From 722c319ed3c56c74249470ee9487d9ca7b81c2d2 Mon Sep 17 00:00:00 2001 From: hofee Date: Fri, 20 Dec 2024 15:28:39 +0800 Subject: [PATCH] update --- cfg/active_grasp.yaml | 3 +- cfg/pkl_scene/scene_0/fall_objects.pickle | 1 + cfg/pkl_scene/scene_0/scene.pickle | Bin 0 -> 773 bytes cfg/pkl_scene/scene_1/fall_objects.pickle | Bin 0 -> 50 bytes cfg/pkl_scene/scene_1/scene.pickle | Bin 0 -> 758 bytes cfg/pkl_scene/scene_10/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_10/scene.pickle | Bin 0 -> 768 bytes cfg/pkl_scene/scene_11/fall_objects.pickle | 1 + cfg/pkl_scene/scene_11/scene.pickle | Bin 0 -> 775 bytes cfg/pkl_scene/scene_12/fall_objects.pickle | 1 + cfg/pkl_scene/scene_12/scene.pickle | Bin 0 -> 767 bytes cfg/pkl_scene/scene_13/fall_objects.pickle | 1 + cfg/pkl_scene/scene_13/scene.pickle | Bin 0 -> 782 bytes cfg/pkl_scene/scene_14/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_14/scene.pickle | Bin 0 -> 768 bytes cfg/pkl_scene/scene_15/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_15/scene.pickle | Bin 0 -> 771 bytes cfg/pkl_scene/scene_16/fall_objects.pickle | 1 + cfg/pkl_scene/scene_16/scene.pickle | Bin 0 -> 782 bytes cfg/pkl_scene/scene_17/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_17/scene.pickle | Bin 0 -> 772 bytes cfg/pkl_scene/scene_2/fall_objects.pickle | Bin 0 -> 29 bytes cfg/pkl_scene/scene_2/scene.pickle | Bin 0 -> 772 bytes cfg/pkl_scene/scene_25/fall_objects.pickle | Bin 0 -> 25 bytes cfg/pkl_scene/scene_25/scene.pickle | Bin 0 -> 754 bytes cfg/pkl_scene/scene_26/fall_objects.pickle | Bin 0 -> 42 bytes cfg/pkl_scene/scene_26/scene.pickle | Bin 0 -> 765 bytes cfg/pkl_scene/scene_27/fall_objects.pickle | 1 + cfg/pkl_scene/scene_27/scene.pickle | Bin 0 -> 775 bytes cfg/pkl_scene/scene_28/fall_objects.pickle | 1 + cfg/pkl_scene/scene_28/scene.pickle | Bin 0 -> 773 bytes cfg/pkl_scene/scene_29/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_29/scene.pickle | Bin 0 -> 772 bytes cfg/pkl_scene/scene_3/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_3/scene.pickle | Bin 0 -> 772 bytes cfg/pkl_scene/scene_30/fall_objects.pickle | 1 + cfg/pkl_scene/scene_30/scene.pickle | Bin 0 -> 776 bytes cfg/pkl_scene/scene_31/fall_objects.pickle | 1 + cfg/pkl_scene/scene_31/scene.pickle | Bin 0 -> 777 bytes cfg/pkl_scene/scene_32/fall_objects.pickle | Bin 0 -> 29 bytes cfg/pkl_scene/scene_32/scene.pickle | Bin 0 -> 775 bytes cfg/pkl_scene/scene_33/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_33/scene.pickle | Bin 0 -> 774 bytes cfg/pkl_scene/scene_34/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_34/scene.pickle | Bin 0 -> 780 bytes cfg/pkl_scene/scene_35/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_35/scene.pickle | Bin 0 -> 774 bytes cfg/pkl_scene/scene_4/fall_objects.pickle | 1 + cfg/pkl_scene/scene_4/scene.pickle | Bin 0 -> 779 bytes cfg/pkl_scene/scene_43/fall_objects.pickle | 1 + cfg/pkl_scene/scene_43/scene.pickle | Bin 0 -> 779 bytes cfg/pkl_scene/scene_44/fall_objects.pickle | Bin 0 -> 41 bytes cfg/pkl_scene/scene_44/scene.pickle | Bin 0 -> 768 bytes cfg/pkl_scene/scene_45/fall_objects.pickle | 1 + cfg/pkl_scene/scene_45/scene.pickle | Bin 0 -> 767 bytes cfg/pkl_scene/scene_46/fall_objects.pickle | Bin 0 -> 61 bytes cfg/pkl_scene/scene_46/scene.pickle | Bin 0 -> 761 bytes cfg/pkl_scene/scene_47/fall_objects.pickle | 1 + cfg/pkl_scene/scene_47/scene.pickle | Bin 0 -> 774 bytes cfg/pkl_scene/scene_48/fall_objects.pickle | Bin 0 -> 26 bytes cfg/pkl_scene/scene_48/scene.pickle | Bin 0 -> 766 bytes cfg/pkl_scene/scene_49/fall_objects.pickle | 1 + cfg/pkl_scene/scene_49/scene.pickle | Bin 0 -> 777 bytes cfg/pkl_scene/scene_5/fall_objects.pickle | 1 + cfg/pkl_scene/scene_5/scene.pickle | Bin 0 -> 772 bytes cfg/pkl_scene/scene_50/fall_objects.pickle | 1 + cfg/pkl_scene/scene_50/scene.pickle | Bin 0 -> 765 bytes cfg/pkl_scene/scene_51/fall_objects.pickle | 1 + cfg/pkl_scene/scene_51/scene.pickle | Bin 0 -> 774 bytes cfg/pkl_scene/scene_52/fall_objects.pickle | Bin 0 -> 30 bytes cfg/pkl_scene/scene_52/scene.pickle | Bin 0 -> 773 bytes cfg/pkl_scene/scene_53/fall_objects.pickle | 1 + cfg/pkl_scene/scene_53/scene.pickle | Bin 0 -> 777 bytes cfg/pkl_scene/scene_6/fall_objects.pickle | 1 + cfg/pkl_scene/scene_6/scene.pickle | Bin 0 -> 779 bytes cfg/pkl_scene/scene_61/fall_objects.pickle | 1 + cfg/pkl_scene/scene_61/scene.pickle | Bin 0 -> 764 bytes cfg/pkl_scene/scene_62/fall_objects.pickle | 1 + cfg/pkl_scene/scene_62/scene.pickle | Bin 0 -> 762 bytes cfg/pkl_scene/scene_63/fall_objects.pickle | 1 + cfg/pkl_scene/scene_63/scene.pickle | Bin 0 -> 775 bytes cfg/pkl_scene/scene_64/fall_objects.pickle | Bin 0 -> 43 bytes cfg/pkl_scene/scene_64/scene.pickle | Bin 0 -> 777 bytes cfg/pkl_scene/scene_65/fall_objects.pickle | 1 + cfg/pkl_scene/scene_65/scene.pickle | Bin 0 -> 773 bytes cfg/pkl_scene/scene_66/fall_objects.pickle | Bin 0 -> 28 bytes cfg/pkl_scene/scene_66/scene.pickle | Bin 0 -> 762 bytes cfg/pkl_scene/scene_67/fall_objects.pickle | 1 + cfg/pkl_scene/scene_67/scene.pickle | Bin 0 -> 766 bytes cfg/pkl_scene/scene_68/fall_objects.pickle | Bin 0 -> 44 bytes cfg/pkl_scene/scene_68/scene.pickle | Bin 0 -> 771 bytes cfg/pkl_scene/scene_69/fall_objects.pickle | 1 + cfg/pkl_scene/scene_69/scene.pickle | Bin 0 -> 768 bytes cfg/pkl_scene/scene_7/fall_objects.pickle | Bin 0 -> 25 bytes cfg/pkl_scene/scene_7/scene.pickle | Bin 0 -> 761 bytes cfg/pkl_scene/scene_70/fall_objects.pickle | Bin 0 -> 65 bytes cfg/pkl_scene/scene_70/scene.pickle | Bin 0 -> 761 bytes cfg/pkl_scene/scene_71/fall_objects.pickle | 1 + cfg/pkl_scene/scene_71/scene.pickle | Bin 0 -> 760 bytes cfg/pkl_scene/scene_79/fall_objects.pickle | Bin 0 -> 43 bytes cfg/pkl_scene/scene_79/scene.pickle | Bin 0 -> 769 bytes cfg/pkl_scene/scene_8/fall_objects.pickle | 1 + cfg/pkl_scene/scene_8/scene.pickle | Bin 0 -> 764 bytes cfg/pkl_scene/scene_80/fall_objects.pickle | 1 + cfg/pkl_scene/scene_80/scene.pickle | Bin 0 -> 772 bytes cfg/pkl_scene/scene_81/fall_objects.pickle | Bin 0 -> 53 bytes cfg/pkl_scene/scene_81/scene.pickle | Bin 0 -> 776 bytes cfg/pkl_scene/scene_82/fall_objects.pickle | 1 + cfg/pkl_scene/scene_82/scene.pickle | Bin 0 -> 776 bytes cfg/pkl_scene/scene_83/fall_objects.pickle | 1 + cfg/pkl_scene/scene_83/scene.pickle | Bin 0 -> 780 bytes cfg/pkl_scene/scene_84/fall_objects.pickle | Bin 0 -> 29 bytes cfg/pkl_scene/scene_84/scene.pickle | Bin 0 -> 774 bytes cfg/pkl_scene/scene_85/fall_objects.pickle | 1 + cfg/pkl_scene/scene_85/scene.pickle | Bin 0 -> 781 bytes cfg/pkl_scene/scene_86/fall_objects.pickle | 1 + cfg/pkl_scene/scene_86/scene.pickle | Bin 0 -> 767 bytes cfg/pkl_scene/scene_87/fall_objects.pickle | 1 + cfg/pkl_scene/scene_87/scene.pickle | Bin 0 -> 775 bytes cfg/pkl_scene/scene_88/fall_objects.pickle | Bin 0 -> 27 bytes cfg/pkl_scene/scene_88/scene.pickle | Bin 0 -> 765 bytes cfg/pkl_scene/scene_89/fall_objects.pickle | Bin 0 -> 42 bytes cfg/pkl_scene/scene_89/scene.pickle | Bin 0 -> 766 bytes cfg/pkl_scene/scene_9/fall_objects.pickle | Bin 0 -> 25 bytes cfg/pkl_scene/scene_9/scene.pickle | Bin 0 -> 765 bytes cfg/sim/scene_0.yaml | 16 +- cfg/sim/scene_1.yaml | 10 +- cfg/sim/scene_10.yaml | 14 +- cfg/sim/scene_100.yaml | 16 +- cfg/sim/scene_101.yaml | 16 +- cfg/sim/scene_102.yaml | 16 +- cfg/sim/scene_103.yaml | 16 +- cfg/sim/scene_104.yaml | 14 +- cfg/sim/scene_105.yaml | 16 +- cfg/sim/scene_106.yaml | 16 +- cfg/sim/scene_107.yaml | 16 +- cfg/sim/scene_108.yaml | 14 +- cfg/sim/scene_109.yaml | 16 +- cfg/sim/scene_11.yaml | 16 +- cfg/sim/scene_110.yaml | 16 +- cfg/sim/scene_111.yaml | 16 +- cfg/sim/scene_112.yaml | 14 +- cfg/sim/scene_113.yaml | 16 +- cfg/sim/scene_114.yaml | 14 +- cfg/sim/scene_115.yaml | 14 +- cfg/sim/scene_116.yaml | 14 +- cfg/sim/scene_117.yaml | 8 +- cfg/sim/scene_118.yaml | 12 +- cfg/sim/scene_119.yaml | 4 +- cfg/sim/scene_12.yaml | 16 +- cfg/sim/scene_120.yaml | 14 +- cfg/sim/scene_121.yaml | 12 +- cfg/sim/scene_122.yaml | 14 +- cfg/sim/scene_123.yaml | 14 +- cfg/sim/scene_124.yaml | 14 +- cfg/sim/scene_125.yaml | 10 +- cfg/sim/scene_126.yaml | 16 +- cfg/sim/scene_127.yaml | 16 +- cfg/sim/scene_128.yaml | 16 +- cfg/sim/scene_129.yaml | 16 +- cfg/sim/scene_13.yaml | 16 +- cfg/sim/scene_130.yaml | 14 +- cfg/sim/scene_131.yaml | 12 +- cfg/sim/scene_132.yaml | 16 +- cfg/sim/scene_133.yaml | 16 +- cfg/sim/scene_134.yaml | 16 +- cfg/sim/scene_135.yaml | 16 +- cfg/sim/scene_136.yaml | 14 +- cfg/sim/scene_137.yaml | 14 +- cfg/sim/scene_138.yaml | 14 +- cfg/sim/scene_139.yaml | 14 +- cfg/sim/scene_14.yaml | 14 +- cfg/sim/scene_140.yaml | 16 +- cfg/sim/scene_141.yaml | 16 +- cfg/sim/scene_142.yaml | 8 +- cfg/sim/scene_143.yaml | 16 +- cfg/sim/scene_144.yaml | 16 +- cfg/sim/scene_145.yaml | 14 +- cfg/sim/scene_146.yaml | 16 +- cfg/sim/scene_147.yaml | 14 +- cfg/sim/scene_148.yaml | 14 +- cfg/sim/scene_149.yaml | 14 +- cfg/sim/scene_15.yaml | 14 +- cfg/sim/scene_150.yaml | 16 +- cfg/sim/scene_151.yaml | 10 +- cfg/sim/scene_152.yaml | 16 +- cfg/sim/scene_153.yaml | 12 +- cfg/sim/scene_154.yaml | 10 +- cfg/sim/scene_155.yaml | 16 +- cfg/sim/scene_156.yaml | 16 +- cfg/sim/scene_157.yaml | 8 +- cfg/sim/scene_158.yaml | 16 +- cfg/sim/scene_159.yaml | 16 +- cfg/sim/scene_16.yaml | 16 +- cfg/sim/scene_160.yaml | 16 +- cfg/sim/scene_161.yaml | 14 +- cfg/sim/scene_162.yaml | 14 +- cfg/sim/scene_163.yaml | 14 +- cfg/sim/scene_164.yaml | 6 +- cfg/sim/scene_165.yaml | 14 +- cfg/sim/scene_166.yaml | 16 +- cfg/sim/scene_167.yaml | 10 +- cfg/sim/scene_168.yaml | 8 +- cfg/sim/scene_169.yaml | 14 +- cfg/sim/scene_17.yaml | 14 +- cfg/sim/scene_170.yaml | 14 +- cfg/sim/scene_171.yaml | 14 +- cfg/sim/scene_172.yaml | 16 +- cfg/sim/scene_173.yaml | 16 +- cfg/sim/scene_174.yaml | 16 +- cfg/sim/scene_175.yaml | 14 +- cfg/sim/scene_176.yaml | 16 +- cfg/sim/scene_177.yaml | 16 +- cfg/sim/scene_178.yaml | 16 +- cfg/sim/scene_179.yaml | 16 +- cfg/sim/scene_18.yaml | 12 +- cfg/sim/scene_180.yaml | 16 +- cfg/sim/scene_181.yaml | 12 +- cfg/sim/scene_182.yaml | 12 +- cfg/sim/scene_183.yaml | 12 +- cfg/sim/scene_184.yaml | 10 +- cfg/sim/scene_185.yaml | 14 +- cfg/sim/scene_186.yaml | 12 +- cfg/sim/scene_187.yaml | 10 +- cfg/sim/scene_188.yaml | 14 +- cfg/sim/scene_189.yaml | 16 +- cfg/sim/scene_19.yaml | 16 +- cfg/sim/scene_190.yaml | 16 +- cfg/sim/scene_191.yaml | 14 +- cfg/sim/scene_192.yaml | 16 +- cfg/sim/scene_193.yaml | 16 +- cfg/sim/scene_194.yaml | 16 +- cfg/sim/scene_195.yaml | 12 +- cfg/sim/scene_196.yaml | 4 +- cfg/sim/scene_197.yaml | 16 +- cfg/sim/scene_198.yaml | 16 +- cfg/sim/scene_199.yaml | 16 +- cfg/sim/scene_2.yaml | 14 +- cfg/sim/scene_20.yaml | 14 +- cfg/sim/scene_21.yaml | 14 +- cfg/sim/scene_22.yaml | 16 +- cfg/sim/scene_23.yaml | 12 +- cfg/sim/scene_24.yaml | 16 +- cfg/sim/scene_25.yaml | 14 +- cfg/sim/scene_26.yaml | 12 +- cfg/sim/scene_27.yaml | 16 +- cfg/sim/scene_28.yaml | 16 +- cfg/sim/scene_29.yaml | 14 +- cfg/sim/scene_3.yaml | 14 +- cfg/sim/scene_30.yaml | 16 +- cfg/sim/scene_31.yaml | 16 +- cfg/sim/scene_32.yaml | 14 +- cfg/sim/scene_33.yaml | 14 +- cfg/sim/scene_34.yaml | 14 +- cfg/sim/scene_35.yaml | 14 +- cfg/sim/scene_36.yaml | 16 +- cfg/sim/scene_37.yaml | 14 +- cfg/sim/scene_38.yaml | 14 +- cfg/sim/scene_39.yaml | 16 +- cfg/sim/scene_4.yaml | 16 +- cfg/sim/scene_40.yaml | 16 +- cfg/sim/scene_41.yaml | 12 +- cfg/sim/scene_42.yaml | 16 +- cfg/sim/scene_43.yaml | 16 +- cfg/sim/scene_44.yaml | 12 +- cfg/sim/scene_45.yaml | 16 +- cfg/sim/scene_46.yaml | 8 +- cfg/sim/scene_47.yaml | 16 +- cfg/sim/scene_48.yaml | 14 +- cfg/sim/scene_49.yaml | 16 +- cfg/sim/scene_5.yaml | 16 +- cfg/sim/scene_50.yaml | 16 +- cfg/sim/scene_51.yaml | 16 +- cfg/sim/scene_52.yaml | 14 +- cfg/sim/scene_53.yaml | 16 +- cfg/sim/scene_54.yaml | 16 +- cfg/sim/scene_55.yaml | 14 +- cfg/sim/scene_56.yaml | 16 +- cfg/sim/scene_57.yaml | 4 +- cfg/sim/scene_58.yaml | 14 +- cfg/sim/scene_59.yaml | 10 +- cfg/sim/scene_6.yaml | 16 +- cfg/sim/scene_60.yaml | 16 +- cfg/sim/scene_61.yaml | 16 +- cfg/sim/scene_62.yaml | 16 +- cfg/sim/scene_63.yaml | 16 +- cfg/sim/scene_64.yaml | 12 +- cfg/sim/scene_65.yaml | 16 +- cfg/sim/scene_66.yaml | 14 +- cfg/sim/scene_67.yaml | 16 +- cfg/sim/scene_68.yaml | 12 +- cfg/sim/scene_69.yaml | 16 +- cfg/sim/scene_7.yaml | 14 +- cfg/sim/scene_70.yaml | 8 +- cfg/sim/scene_71.yaml | 16 +- cfg/sim/scene_72.yaml | 4 +- cfg/sim/scene_73.yaml | 16 +- cfg/sim/scene_74.yaml | 16 +- cfg/sim/scene_75.yaml | 16 +- cfg/sim/scene_76.yaml | 16 +- cfg/sim/scene_77.yaml | 14 +- cfg/sim/scene_78.yaml | 16 +- cfg/sim/scene_79.yaml | 12 +- cfg/sim/scene_8.yaml | 16 +- cfg/sim/scene_80.yaml | 16 +- cfg/sim/scene_81.yaml | 10 +- cfg/sim/scene_82.yaml | 16 +- cfg/sim/scene_83.yaml | 16 +- cfg/sim/scene_84.yaml | 14 +- cfg/sim/scene_85.yaml | 16 +- cfg/sim/scene_86.yaml | 16 +- cfg/sim/scene_87.yaml | 16 +- cfg/sim/scene_88.yaml | 14 +- cfg/sim/scene_89.yaml | 12 +- cfg/sim/scene_9.yaml | 14 +- cfg/sim/scene_90.yaml | 8 +- cfg/sim/scene_91.yaml | 16 +- cfg/sim/scene_92.yaml | 14 +- cfg/sim/scene_93.yaml | 14 +- cfg/sim/scene_94.yaml | 16 +- cfg/sim/scene_95.yaml | 16 +- cfg/sim/scene_96.yaml | 16 +- cfg/sim/scene_97.yaml | 16 +- cfg/sim/scene_98.yaml | 16 +- cfg/sim/scene_99.yaml | 12 +- cfg/xyz_sim/scene_0.yaml | 44 ++++ cfg/xyz_sim/scene_1.yaml | 29 +++ cfg/xyz_sim/scene_10.yaml | 39 +++ cfg/xyz_sim/scene_100.yaml | 44 ++++ cfg/xyz_sim/scene_101.yaml | 44 ++++ cfg/xyz_sim/scene_102.yaml | 44 ++++ cfg/xyz_sim/scene_103.yaml | 44 ++++ cfg/xyz_sim/scene_104.yaml | 39 +++ cfg/xyz_sim/scene_105.yaml | 44 ++++ cfg/xyz_sim/scene_106.yaml | 44 ++++ cfg/xyz_sim/scene_107.yaml | 44 ++++ cfg/xyz_sim/scene_108.yaml | 39 +++ cfg/xyz_sim/scene_109.yaml | 44 ++++ cfg/xyz_sim/scene_11.yaml | 44 ++++ cfg/xyz_sim/scene_110.yaml | 44 ++++ cfg/xyz_sim/scene_111.yaml | 44 ++++ cfg/xyz_sim/scene_112.yaml | 39 +++ cfg/xyz_sim/scene_113.yaml | 44 ++++ cfg/xyz_sim/scene_114.yaml | 39 +++ cfg/xyz_sim/scene_115.yaml | 39 +++ cfg/xyz_sim/scene_116.yaml | 39 +++ cfg/xyz_sim/scene_117.yaml | 24 ++ cfg/xyz_sim/scene_118.yaml | 34 +++ cfg/xyz_sim/scene_119.yaml | 14 ++ cfg/xyz_sim/scene_12.yaml | 44 ++++ cfg/xyz_sim/scene_120.yaml | 39 +++ cfg/xyz_sim/scene_121.yaml | 34 +++ cfg/xyz_sim/scene_122.yaml | 39 +++ cfg/xyz_sim/scene_123.yaml | 39 +++ cfg/xyz_sim/scene_124.yaml | 39 +++ cfg/xyz_sim/scene_125.yaml | 29 +++ cfg/xyz_sim/scene_126.yaml | 44 ++++ cfg/xyz_sim/scene_127.yaml | 44 ++++ cfg/xyz_sim/scene_128.yaml | 44 ++++ cfg/xyz_sim/scene_129.yaml | 44 ++++ cfg/xyz_sim/scene_13.yaml | 44 ++++ cfg/xyz_sim/scene_130.yaml | 39 +++ cfg/xyz_sim/scene_131.yaml | 34 +++ cfg/xyz_sim/scene_132.yaml | 44 ++++ cfg/xyz_sim/scene_133.yaml | 44 ++++ cfg/xyz_sim/scene_134.yaml | 44 ++++ cfg/xyz_sim/scene_135.yaml | 44 ++++ cfg/xyz_sim/scene_136.yaml | 39 +++ cfg/xyz_sim/scene_137.yaml | 39 +++ cfg/xyz_sim/scene_138.yaml | 39 +++ cfg/xyz_sim/scene_139.yaml | 39 +++ cfg/xyz_sim/scene_14.yaml | 39 +++ cfg/xyz_sim/scene_140.yaml | 44 ++++ cfg/xyz_sim/scene_141.yaml | 44 ++++ cfg/xyz_sim/scene_142.yaml | 24 ++ cfg/xyz_sim/scene_143.yaml | 44 ++++ cfg/xyz_sim/scene_144.yaml | 44 ++++ cfg/xyz_sim/scene_145.yaml | 39 +++ cfg/xyz_sim/scene_146.yaml | 44 ++++ cfg/xyz_sim/scene_147.yaml | 39 +++ cfg/xyz_sim/scene_148.yaml | 39 +++ cfg/xyz_sim/scene_149.yaml | 39 +++ cfg/xyz_sim/scene_15.yaml | 39 +++ cfg/xyz_sim/scene_150.yaml | 44 ++++ cfg/xyz_sim/scene_151.yaml | 29 +++ cfg/xyz_sim/scene_152.yaml | 44 ++++ cfg/xyz_sim/scene_153.yaml | 34 +++ cfg/xyz_sim/scene_154.yaml | 29 +++ cfg/xyz_sim/scene_155.yaml | 44 ++++ cfg/xyz_sim/scene_156.yaml | 44 ++++ cfg/xyz_sim/scene_157.yaml | 24 ++ cfg/xyz_sim/scene_158.yaml | 44 ++++ cfg/xyz_sim/scene_159.yaml | 44 ++++ cfg/xyz_sim/scene_16.yaml | 44 ++++ cfg/xyz_sim/scene_160.yaml | 44 ++++ cfg/xyz_sim/scene_161.yaml | 39 +++ cfg/xyz_sim/scene_162.yaml | 39 +++ cfg/xyz_sim/scene_163.yaml | 39 +++ cfg/xyz_sim/scene_164.yaml | 19 ++ cfg/xyz_sim/scene_165.yaml | 39 +++ cfg/xyz_sim/scene_166.yaml | 44 ++++ cfg/xyz_sim/scene_167.yaml | 29 +++ cfg/xyz_sim/scene_168.yaml | 24 ++ cfg/xyz_sim/scene_169.yaml | 39 +++ cfg/xyz_sim/scene_17.yaml | 39 +++ cfg/xyz_sim/scene_170.yaml | 39 +++ cfg/xyz_sim/scene_171.yaml | 39 +++ cfg/xyz_sim/scene_172.yaml | 44 ++++ cfg/xyz_sim/scene_173.yaml | 44 ++++ cfg/xyz_sim/scene_174.yaml | 44 ++++ cfg/xyz_sim/scene_175.yaml | 39 +++ cfg/xyz_sim/scene_176.yaml | 44 ++++ cfg/xyz_sim/scene_177.yaml | 44 ++++ cfg/xyz_sim/scene_178.yaml | 44 ++++ cfg/xyz_sim/scene_179.yaml | 44 ++++ cfg/xyz_sim/scene_18.yaml | 34 +++ cfg/xyz_sim/scene_180.yaml | 44 ++++ cfg/xyz_sim/scene_181.yaml | 34 +++ cfg/xyz_sim/scene_182.yaml | 34 +++ cfg/xyz_sim/scene_183.yaml | 34 +++ cfg/xyz_sim/scene_184.yaml | 29 +++ cfg/xyz_sim/scene_185.yaml | 39 +++ cfg/xyz_sim/scene_186.yaml | 34 +++ cfg/xyz_sim/scene_187.yaml | 29 +++ cfg/xyz_sim/scene_188.yaml | 39 +++ cfg/xyz_sim/scene_189.yaml | 44 ++++ cfg/xyz_sim/scene_19.yaml | 44 ++++ cfg/xyz_sim/scene_190.yaml | 44 ++++ cfg/xyz_sim/scene_191.yaml | 39 +++ cfg/xyz_sim/scene_192.yaml | 44 ++++ cfg/xyz_sim/scene_193.yaml | 44 ++++ cfg/xyz_sim/scene_194.yaml | 44 ++++ cfg/xyz_sim/scene_195.yaml | 34 +++ cfg/xyz_sim/scene_196.yaml | 14 ++ cfg/xyz_sim/scene_197.yaml | 44 ++++ cfg/xyz_sim/scene_198.yaml | 44 ++++ cfg/xyz_sim/scene_199.yaml | 44 ++++ cfg/xyz_sim/scene_2.yaml | 39 +++ cfg/xyz_sim/scene_20.yaml | 39 +++ cfg/xyz_sim/scene_21.yaml | 39 +++ cfg/xyz_sim/scene_22.yaml | 44 ++++ cfg/xyz_sim/scene_23.yaml | 34 +++ cfg/xyz_sim/scene_24.yaml | 44 ++++ cfg/xyz_sim/scene_25.yaml | 39 +++ cfg/xyz_sim/scene_26.yaml | 34 +++ cfg/xyz_sim/scene_27.yaml | 44 ++++ cfg/xyz_sim/scene_28.yaml | 44 ++++ cfg/xyz_sim/scene_29.yaml | 39 +++ cfg/xyz_sim/scene_3.yaml | 39 +++ cfg/xyz_sim/scene_30.yaml | 44 ++++ cfg/xyz_sim/scene_31.yaml | 44 ++++ cfg/xyz_sim/scene_32.yaml | 39 +++ cfg/xyz_sim/scene_33.yaml | 39 +++ cfg/xyz_sim/scene_34.yaml | 39 +++ cfg/xyz_sim/scene_35.yaml | 39 +++ cfg/xyz_sim/scene_36.yaml | 44 ++++ cfg/xyz_sim/scene_37.yaml | 39 +++ cfg/xyz_sim/scene_38.yaml | 39 +++ cfg/xyz_sim/scene_39.yaml | 44 ++++ cfg/xyz_sim/scene_4.yaml | 44 ++++ cfg/xyz_sim/scene_40.yaml | 44 ++++ cfg/xyz_sim/scene_41.yaml | 34 +++ cfg/xyz_sim/scene_42.yaml | 44 ++++ cfg/xyz_sim/scene_43.yaml | 44 ++++ cfg/xyz_sim/scene_44.yaml | 34 +++ cfg/xyz_sim/scene_45.yaml | 44 ++++ cfg/xyz_sim/scene_46.yaml | 24 ++ cfg/xyz_sim/scene_47.yaml | 44 ++++ cfg/xyz_sim/scene_48.yaml | 39 +++ cfg/xyz_sim/scene_49.yaml | 44 ++++ cfg/xyz_sim/scene_5.yaml | 44 ++++ cfg/xyz_sim/scene_50.yaml | 44 ++++ cfg/xyz_sim/scene_51.yaml | 44 ++++ cfg/xyz_sim/scene_52.yaml | 39 +++ cfg/xyz_sim/scene_53.yaml | 44 ++++ cfg/xyz_sim/scene_54.yaml | 44 ++++ cfg/xyz_sim/scene_55.yaml | 39 +++ cfg/xyz_sim/scene_56.yaml | 44 ++++ cfg/xyz_sim/scene_57.yaml | 14 ++ cfg/xyz_sim/scene_58.yaml | 39 +++ cfg/xyz_sim/scene_59.yaml | 29 +++ cfg/xyz_sim/scene_6.yaml | 44 ++++ cfg/xyz_sim/scene_60.yaml | 44 ++++ cfg/xyz_sim/scene_61.yaml | 44 ++++ cfg/xyz_sim/scene_62.yaml | 44 ++++ cfg/xyz_sim/scene_63.yaml | 44 ++++ cfg/xyz_sim/scene_64.yaml | 34 +++ cfg/xyz_sim/scene_65.yaml | 44 ++++ cfg/xyz_sim/scene_66.yaml | 39 +++ cfg/xyz_sim/scene_67.yaml | 44 ++++ cfg/xyz_sim/scene_68.yaml | 34 +++ cfg/xyz_sim/scene_69.yaml | 44 ++++ cfg/xyz_sim/scene_7.yaml | 39 +++ cfg/xyz_sim/scene_70.yaml | 24 ++ cfg/xyz_sim/scene_71.yaml | 44 ++++ cfg/xyz_sim/scene_72.yaml | 14 ++ cfg/xyz_sim/scene_73.yaml | 44 ++++ cfg/xyz_sim/scene_74.yaml | 44 ++++ cfg/xyz_sim/scene_75.yaml | 44 ++++ cfg/xyz_sim/scene_76.yaml | 44 ++++ cfg/xyz_sim/scene_77.yaml | 39 +++ cfg/xyz_sim/scene_78.yaml | 44 ++++ cfg/xyz_sim/scene_79.yaml | 34 +++ cfg/xyz_sim/scene_8.yaml | 44 ++++ cfg/xyz_sim/scene_80.yaml | 44 ++++ cfg/xyz_sim/scene_81.yaml | 29 +++ cfg/xyz_sim/scene_82.yaml | 44 ++++ cfg/xyz_sim/scene_83.yaml | 44 ++++ cfg/xyz_sim/scene_84.yaml | 39 +++ cfg/xyz_sim/scene_85.yaml | 44 ++++ cfg/xyz_sim/scene_86.yaml | 44 ++++ cfg/xyz_sim/scene_87.yaml | 44 ++++ cfg/xyz_sim/scene_88.yaml | 39 +++ cfg/xyz_sim/scene_89.yaml | 34 +++ cfg/xyz_sim/scene_9.yaml | 39 +++ cfg/xyz_sim/scene_90.yaml | 24 ++ cfg/xyz_sim/scene_91.yaml | 44 ++++ cfg/xyz_sim/scene_92.yaml | 39 +++ cfg/xyz_sim/scene_93.yaml | 39 +++ cfg/xyz_sim/scene_94.yaml | 44 ++++ cfg/xyz_sim/scene_95.yaml | 44 ++++ cfg/xyz_sim/scene_96.yaml | 44 ++++ cfg/xyz_sim/scene_97.yaml | 44 ++++ cfg/xyz_sim/scene_98.yaml | 44 ++++ cfg/xyz_sim/scene_99.yaml | 34 +++ scripts/bt_sim_node.py | 1 + .../configs/local_inference_config.yaml | 2 +- src/active_grasp/active_perception_policy.py | 36 ++- src/active_grasp/controller.py | 14 +- src/active_grasp/nbv.py | 4 +- src/active_grasp/simulation.py | 232 +++++++++++------- 531 files changed, 9549 insertions(+), 1516 deletions(-) create mode 100644 cfg/pkl_scene/scene_0/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_0/scene.pickle create mode 100644 cfg/pkl_scene/scene_1/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_1/scene.pickle create mode 100644 cfg/pkl_scene/scene_10/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_10/scene.pickle