions=4, load=None): + + self.num_states = num_states + self.num_actions = num_actions + self.input_high = 1.0 + self.input_low = 0.0 + + + self.len_episode = 10 + self.explore = 0.5 + + self.x_r = [-0.025, 0.52] ## X Range: -0.025 - 0.52 + self.y_r = [-0.45, 0.45] ## Y Range: -0.45 - 0.45 + self.z_r = [0.751, 1.75] ## Z Range: 0.751 - 1.75 (Maybe a little higher) + + self.dist_before_action = 0 + self.dist_after_action = 0 + + self.has_object = False + + self.agent = self.createRLagent(load=load) + self.target_state = [] def createRLagent(self, load=None): @@ -31,3 +50,69 @@ def createRLagent(self, load=None): return agent + def act(self, obs, obj_poses): + gripper_pose = obs.gripper_pose + + + key = 'sugar' + ########################################################### + ###### PREPARE INPUT STATES TO RL FUNCTION ################ + if key in obj_poses: + target_state = list(obj_poses[key]) + target_state[2] += 0.1 + else: + self.has_object = True + target_state = [0.2, 0.0, 1.1] + # in_states = list(gripper_pose) + # in_states.extend(target_state) + + in_states = list(gripper_pose[:3]) + in_states.extend(list(target_state[:3])) + # in_states.extend(list(obj_poses['cupboard'])) + ###### PREPARE INPUT STATES TO RL FUNCTION ################ + ########################################################### + + actions = self.agent.act(states= in_states) + if self.explore > np.random.uniform(): + actions = np.random.uniform(low=0.25, high=0.75, size=self.num_actions) + + a_in = self.scaleActions(actions) + + actions2 = list(a_in[:3]) + [0,1,0,0] + list([actions[3]>0.5]) + + self.dist_before_action = np.linalg.norm(target_state[:3] - gripper_pose[:3]) + return actions2 + + + def scaleActions(self, actions): + + actions[0] = actions[0]*(self.x_r[1] - self.x_r[0]) + self.x_r[0] + actions[1] = actions[1]*(self.y_r[1] - self.y_r[0]) + self.y_r[0] + actions[2] = actions[2]*(self.z_r[1] - self.z_r[0]) + self.z_r[0] + + return actions + + def calculateReward(self): + terminal = False + reward = -self.dist_before_action/4 + + + if self.dist_after_action < 0.2: + reward += 20 + 1/self.dist_after_action + + temp = (self.dist_before_action - self.dist_after_action) / self.dist_before_action * 3 + if temp > 0: + reward += temp + else: + reward += min(temp,-0.1) + + + + if self.has_object: + reward += 100.0 + terminal = True + + + + return reward, terminal + diff --git a/requirements.txt b/requirements.txt index 58b978e..2fb4113 100644 --- a/requirements.txt +++ b/requirements.txt @@ -2,4 +2,4 @@ numpy scipy numpy-quaternion tensorflow -tensorforce[tf] \ No newline at end of file +tensorforce \ No newline at end of file From e5af87793f17feb4cdf996ba48effd7b1a37ace1 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sat, 25 Apr 2020 14:51:21 -0400 Subject: [PATCH 39/48] cleaned up --- TensorForceFiles/dqn_grasp_class.py | 2 +- TensorForceFiles/dqn_grasp_class_2.py | 98 --------------------------- TensorForceFiles/dqn_place_class.py | 2 +- 3 files changed, 2 insertions(+), 100 deletions(-) delete mode 100644 TensorForceFiles/dqn_grasp_class_2.py diff --git a/TensorForceFiles/dqn_grasp_class.py b/TensorForceFiles/dqn_grasp_class.py index 007c698..29a1b6b 100644 --- a/TensorForceFiles/dqn_grasp_class.py +++ b/TensorForceFiles/dqn_grasp_class.py @@ -6,7 +6,7 @@ class DQN_grasp(TensorForceDQN): - def __init__(self, num_actions=3, num_states=14, load=None): + def __init__(self, num_actions=5, num_states=14, load=None): self.num_states = num_states # Gripper pose, object pose self.num_actions = num_actions # X, Y, Z, Yaw, Grasp super().