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--1.971813477575778961e-02,3.067265450954437256e-02,5.049999952316284180e-01 +1.475931797176599503e-02,2.741016261279582977e-02,4.860000312328338623e-01 +1.683308370411396027e-02,2.735376171767711639e-02,4.850000143051147461e-01 +1.893722079694271088e-02,2.735376171767711639e-02,4.850000143051147461e-01 +2.099797129631042480e-02,2.729736268520355225e-02,4.840000271797180176e-01 +2.305004559457302094e-02,2.724096365272998810e-02,4.830000102519989014e-01 +2.514550462365150452e-02,2.724096365272998810e-02,4.830000102519989014e-01 +2.718456462025642395e-02,2.718456462025642395e-02,4.820000231266021729e-01 +2.927568368613719940e-02,2.718456462025642395e-02,4.820000231266021729e-01 +3.136680647730827332e-02,2.718456462025642395e-02,4.820000231266021729e-01 +-3.560978174209594727e-02,3.115855902433395386e-02,5.130000114440917969e-01 +-3.331909701228141785e-02,3.109782189130783081e-02,5.120000243186950684e-01 +-3.103708475828170776e-02,3.103708475828170776e-02,5.110000371932983398e-01 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-0.000000000000000000e+00,2.994380146265029907e-02,4.930000305175781250e-01 -2.134504495188593864e-03,2.988306246697902679e-02,4.920000135898590088e-01 -4.260332323610782623e-03,2.982232533395290375e-02,4.910000264644622803e-01 +-1.082436740398406982e-02,3.030822798609733582e-02,4.990000128746032715e-01 +-8.642140775918960571e-03,3.024749085307121277e-02,4.980000257492065430e-01 +-6.468589883297681808e-03,3.018675185739994049e-02,4.970000088214874268e-01 +-4.303716588765382767e-03,3.012601472437381744e-02,4.960000216960906982e-01 +-2.147519960999488831e-03,3.006527759134769440e-02,4.950000345706939697e-01 +0.000000000000000000e+00,3.000453859567642212e-02,4.940000176429748535e-01 +2.138843061402440071e-03,2.994380146265029907e-02,4.930000305175781250e-01 +4.269008990377187729e-03,2.988306246697902679e-02,4.920000135898590088e-01 6.390498485416173935e-03,2.982232533395290375e-02,4.910000264644622803e-01 8.520664647221565247e-03,2.982232533395290375e-02,4.910000264644622803e-01 --3.351432457566261292e-02,3.351432457566261292e-02,5.150000452995300293e-01 --3.115855902433395386e-02,3.338417038321495056e-02,5.130000114440917969e-01 --2.882015146315097809e-02,3.325401991605758667e-02,5.110000371932983398e-01 --2.649909257888793945e-02,3.312386572360992432e-02,5.090000033378601074e-01 --2.424311265349388123e-02,3.305878862738609314e-02,5.080000162124633789e-01 --2.195242606103420258e-02,3.292863816022872925e-02,5.060000419616699219e-01 --1.971813477575778961e-02,3.286356106400489807e-02,5.049999952316284180e-01 +1.062913797795772552e-02,2.976158633828163147e-02,4.900000095367431641e-01 +1.272893603891134262e-02,2.970084920525550842e-02,4.890000224113464355e-01 +1.485042460262775421e-02,2.970084920525550842e-02,4.890000224113464355e-01 +1.693720743060112000e-02,2.964011207222938538e-02,4.880000352859497070e-01 +1.905435882508754730e-02,2.964011207222938538e-02,4.880000352859497070e-01 +-3.325401991605758667e-02,3.325401991605758667e-02,5.110000371932983398e-01 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+-8.659494109451770782e-03,3.247310221195220947e-02,4.990000128746032715e-01 +-6.481605116277933121e-03,3.240802511572837830e-02,4.980000257492065430e-01 -4.312393255531787872e-03,3.234294801950454712e-02,4.970000088214874268e-01 --2.151858294382691383e-03,3.227787464857101440e-02,4.960000216960906982e-01 +-2.156196627765893936e-03,3.234294801950454712e-02,4.970000088214874268e-01 0.000000000000000000e+00,3.227787464857101440e-02,4.960000216960906982e-01 -2.151858294382691383e-03,3.227787464857101440e-02,4.960000216960906982e-01 --3.109782189130783081e-02,3.554036840796470642e-02,5.120000243186950684e-01 --2.882015146315097809e-02,3.547095507383346558e-02,5.110000371932983398e-01 --2.649909257888793945e-02,3.533212468028068542e-02,5.090000033378601074e-01 --2.424311265349388123e-02,3.526270762085914612e-02,5.080000162124633789e-01 +2.147519960999488831e-03,3.221279755234718323e-02,4.950000345706939697e-01 +4.295039921998977661e-03,3.221279755234718323e-02,4.950000345706939697e-01 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+-1.088944450020790100e-02,3.484622016549110413e-02,5.020000338554382324e-01 -8.694201707839965820e-03,3.477680683135986328e-02,5.010000467300415039e-01 -6.520651280879974365e-03,3.477680683135986328e-02,5.010000467300415039e-01 -4.347100853919982910e-03,3.477680683135986328e-02,5.010000467300415039e-01 --3.109782189130783081e-02,3.776164352893829346e-02,5.120000243186950684e-01 --2.882015146315097809e-02,3.768789023160934448e-02,5.110000371932983398e-01 +-2.876375243067741394e-02,3.761413693428039551e-02,5.100000500679016113e-01 -2.655115537345409393e-02,3.761413693428039551e-02,5.100000500679016113e-01 -2.429083362221717834e-02,3.754037991166114807e-02,5.090000033378601074e-01 -2.203919366002082825e-02,3.746662661433219910e-02,5.080000162124633789e-01 -1.979622803628444672e-02,3.739287704229354858e-02,5.070000290870666504e-01 --1.756194047629833221e-02,3.731912374496459961e-02,5.060000419616699219e-01 --1.533632725477218628e-02,3.724536672234535217e-02,5.049999952316284180e-01 --1.314542349427938461e-02,3.724536672234535217e-02,5.049999952316284180e-01 --1.099790446460247040e-02,3.739287704229354858e-02,5.070000290870666504e-01 --2.665527723729610443e-02,3.998291492462158203e-02,5.120000243186950684e-01 --2.438628114759922028e-02,3.990482538938522339e-02,5.110000371932983398e-01 --2.212596312165260315e-02,3.982673212885856628e-02,5.100000500679016113e-01 --1.991336606442928314e-02,3.982673212885856628e-02,5.100000500679016113e-01 --1.780489087104797363e-02,4.006100445985794067e-02,5.130000114440917969e-01 +-1.759664714336395264e-02,3.739287704229354858e-02,5.070000290870666504e-01 +-1.539706625044345856e-02,3.739287704229354858e-02,5.070000290870666504e-01 diff --git a/scripts/bt_sim_node.py b/scripts/bt_sim_node.py index 56fe04c..033fab2 100755 --- a/scripts/bt_sim_node.py +++ b/scripts/bt_sim_node.py @@ -74,6 +74,7 @@ class BtSimNode: self.switch_controller, ) rospy.Service("get_target_seg_id", TargetID, self.get_target_seg_id) + rospy.Service("get_support_seg_id", TargetID, self.get_support_seg_id) def seed(self, req): self.sim.seed(req.seed) @@ -92,6 +93,11 @@ class BtSimNode: response = TargetIDResponse() response.id = self.sim.select_target() return response + + def get_support_seg_id(self, req): + response = TargetIDResponse() + response.id = self.sim.select_support() + return response def switch_controller(self, req): for controller in req.stop_controllers: diff --git a/src/active_grasp/active_perception_policy.py b/src/active_grasp/active_perception_policy.py index f62f531..4db4b1e 100644 --- a/src/active_grasp/active_perception_policy.py +++ b/src/active_grasp/active_perception_policy.py @@ -211,7 +211,7 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): return response.json() - def update(self, img, seg, target_id, x, q): + def update(self, img, seg, target_id, support_id, x, q): # Visualize scene cloud self.vis_scene_cloud(img, x) @@ -225,18 +225,20 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): self.publish_pointcloud([[0,0,0]]) # Inference with our model - self.target_points, self.scene_points = self.depth_image_to_ap_input(img, seg, target_id) + self.target_points, self.scene_points = self.depth_image_to_ap_input(img, seg, target_id, support_id, + scene_sample_num=16384, + target_sample_num=1024) ap_input = {'target_pts': self.target_points, 'scene_pts': self.scene_points} # save point cloud - target_points = self.target_points.cpu().numpy()[0,:,:] + # target_points = self.target_points.cpu().numpy()[0,:,:] scene_points = self.scene_points.cpu().numpy()[0,:,:] self.publish_pointcloud(scene_points) - time.sleep(10000000) - np.savetxt("target_points.txt", target_points, delimiter=",") - np.savetxt("scene_points.txt", scene_points, delimiter=",") + # time.sleep(10000000) + # np.savetxt("target_points.txt", target_points, delimiter=",") + # np.savetxt("scene_points.txt", scene_points, delimiter=",") ap_output = self.ap_inference_engine.inference(ap_input) delta_rot_6d = ap_output['estimated_delta_rot_6d'] @@ -271,7 +273,7 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): # Policy has produced an available nbv and moved to that camera pose if(self.updated == True): # Request grasping poses from GSNet - self.target_points, self.scene_points = self.depth_image_to_ap_input(img, seg, target_id) + self.target_points, self.scene_points = self.depth_image_to_ap_input(img, seg, target_id, support_id) target_points_list = np.asarray(self.target_points.cpu().numpy())[0].tolist() central_point_of_target = np.mean(target_points_list, axis=0) target_points_radius = np.max(np.linalg.norm(target_points_list - central_point_of_target, axis=1)) @@ -450,7 +452,8 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): dst_mat[:3, 3] = new_camera_position_w return dst_mat - def depth_image_to_ap_input(self, depth_img, seg_img, target_id): + def depth_image_to_ap_input(self, depth_img, seg_img, target_id, support_id, + scene_sample_num=-1, target_sample_num=-1): target_points = [] scene_points = [] @@ -478,18 +481,32 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): z = z_mat[i][j] # no background and no plane - if(int(seg_id) != int(255) and int(seg_id) != int(1)): + if(int(seg_id) != int(255) and int(seg_id) != int(support_id)): # This pixel belongs to the scene scene_points.append([x,y,z]) if(int(seg_id) == int(target_id)): # This pixel belongs to the target object to be grasped target_points.append([x,y,z]) + # Sample points target_points = np.asarray(target_points) + scene_points = np.asarray(scene_points) + if scene_sample_num > 0: + if scene_points.shape[0] < scene_sample_num: + scene_sample_num = scene_points.shape[0] + print("Scene points are less than the required sample number") + scene_points = scene_points[np.random.choice(scene_points.shape[0], scene_sample_num, replace=False)] + if target_sample_num > 0: + if target_points.shape[0] < target_sample_num: + target_sample_num = target_points.shape[0] + print("Target points are less than the required sample number") + target_points = target_points[np.random.choice(target_points.shape[0], target_sample_num, replace=False)] + + # reshape points target_points = target_points.reshape(1, target_points.shape[0], 3) # self.pcdvis.update_points(target_points) target_points = torch.from_numpy(target_points).float().to("cuda:0") - scene_points = np.asarray(scene_points) + scene_points = scene_points.reshape(1, scene_points.shape[0], 3) scene_points = torch.from_numpy(scene_points).float().to("cuda:0") diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py index 81e74b3..892cadd 100644 --- a/src/active_grasp/controller.py +++ b/src/active_grasp/controller.py @@ -45,6 +45,7 @@ class GraspController: "controller_manager/switch_controller", SwitchController ) self.get_target_id = rospy.ServiceProxy("get_target_seg_id", TargetID) + self.get_support_id = rospy.ServiceProxy("get_support_seg_id", TargetID) def init_robot_connection(self): self.arm = PandaArmClient() @@ -113,7 +114,8 @@ class GraspController: while not self.policy.done: depth_img, seg_image, pose, q = self.get_state() target_seg_id = self.get_target_id(TargetIDRequest()).id - self.policy.update(depth_img, seg_image, target_seg_id, pose, q) + support_seg_id = self.get_support_id(TargetIDRequest()).id + self.policy.update(depth_img, seg_image, target_seg_id, support_seg_id, pose, q) # Wait for the robot to move to its desired camera pose moving_to_The_target = True while(moving_to_The_target): @@ -134,7 +136,8 @@ class GraspController: while not self.policy.done: depth_img, seg_image, pose, q = self.get_state() target_seg_id = self.get_target_id(TargetIDRequest()).id - self.policy.update(depth_img, seg_image, target_seg_id, pose, q) + support_seg_id = self.get_support_id(TargetIDRequest()).id + self.policy.update(depth_img, seg_image, target_seg_id, support_seg_id, pose, q) r.sleep() else: print("Unsupported policy type: "+str(self.policy.policy_type)) diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py index d94a845..8aceca4 100644 --- a/src/active_grasp/simulation.py +++ b/src/active_grasp/simulation.py @@ -72,6 +72,7 @@ class Simulation: q = self.scene.generate(self.rng) self.set_arm_configuration(q) uid = self.select_target() + support_id = self.select_support() bbox = self.get_target_bbox(uid) valid = True # valid = self.check_for_grasps(bbox) @@ -95,6 +96,10 @@ class Simulation: target_uid = uids[np.argmin(counts)] p.changeVisualShape(target_uid, -1, rgbaColor=[1, 0, 0, 1]) return target_uid + + def select_support(self): + support_id = self.scene.support_uid + return support_id def get_target_bbox(self, uid): aabb_min, aabb_max = p.getAABB(uid) @@ -149,6 +154,7 @@ class Scene: def add_support(self, pos): self.support_uid = p.loadURDF(str(self.support_urdf), pos, globalScaling=0.3) + print('support id: '+str(self.support_uid)) def remove_support(self): p.removeBody(self.support_uid)