create mode 100644 cfg/pkl_scene/scene_11/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_11/scene.pickle create mode 100644 cfg/pkl_scene/scene_12/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_12/scene.pickle create mode 100644 cfg/pkl_scene/scene_13/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_13/scene.pickle create mode 100644 cfg/pkl_scene/scene_14/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_14/scene.pickle create mode 100644 cfg/pkl_scene/scene_15/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_15/scene.pickle create mode 100644 cfg/pkl_scene/scene_16/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_16/scene.pickle create mode 100644 cfg/pkl_scene/scene_17/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_17/scene.pickle create mode 100644 cfg/pkl_scene/scene_2/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_2/scene.pickle create mode 100644 cfg/pkl_scene/scene_25/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_25/scene.pickle create mode 100644 cfg/pkl_scene/scene_26/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_26/scene.pickle create mode 100644 cfg/pkl_scene/scene_27/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_27/scene.pickle create mode 100644 cfg/pkl_scene/scene_28/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_28/scene.pickle create mode 100644 cfg/pkl_scene/scene_29/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_29/scene.pickle create mode 100644 cfg/pkl_scene/scene_3/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_3/scene.pickle create mode 100644 cfg/pkl_scene/scene_30/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_30/scene.pickle create mode 100644 cfg/pkl_scene/scene_31/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_31/scene.pickle create mode 100644 cfg/pkl_scene/scene_32/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_32/scene.pickle create mode 100644 cfg/pkl_scene/scene_33/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_33/scene.pickle create mode 100644 cfg/pkl_scene/scene_34/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_34/scene.pickle create mode 100644 cfg/pkl_scene/scene_35/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_35/scene.pickle create mode 100644 cfg/pkl_scene/scene_4/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_4/scene.pickle create mode 100644 cfg/pkl_scene/scene_43/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_43/scene.pickle create mode 100644 cfg/pkl_scene/scene_44/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_44/scene.pickle create mode 100644 cfg/pkl_scene/scene_45/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_45/scene.pickle create mode 100644 cfg/pkl_scene/scene_46/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_46/scene.pickle create mode 100644 cfg/pkl_scene/scene_47/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_47/scene.pickle create mode 100644 cfg/pkl_scene/scene_48/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_48/scene.pickle create mode 100644 cfg/pkl_scene/scene_49/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_49/scene.pickle create mode 100644 cfg/pkl_scene/scene_5/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_5/scene.pickle create mode 100644 cfg/pkl_scene/scene_50/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_50/scene.pickle create mode 100644 cfg/pkl_scene/scene_51/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_51/scene.pickle create mode 100644 cfg/pkl_scene/scene_52/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_52/scene.pickle create mode 100644 cfg/pkl_scene/scene_53/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_53/scene.pickle create mode 100644 cfg/pkl_scene/scene_6/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_6/scene.pickle create mode 100644 cfg/pkl_scene/scene_61/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_61/scene.pickle create mode 100644 cfg/pkl_scene/scene_62/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_62/scene.pickle create mode 100644 cfg/pkl_scene/scene_63/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_63/scene.pickle create mode 100644 cfg/pkl_scene/scene_64/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_64/scene.pickle create mode 100644 cfg/pkl_scene/scene_65/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_65/scene.pickle create mode 100644 cfg/pkl_scene/scene_66/fall_objects.pickle create mode 100644 cfg/pkl_scene/scene_66/scene.pickle create mode 100644 cfg/pkl_scene/scene_67/fall_objects.pickle create mode 100644 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cfg/xyz_sim/scene_192.yaml create mode 100644 cfg/xyz_sim/scene_193.yaml create mode 100644 cfg/xyz_sim/scene_194.yaml create mode 100644 cfg/xyz_sim/scene_195.yaml create mode 100644 cfg/xyz_sim/scene_196.yaml create mode 100644 cfg/xyz_sim/scene_197.yaml create mode 100644 cfg/xyz_sim/scene_198.yaml create mode 100644 cfg/xyz_sim/scene_199.yaml create mode 100644 cfg/xyz_sim/scene_2.yaml create mode 100644 cfg/xyz_sim/scene_20.yaml create mode 100644 cfg/xyz_sim/scene_21.yaml create mode 100644 cfg/xyz_sim/scene_22.yaml create mode 100644 cfg/xyz_sim/scene_23.yaml create