__init__(num_states= self.num_states, num_actions=self.num_actions, load=load) diff --git a/TensorForceFiles/dqn_grasp_class_2.py b/TensorForceFiles/dqn_grasp_class_2.py deleted file mode 100644 index ad647bc..0000000 --- a/TensorForceFiles/dqn_grasp_class_2.py +++ /dev/null @@ -1,98 +0,0 @@ -from tensorforce import Agent -from TensorForceRL_parent import * -from DQN_class import * -from dqn_grasp import * -import numpy as np - - -class DQN_grasp_class_2(DQN_grasp): - - def __init__(self, num_states=16, num_actions=3, load=None): - self.num_states = 16 # Gripper pose, object pose, Gripper Open, Target_num - self.num_actions = 3 # Z, Yaw, Grasp - super().__init__(num_states=num_states, num_actions=num_actions, load=load) - - self.z_r = [0.752, 1.0] ## Z Range: 0.751 - 1.75 (Maybe a little higher) - self.explore = 0.3 - - - - def getInStates(self,key, obj_poses): - if key in obj_poses: - target_state = list(obj_poses[key]) - self.target_state = target_state - self.has_object = False - else: - self.has_object = True - self.target_state = self.ee_pos - self.target_state[3] +=0.1 - - in_states = list(self.ee_pos) - in_states.extend(list(self.target_state)) - - in_states.extend(list([self.gripper_open*1.0, self.target_num])) - return in_states - - - - def act(self, obs, obj_poses, key='sugar'): - gripper_pose = obs.gripper_pose - self.ee_pos = gripper_pose - - in_states = self.getInStates(key, obj_poses) - - actions = self.agent.act(states=in_states) - - if self.explore > np.random.uniform(): - actions = np.random.uniform(low=0.0, high=1, size=self.num_actions) - - a_in = self.scaleActions(actions) - self.gripper_open = a_in[-1]>0.5 - - self.ee_pos = [self.target_state[0], self.target_state[1], a_in[0]] - actions2 = list(self.ee_pos) + self.calculateQuaternion(a_in[1]) + list([self.gripper_open]) - - - self.dist_before_action = max(0.05,np.linalg.norm(self.target_state[:3] - gripper_pose[:3])) - return actions2 - - - def scaleActions(self, actions): - - actions[0] = actions[0]*(self.z_r[1] - self.z_r[0]) + self.z_r[0] - actions[1] = actions[1]*(self.yaw_r[1] - self.yaw_r[0]) + self.yaw_r[0] - - if self.has_object: actions[-1] = 0 - - return actions - - - def calculateReward(self): - reward = 0 - terminal = False - - delta_dist = self.dist_before_action - self.dist_after_action - temp = (self.dist_before_action - self.dist_after_action) / self.dist_before_action * 3 - - if delta_dist > 0: - reward = temp - else: - reward += min(temp,-0.1) - - if self.has_object: - reward += 50 - if self.ee_pos[-1] > self.target_start_pose[2] + 0.05: - reward += 700 - terminal = True - return reward, terminal - - if self.target_state[2] < 0.75 + (self.target_start_pose[2] - 0.75)/2: - reward -= 10 - - if not self.gripper_open and not self.has_object: - reward -=5 - - return reward, terminal - - - diff --git a/TensorForceFiles/dqn_place_class.py b/TensorForceFiles/dqn_place_class.py index 12d105e..4372f3c 100644 --- a/TensorForceFiles/dqn_place_class.py +++ b/TensorForceFiles/dqn_place_class.py @@ -11,7 +11,7 @@ class DQN_place(DQN_grasp): def __init__(self, num_states=16, num_actions=5, load=None): self.num_states = 16 # Object pose, cabinet pose, Gripper Open, Target_num - self.num_actions = 4 # X, Y, Z, yaw, grasp + self.num_actions = 5 # X, Y, Z, yaw, grasp super().__init__(num_states=num_states, num_actions=num_actions, load=load) self.x_r = [-0.1, 0.05] # Cupboard coords: Point down From 83d4673bfffb3e4c7779cf907c66d033e28fc202 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sun, 26 Apr 2020 16:44:21 -0400 Subject: [PATCH 40/48] Continue --- TensorForceFiles/dqn_grasp_class.py | 2 +- TensorForceFiles/dqn_place_class.py | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/TensorForceFiles/dqn_grasp_class.py b/TensorForceFiles/dqn_grasp_class.py index 29a1b6b..59a5c89 100644 --- a/TensorForceFiles/dqn_grasp_class.py +++ b/TensorForceFiles/dqn_grasp_class.py @@ -11,7 +11,7 @@ def __init__(self, num_actions=5, num_states=14, load=None): self.num_actions = num_actions # X, Y, Z, Yaw, Grasp super().