mode 100644 cfg/xyz_sim/scene_24.yaml create mode 100644 cfg/xyz_sim/scene_25.yaml create mode 100644 cfg/xyz_sim/scene_26.yaml create mode 100644 cfg/xyz_sim/scene_27.yaml create mode 100644 cfg/xyz_sim/scene_28.yaml create mode 100644 cfg/xyz_sim/scene_29.yaml create mode 100644 cfg/xyz_sim/scene_3.yaml create mode 100644 cfg/xyz_sim/scene_30.yaml create mode 100644 cfg/xyz_sim/scene_31.yaml create mode 100644 cfg/xyz_sim/scene_32.yaml create mode 100644 cfg/xyz_sim/scene_33.yaml create mode 100644 cfg/xyz_sim/scene_34.yaml create mode 100644 cfg/xyz_sim/scene_35.yaml create mode 100644 cfg/xyz_sim/scene_36.yaml create mode 100644 cfg/xyz_sim/scene_37.yaml create mode 100644 cfg/xyz_sim/scene_38.yaml create mode 100644 cfg/xyz_sim/scene_39.yaml create mode 100644 cfg/xyz_sim/scene_4.yaml create mode 100644 cfg/xyz_sim/scene_40.yaml create mode 100644 cfg/xyz_sim/scene_41.yaml create mode 100644 cfg/xyz_sim/scene_42.yaml create mode 100644 cfg/xyz_sim/scene_43.yaml create mode 100644 cfg/xyz_sim/scene_44.yaml create mode 100644 cfg/xyz_sim/scene_45.yaml create mode 100644 cfg/xyz_sim/scene_46.yaml create mode 100644 cfg/xyz_sim/scene_47.yaml create mode 100644 cfg/xyz_sim/scene_48.yaml create mode 100644 cfg/xyz_sim/scene_49.yaml create mode 100644 cfg/xyz_sim/scene_5.yaml create mode 100644 cfg/xyz_sim/scene_50.yaml create mode 100644 cfg/xyz_sim/scene_51.yaml create mode 100644 cfg/xyz_sim/scene_52.yaml create mode 100644 cfg/xyz_sim/scene_53.yaml create mode 100644 cfg/xyz_sim/scene_54.yaml create mode 100644 cfg/xyz_sim/scene_55.yaml create mode 100644 cfg/xyz_sim/scene_56.yaml create mode 100644 cfg/xyz_sim/scene_57.yaml create mode 100644 cfg/xyz_sim/scene_58.yaml create mode 100644 cfg/xyz_sim/scene_59.yaml create mode 100644 cfg/xyz_sim/scene_6.yaml create mode 100644 cfg/xyz_sim/scene_60.yaml create mode 100644 cfg/xyz_sim/scene_61.yaml create mode 100644 cfg/xyz_sim/scene_62.yaml create mode 100644 cfg/xyz_sim/scene_63.yaml create mode 100644 cfg/xyz_sim/scene_64.yaml create mode 100644 cfg/xyz_sim/scene_65.yaml create mode 100644 cfg/xyz_sim/scene_66.yaml create mode 100644 cfg/xyz_sim/scene_67.yaml create mode 100644 cfg/xyz_sim/scene_68.yaml create mode 100644 cfg/xyz_sim/scene_69.yaml create mode 100644 cfg/xyz_sim/scene_7.yaml create mode 100644 cfg/xyz_sim/scene_70.yaml create mode 100644 cfg/xyz_sim/scene_71.yaml create mode 100644 cfg/xyz_sim/scene_72.yaml create mode 100644 cfg/xyz_sim/scene_73.yaml create mode 100644 cfg/xyz_sim/scene_74.yaml create mode 100644 cfg/xyz_sim/scene_75.yaml create mode 100644 cfg/xyz_sim/scene_76.yaml create mode 100644 cfg/xyz_sim/scene_77.yaml create mode 100644 cfg/xyz_sim/scene_78.yaml create mode 100644 cfg/xyz_sim/scene_79.yaml create mode 100644 cfg/xyz_sim/scene_8.yaml create mode 100644 cfg/xyz_sim/scene_80.yaml create mode 100644 cfg/xyz_sim/scene_81.yaml create mode 100644 cfg/xyz_sim/scene_82.yaml create mode 100644 cfg/xyz_sim/scene_83.yaml create mode 100644 cfg/xyz_sim/scene_84.yaml create mode 100644 cfg/xyz_sim/scene_85.yaml create mode 100644 cfg/xyz_sim/scene_86.yaml create mode 100644 cfg/xyz_sim/scene_87.yaml create mode 100644 cfg/xyz_sim/scene_88.yaml create mode 100644 cfg/xyz_sim/scene_89.yaml create mode 100644 cfg/xyz_sim/scene_9.yaml create mode 100644 cfg/xyz_sim/scene_90.yaml create mode 100644 cfg/xyz_sim/scene_91.yaml create mode 100644 cfg/xyz_sim/scene_92.yaml create mode 100644 cfg/xyz_sim/scene_93.yaml create mode 100644 cfg/xyz_sim/scene_94.yaml create mode 100644 cfg/xyz_sim/scene_95.yaml create mode 100644 cfg/xyz_sim/scene_96.yaml create mode 100644 cfg/xyz_sim/scene_97.yaml create mode 100644 cfg/xyz_sim/scene_98.yaml create mode 100644 cfg/xyz_sim/scene_99.yaml diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml index 635c077..f935323 100644 --- a/cfg/active_grasp.yaml +++ b/cfg/active_grasp.yaml @@ -3,8 +3,7 @@ bt_sim: gripper_force: 100 # scene: random # scene: manual - scene: $(find active_grasp)/cfg/sim/scene_0.yaml - + scene: $(find active_grasp)/cfg/pkl_scene/scene_0 hw: roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt scene_file: $(find active_grasp)/cfg/hw/scene01.yaml diff --git a/cfg/pkl_scene/scene_0/fall_objects.pickle b/cfg/pkl_scene/scene_0/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_0/fall_objects.pickle @@ -0,0 +1 @@ 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zH~Gg!ox!dst+*w2;<5zr?kFmfZs!_OwwX*EJVrr)X~$KL zB@@dt3t0jv__qUiSr#bB!MoD~DLZW?TUu*x{6*!siUuYYCSnQ!_zhhIVfgCgIZnEG zQ;25?;KpiG0M};6TvTXq%jnZA10PP!rNGU7>)6JvAM4I51mJi4b`iqt`RTqm>7sNg zE&*O$@lil$@xdbp0ki) self.max_views or self.best_grasp_prediction_is_stable(): self.done = True else: @@ -100,7 +101,7 @@ class NextBestView(MultiViewPolicy): self.vis.ig_views(self.base_frame, self.intrinsic, views, utilities) i = np.argmax(utilities) nbv, gain = views[i], gains[i] - + import ipdb; ipdb.set_trace() if gain < self.min_gain and len(self.views) > self.T: self.done = True @@ -174,6 +175,7 @@ class NextBestView(MultiViewPolicy): bbox_min = self.T_task_base.apply(self.bbox.min) / voxel_size bbox_max = self.T_task_base.apply(self.bbox.max) / voxel_size mask = np.array([((i > bbox_min) & (i < bbox_max)).all() for i in indices]) + #import ipdb; ipdb.set_trace() i, j, k = indices[mask].T tsdfs = tsdf_grid[i, j, k] ig = np.logical_and(tsdfs > -1.0, tsdfs < 0.0).sum() diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py index 12fe643..3347bb1 100644 --- a/src/active_grasp/simulation.py +++ b/src/active_grasp/simulation.py @@ -2,6 +2,8 @@ from pathlib import Path import pybullet as p import pybullet_data import rospkg +import pickle +import os from active_grasp.bbox import AABBox from robot_helpers.bullet import * @@ -29,6 +31,7 @@ class Simulation: self.load_robot() self.load_vgn(Path(vgn_path)) self.scene = get_scene(scene_id) + self.target_uid = None def configure_physics_engine(self, gui, rate, sub_step_count): self.rate = rate @@ -48,6 +51,16 @@ class Simulation: def load_robot(self): panda_urdf_path = urdfs_dir / "franka/panda_arm_hand.urdf" self.arm = BtPandaArm(panda_urdf_path) + print(f"Robot base uid: {self.arm.uid}") + + # 打印机械臂的所有部件信息 + num_joints = p.getNumJoints(self.arm.uid) + print(f"Number of joints: {num_joints}") + for i in range(num_joints): + joint_info = p.getJointInfo(self.arm.uid, i) + link_name = joint_info[12].decode('utf-8') + print(f"Joint {i}: {link_name}") + self.gripper = BtPandaGripper(self.arm) self.model = KDLModel.from_urdf_file( panda_urdf_path, self.arm.base_frame, self.arm.ee_frame @@ -63,7 +76,7 @@ class Simulation: sleep_ticks = self.rate * secs for i in range(int(sleep_ticks)): p.stepSimulation() - + self.target_uid = None # Reset the scene valid = False while not valid: @@ -72,13 +85,17 @@ class Simulation: q = self.scene.generate(self.rng) self.set_arm_configuration(q) uid = self.select_target() - support_id = self.select_support() + if uid == -1: + continue + support_id = self.select_support() bbox = self.get_target_bbox(uid) + #import ipdb; ipdb.set_trace() valid = True # valid = self.check_for_grasps(bbox) return bbox def set_arm_configuration(self, q): + #import ipdb; ipdb.set_trace() for i, q_i in enumerate(q): p.resetJointState(self.arm.uid, i, q_i, 0) p.resetJointState(self.arm.uid, 9, 0.04, 0) @@ -86,15 +103,25 @@ class Simulation: self.gripper.set_desired_width(0.4) def select_target(self): + if self.target_uid is not None: + p.changeVisualShape(self.target_uid, -1, rgbaColor=[1, 0, 0, 1]) + return self.target_uid _, _, mask = self.camera.get_image() uids, counts = np.unique(mask, return_counts=True) + mask = np.isin(uids, self.scene.object_uids) # remove ids of the floor, etc uids, counts = uids[mask], counts[mask] # If no objects are detected, try again - if(len(uids) == 0 and len(counts) == 0): - return self.select_target() - target_uid = uids[np.argmin(counts)] + container_idx = np.where(np.isin(uids, self.scene.container_uid))[0] + object_uids = np.delete(uids, container_idx) + object_counts = np.delete(counts, container_idx) + target_uid = object_uids[np.argmin(object_counts)] + if(len(object_uids) == 0 and len(object_counts) == 0): + return -1 + + print("select target uid: "+str(target_uid)) p.changeVisualShape(target_uid, -1, rgbaColor=[1, 0, 0, 1]) + self.target_uid = target_uid return target_uid def select_support(self): @@ -104,6 +131,7 @@ class Simulation: def get_target_bbox(self, uid): aabb_min, aabb_max = p.getAABB(uid) # enlarge the bounding box + #import ipdb; ipdb.set_trace() aabb_min = np.asarray(aabb_min) aabb_max = np.asarray(aabb_max) aabb_min -= 0.0 @@ -150,6 +178,16 @@ class Scene: self.support_urdf = urdfs_dir / "plane/model.urdf" self.support_uid = -1 self.object_uids = [] + self.container_uid = -1 + self.container_list = [ + "chair", + "table", + "sofa", + "picnic_basket", + "cabinet", + "flower_pot", + "blender_cabinet" + ] def clear(self): self.remove_support() @@ -167,6 +205,9 @@ class Scene: def add_object(self, urdf, ori, pos, scale=1.0): uid = p.loadURDF(str(urdf), pos, ori.as_quat(), globalScaling=scale) + print('add object uid: '+str(uid)) + import ipdb; ipdb.set_trace() + self.object_uids.append(uid) return uid @@ -175,13 +216,18 @@ class Scene: self.object_uids.remove(uid) def remove_all_objects(self): + print(f"Objects to remove: {self.object_uids}") for uid in list(self.object_uids): + # 获取物体信息 + body_info = p.getBodyInfo(uid) + print(f'Removing object uid: {uid}, Name: {body_info[1].decode("utf-8")}') self.remove_object(uid) class YamlScene(Scene): def __init__(self, config_name): super().__init__() + #import ipdb; ipdb.set_trace() self.config_path = pkg_root / "cfg/sim" / config_name def load_config(self): @@ -208,93 +254,111 @@ class YamlScene(Scene): p.stepSimulation() return self.scene["q"] - -class RandomScene(Scene): - def __init__(self): +class PickleScene(Scene): + def __init__(self, config_name): super().__init__() - self.center = np.r_[0.5, 0.0, 0.2] - self.length = 0.3 - self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0] - self.object_urdfs = find_urdfs(urdfs_dir / "test") - - def generate(self, rng, object_count=4, attempts=10): - self.add_support(self.center) - urdfs = rng.choice(self.object_urdfs, object_count) - for urdf in urdfs: - scale = rng.uniform(0.8, 1.0) - uid = self.add_object(urdf, Rotation.identity(), np.zeros(3), scale) - lower, upper = p.getAABB(uid) - z_offset = 0.5 * (upper[2] - lower[2]) + 0.002 - state_id = p.saveState() - for _ in range(attempts): - # Try to place and check for collisions - ori = Rotation.from_euler("z", rng.uniform(0, 2 * np.pi)) - pos = np.r_[rng.uniform(0.2, 0.8, 2) * self.length, z_offset] - p.resetBasePositionAndOrientation(uid, self.origin + pos, ori.as_quat()) - p.stepSimulation() - if not p.getContactPoints(uid): - break - else: - p.restoreState(stateId=state_id) - else: - # No placement found, remove the object - self.remove_object(uid) - q = [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79] - q += rng.uniform(-0.08, 0.08, 7) - return q - - -class ManualScene(Scene): - def __init__(self): - super().