__init__(num_states= self.num_states, num_actions=self.num_actions, load=load) - self.x_r = [-.001, .001] + self.x_r = [-.001, .001] self.y_r = [-.001, .001] self.z_r = [0.752, 1.0] ## Z Range: 0.751 - 1.75 (Maybe a little higher) self.yaw_r = [0, np.pi] diff --git a/TensorForceFiles/dqn_place_class.py b/TensorForceFiles/dqn_place_class.py index 4372f3c..dd4e6e9 100644 --- a/TensorForceFiles/dqn_place_class.py +++ b/TensorForceFiles/dqn_place_class.py @@ -46,7 +46,6 @@ def getInStates(self, key, obj_poses): in_states.extend(list([self.gripper_open*1.0, self.target_num])) return in_states - def act(self, obs, obj_poses, key='crackers'): From 1faa67b689032a08aeb3120052507679c45368da Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sun, 26 Apr 2020 22:46:30 -0400 Subject: [PATCH 41/48] Keep going --- TensorForceFiles/DQN_class.py | 3 +++ .../__pycache__/DQN_class.cpython-36.pyc | Bin 0 -> 1214 bytes .../__pycache__/TensorForce_class.cpython-36.pyc | Bin 0 -> 2974 bytes .../__pycache__/dqn_grasp_class.cpython-36.pyc | Bin 0 -> 3090 bytes TensorForceFiles/dqn_grasp_class.py | 5 +++-- helper.py | 2 +- rlbench_empty_container.py | 8 ++++++++ 7 files changed, 15 insertions(+), 3 deletions(-) create mode 100644 TensorForceFiles/__pycache__/DQN_class.cpython-36.pyc create mode 100644 TensorForceFiles/__pycache__/TensorForce_class.cpython-36.pyc create mode 100644 TensorForceFiles/__pycache__/dqn_grasp_class.cpython-36.pyc diff --git a/TensorForceFiles/DQN_class.py b/TensorForceFiles/DQN_class.py index 7b65be3..5990456 100644 --- a/TensorForceFiles/DQN_class.py +++ b/TensorForceFiles/DQN_class.py @@ -1,4 +1,7 @@ from tensorforce import 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obs, object_pos, box_pos): #move above object if state == 0: diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index bf0e4ce..63c4b47 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -12,6 +12,12 @@ from helper import pick_up_box, pick_up_box_variables, get_objects from helper import * +import sys +sys.path.append('../') +sys.path.append(sys.path[0] + '/TensorForceFiles') +from tensorforce import Agent +from dqn_grasp_class import DQN_grasp + def skew(x): return np.array([[0, -x[2], x[1]], [x[2], 0, -x[0]], @@ -87,6 +93,8 @@ def get_objs(self): update = 0 count = 0 + # TensorForce Initialization + rl_grasp_agent = DQN_grasp() gripper = task._robot.gripper objs = obj_pose_sensor.get_objs() From 25efcaa0014e02d29ed1417d42acdaf8316e13e6 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Sun, 26 Apr 2020 23:18:02 -0400 Subject: [PATCH 42/48] Wait --- TensorForceFiles/DQN_class.py | 8 ++++++++ .../__pycache__/DQN_class.cpython-36.pyc | Bin 1214 -> 1328 bytes .../TensorForce_class.cpython-36.pyc | Bin 2974 -> 2974 bytes .../dqn_grasp_class.cpython-36.pyc | Bin 3090 -> 3090 bytes helper.py | 5 ----- 5 files changed, 8 insertions(+), 5 deletions(-) diff --git a/TensorForceFiles/DQN_class.py b/TensorForceFiles/DQN_class.py index 5990456..56043c2 100644 --- a/TensorForceFiles/DQN_class.py +++ b/TensorForceFiles/DQN_class.py @@ -10,6 +10,14 @@ class TensorForceDQN(TensorForceClass): def __init__(self,num_states=6, num_actions=4, load=None): super().__init__(num_states=num_states, num_actions=num_actions,load=load) + self.num_states = num_states + self.num_actions = num_actions + self.input_high = 1.0 + self.input_low = 0.0 + + + self.len_episode = 10 + self.explore = 0.5 def createRLagent(self, load): diff --git a/TensorForceFiles/__pycache__/DQN_class.cpython-36.pyc b/TensorForceFiles/__pycache__/DQN_class.cpython-36.pyc index 5ab2f1c7a02fd65ef3633b2aad0f69143d9cf740..e76fa3008a5ca3167d126a13b96c35579b498cc6 100644 GIT binary patch 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WcmbOvF-d~Wn3tE!n_(jx4-WtumIBNG diff --git a/helper.py b/helper.py index 1b5c287..4aedec5 100644 --- a/helper.py +++ b/helper.py @@ -75,11 +75,6 @@ # return