__init__() - self.config_path = pkg_root / "cfg/sim" - self.scene_index = 0 - # Visit the directory and read all the yaml files - self.scenes = [] - for file in self.config_path.iterdir(): - if file.suffix == ".yaml": - self.scenes.append(file) - self.num_scenes = len(self.scenes) - - def load_config(self): - self.scene = load_yaml(self.scenes[self.scene_index]) - self.center = np.asarray(self.scene["center"]) + self.config_path = pkg_root / "cfg/sim" / config_name + self.center = np.r_[0.5, 0.0, 0.0] self.length = 0.3 self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0] + def load_scene(self, scene_dir, model_dir, rot_z=0): + scene_path = os.path.join(scene_dir, "scene.pickle") + self.scene = pickle.load(open(scene_path, "rb")) + self.fall_objects_dict = self.get_fall_objects_dict(scene_dir) + self._initialize_pybullet_scene(model_dir, rot_z) + + def _initialize_pybullet_scene(self, model_dir, rot_z=0): + p.setAdditionalSearchPath(pybullet_data.getDataPath()) + # 修改平面加载,添加碰撞属性 + planeId = p.loadURDF("plane100.urdf", useMaximalCoordinates=True, flags=p.URDF_USE_IMPLICIT_CYLINDER) + p.changeDynamics(planeId, -1, + lateralFriction=1.0, + restitution=0.5, + contactStiffness=1000000, + contactDamping=100 + ) + + # 创建旋转矩阵 + rot_matrix = Rotation.from_euler("z", rot_z, degrees=True) + + for obj_name in self.scene.keys(): + if obj_name in self.fall_objects_dict: + continue + # 处理旋转 + origin_orientation = self.scene[obj_name]["rotation"] # quaternion + origin_orientation = Rotation.from_quat(origin_orientation) + orientation = rot_matrix * origin_orientation + orientation = orientation.as_quat() + + # 处理位置 + original_position = self.scene[obj_name]["position"] + # 将位置向量绕z轴旋转相同的角度 + rotated_position = rot_matrix.apply(original_position) + position = rotated_position + self.center + + class_name = obj_name[:-4] + #obj_path = os.path.join(model_dir, class_name, obj_name, "model.obj") + + urdf_path = os.path.join(model_dir, class_name, obj_name, "model.urdf") + #import ipdb; ipdb.set_trace() + uid = p.loadURDF(urdf_path, position, orientation, globalScaling=1.0) + # uid = self._load_obj_to_pybullet( + # obj_file_path=obj_path, + # position=position, + # orientation=orientation, + # scale=1.0, + # ) + + self.object_uids.append(uid) + for container in self.container_list: + if container in obj_name: + self.container_uid = uid + print('container id: '+str(self.container_uid)) + + def get_fall_objects_dict(self, scene_path): + fall_objects_path = os.path.join(scene_path, "fall_objects.pickle") + fall_objects_dict = pickle.load(open(fall_objects_path, "rb")) + return fall_objects_dict + + def _load_obj_to_pybullet(self, obj_file_path, position, orientation, scale): + visual_ind = p.createVisualShape( + shapeType=p.GEOM_MESH, + fileName=obj_file_path, + rgbaColor=[1, 1, 1, 1], + specularColor=[0.4, 0.4, 0], + visualFramePosition=[0, 0, 0], + meshScale=scale, + ) + collision_ind = p.createCollisionShape( + shapeType=p.GEOM_MESH, + fileName=obj_file_path, + meshScale=scale, + ) + uid = p.createMultiBody( + baseMass=0, + baseVisualShapeIndex=visual_ind, + baseCollisionShapeIndex=collision_ind, + basePosition=position, + baseOrientation=orientation, + useMaximalCoordinates=True, + ) + return uid + def generate(self, rng): - self.load_config() - self.add_support(self.center) - - for object in self.scene["objects"]: - urdf = urdfs_dir / object["object_id"] / "model.urdf" - ori = Rotation.from_euler("xyz", object["rpy"], degrees=True) - pos = self.center + np.asarray(object["xyz"]) - scale = object.get("scale", 1) - if randomize := object.get("randomize", False): - angle = rng.uniform(-randomize["rot"], randomize["rot"]) - ori = Rotation.from_euler("z", angle, degrees=True) * ori - b = np.asarray(randomize["pos"]) - pos += rng.uniform(-b, b) - self.add_object(urdf, ori, pos, scale) - for _ in range(60): - p.stepSimulation() - - self.scene_index += 1 - if(self.scene_index >= self.num_scenes): - self.scene_index = 0 - - return self.scene["q"] - + model_dir = "/media/hofee/data/data/nbv/nbv_objects_urdf" + self.load_scene(self.config_path, model_dir, rot_z=90) + self.add_support(self.center - np.array([0.0, 0.0, 0.05])) + # for _ in range(60): + # p.stepSimulation() + + q = np.asarray([0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]) + q += np.asarray(rng.uniform(-0.08, 0.08, 7)) + return q.tolist() def get_scene(scene_id): if scene_id.endswith(".yaml"): return YamlScene(scene_id) - elif scene_id == "random": - return RandomScene() - elif scene_id == "manual": - return ManualScene() - else: - raise ValueError("Unknown scene {}.".format(scene_id)) + return PickleScene(scene_id)