bgr_modified_img - - - - - def pick_up_box_variables(large_container_pos,obs,z,small_container_pos): above_large_container = large_container_pos above_large_container[2] += 0.3 From 728c5debce59c3e0ec30b3de912065657896b903 Mon Sep 17 00:00:00 2001 From: htqcheng Date: Mon, 27 Apr 2020 00:32:48 -0400 Subject: [PATCH 43/48] Keep going --- TensorForceFiles/DQN_class.py | 5 --- .../__pycache__/DQN_class.cpython-36.pyc | Bin 1328 -> 1240 bytes .../TensorForce_class.cpython-36.pyc | Bin 2974 -> 2974 bytes .../dqn_grasp_class.cpython-36.pyc | Bin 3090 -> 3172 bytes TensorForceFiles/dqn_grasp_class.py | 5 +++ __pycache__/helper.cpython-36.pyc | Bin 0 -> 6393 bytes helper.py | 32 +++++++++++++++++- 7 files changed, 36 insertions(+), 6 deletions(-) create mode 100644 __pycache__/helper.cpython-36.pyc diff --git 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self.target_start_pose = [0,0,0] self.ee_pos = [0,0,0] - self.explore = 0.5 + self.explore = 0.3 self.target_num = 0 self.target_name='' @@ -50,7 +50,7 @@ def act(self, obs, obj_poses, key='sugar'): actions = np.random.uniform(low=0.0, high=1, size=self.num_actions) a_in = self.scaleActions(actions) - self.gripper_open = a_in[-1]>0.5 + self.gripper_open = a_in[-1]>0.3 if self.num_actions == 5: a_in[:2] += target_state[:2] @@ -83,9 +83,10 @@ def scaleActions(self, actions): return actions - def calculateReward(self): + def calculateReward(self, i): reward = 0 terminal = False + reward -= i delta_dist = self.dist_before_action - self.dist_after_action temp = (self.dist_before_action - self.dist_after_action) / self.dist_before_action * 3 @@ -95,14 +96,24 @@ def calculateReward(self): else: reward += min(temp,-0.1) + # print(self.has_object) if self.has_object: - reward += 20 - if self.ee_pos[-1] > self.z_r[1] - 0.05: - reward += 250 - terminal = True + reward += 100 + print("Reward after grasping: ", reward) + terminal = True + # if self.ee_pos[-1] > self.z_r[1] - 0.05: + # reward += 250 + # terminal = True + print(self.dist_after_action) + + if not self.gripper_open and self.dist_before_action>0.1: + reward -= 20 + + if self.gripper_open and self.dist_before_action>0.1: + reward += 10 if not self.gripper_open and not self.has_object: - reward -=1 + reward -= 3 return reward, terminal diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc index d3da4be1ef677adc56ba3ee23410a87f90ff565c..bd130d6928fa7aca20409448e767acf55fdefa88 100644 GIT binary patch delta 1928 zcmah}-EUMy6rY*$bC9_m=L$>;-9^ zn?7s^;h_m(j86vA#6+J=NPVdO1wNRV;EQfhxK!gcW6M7vpEu%F0 z#+>OTtrH208O*#)y49M&a0%D(oL0w?%d7|xg*!*`3fThWF94bTC-QPTwEaKOxD6Tu z^lt#|Y(nEeZF^%oa2VK*+velWlWUld3$Tnl;Vm=EK=Bzi&pL!ObOZ^H;nvFL$(t(> zfCw)RW5uVA!w3>s0?v;SGui?gallVD0y0;jGOrayj+kl9V3wRT`eY_VkrL$b3HX%hHF#rGxSJ z-7t3%LU%0?9Lq=O_n3DEcm!@z4ow^3ym 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100644 index 0000000..f5eb96b --- /dev/null +++ b/dqn_grasp/checkpoint @@ -0,0 +1,2 @@ +model_checkpoint_path: "agent" +all_model_checkpoint_paths: "agent" diff --git a/helper.py b/helper.py index 03de1a7..8a6a272 100644 --- a/helper.py +++ b/helper.py @@ -181,7 +181,7 @@ def pick_up_box(state,obs,gripper,small_container0_obj,z,small_container_pos,sma return state,action -def rl_get_objects(RLagent, task, shape, obs, obj_poses, box_pos, success): +def rl_get_objects(RLagent, task, shape, obs, obj_poses, box_pos, success, i): target_name = 'Shape' + shape @@ -197,13 +197,17 @@ def rl_get_objects(RLagent, task, shape, obs, obj_poses, box_pos, success): ### Check current distance target_state = list(obj_poses[target_name]) RLagent.dist_after_action = max(0.05,np.linalg.norm(target_state[:3] - obs.gripper_pose[:3])) + # RLagent.dist_after_action = np.linalg.norm(target_state[:3] - obs.gripper_pose[:3]) ### Calculate reward - reward, terminal = RLagent.calculateReward() + reward, terminal = RLagent.calculateReward(i) except: - reward = -RLagent.dist_before_action*5 - terminal = False + print("Couldn't move") + # reward = -RLagent.dist_before_action*5 + ### Calculate reward + reward, terminal = RLagent.calculateReward(i) + # terminal = False ## Observe results RLagent.agent.observe(terminal=terminal, reward=reward) @@ -212,8 +216,7 @@ def rl_get_objects(RLagent, task, shape, obs, obj_poses, box_pos, success): success = True print("Success!") - # print('Iteration: %i, Reward: %.1f' %(i, reward)) - return obs, success + return obs, success, reward def get_objects(RLagent, task, obj_pose_sensor, state, shape, obs, object_pos, box_pos): @@ -228,12 +231,22 @@ def get_objects(RLagent, task, obj_pose_sensor, state, shape, obs, object_pos, b # RL to take over moving to and grasp object elif state == 1: success = False + total_reward = 0 + i = 0 while (not success): obj_poses = obj_pose_sensor.get_poses() - obs, success = rl_get_objects(RLagent, task, shape, obs, obj_poses, box_pos, success) + obs, success, reward = rl_get_objects(RLagent, task, shape, obs, obj_poses, box_pos, success, i) + i += 1 + total_reward += reward + print('Iteration: %i, Reward: %.1f' %(i, reward)) + if i>=50: + "Failed to grasp, skipping the object." + success = True action = np.concatenate((obs.gripper_pose, np.array([0]))) - state = 2 + print('Success on Iteration: %i, Total Reward: %.1f' %(i, total_reward)) + RLagent.agent.save(directory='dqn_grasp') + state = 3 return action, state, shape @@ -245,13 +258,14 @@ def get_objects(RLagent, task, obj_pose_sensor, state, shape, obs, object_pos, b # state = 2 # return action, state, shape - #move up - elif state == 2: + + # #move up + # elif state == 2: - action = np.concatenate((object_pos[0:3]+[0,0,0.15], obs.gripper_pose[3:7], np.array([0]))) - state = 3 + # action = np.concatenate((object_pos[0:3]+[0,0,0.15], obs.gripper_pose[3:7], np.array([0]))) + # state = 3 - return action, state, shape + # return action, state, shape #move above box elif state == 3: diff --git a/rlbench_empty_container.py b/rlbench_empty_container.py index ada0ef0..8823ef3 100644 --- a/rlbench_empty_container.py +++ b/rlbench_empty_container.py @@ -94,7 +94,8 @@ def get_objs(self): count = 0 # TensorForce Initialization - rl_grasp_agent = DQN_grasp() + rl_grasp_agent = DQN_grasp(load='dqn_grasp') + # rl_grasp_agent = DQN_grasp() gripper = task._robot.gripper objs = obj_pose_sensor.get_objs() @@ -149,9 +150,10 @@ def get_objs(self): action, state, shape = get_objects(rl_grasp_agent, task, obj_pose_sensor, state, shape, obs, shape_pos, small_container_pos) print('State is: ', state) - print("done") + # print("done") if int(shape) > 4: - mode = 0.5 + print("Finished all pickup") + mode = 4 elif mode == 0.5: obj_poses = obj_pose_sensor.get_poses() @@ -219,6 +221,7 @@ def get_objs(self): count = 0 shape = '0' mode=0 + descriptions, obs = task.reset() action = np.concatenate((obs.gripper_pose, np.array([1]))) obs, reward, terminate = 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Install [PyRep](https://github.com/stepjam/PyRep) 2. Install [RLBench](https://github.com/stepjam/RLBench) 3. `pip install -r requirements.txt` +4. The requirements.txt include TensorForce and TensorFlow for Reinforcement Learning ## Example RLBench Usage Run `python rlbench_example.py` to launch the example script. @@ -25,4 +26,4 @@ This script contains example code on how to control the robot, get observations, ## Useful Files The following files may be useful to reference from the In the `rlbench` folder in the `RLBench` repo: * `rlbench/action_modes.py` - Different action modes to control the robot -* `rlbench/backend/observation.py` - All fields available in the observation object \ No newline at end of file +* `rlbench/backend/observation.py` - All fields available in the observation object