update

.gitignore

@@ -5,6 +5,7 @@ __pycache__/
 
 # C extensions
 *.so
+*.txt
 
 # Distribution / packaging
 .Python

README.md

@@ -1,8 +1,15 @@
 # Roadmap
-* GS-Net filter aligned with VGN
+* Majority Vote
+* Initial Poses for Manual Scenes
 
 # Updated installation steps fo my PC environment
+## Prerequisites
+* `Ubuntu 20.04`
+* `CUDA 12.1`
+* `ROS Noetic`. Recommended installation method: [小鱼一键安装](https://fishros.org.cn/forum/topic/20/%E5%B0%8F%E9%B1%BC%E7%9A%84%E4%B8%80%E9%94%AE%E5%AE%89%E8%A3%85%E7%B3%BB%E5%88%97/1?lang=en-US)
+* `GS-Net`: My [GS-net repo](https://github.com/0nhc/GS-Net). Run: `python flask_server.py`
 
+## Installation
 ```sh
 # Install Active Grasp
 sudo apt install liborocos-kdl-dev
@@ -24,23 +31,45 @@ rosdep install --from-paths src --ignore-src -r -y
 catkin build
 
 # Install Active Perception
-cd <path-to-your-ws>/src/active_grasp/src/active_grasp/active_perception/modules/module_lib/pointnet2_utils/pointnet2
+cd ws/src/active_grasp/src/active_grasp/active_perception/modules/module_lib/pointnet2_utils/pointnet2
 pip install -e .
 ```
 
-# Updated Features
+## Quick Start
-* Added our baseline: src/active_grasp/active_perception_policy.py
+```sh
-* Added RGB and Segmentation image publishers. The segmentation ID 1 corresponds to the grasping target object.
+# Terminal 1
-
+conda activate active_grasp
-
+cd ws
-
+source devel/setup.bash
-
+roslaunch active_grasp env.launch sim:=true
-
+
-
+# Terminal 2
-
+conda activate active_grasp
-
+cd ws
+source devel/setup.bash
+cd src/active_grasp
+python3 scripts/run.py ap-single-view
+```
 
 
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
+</br>
 
 # Closed-Loop Next-Best-View Planning for Target-Driven Grasping
 

cfg/active_grasp.rviz

@@ -6,6 +6,7 @@ Panels:
       Expanded:
         - /TF1/Frames1
         - /Markers1/Namespaces1
+        - /PointCloud21
         - /Marker1
       Splitter Ratio: 0.6852940917015076
     Tree Height: 226
@@ -256,6 +257,7 @@ Visualization Manager:
       Name: Markers
       Namespaces:
         bbox: true
+        grasp: true
         path: true
         views: true
       Queue Size: 100
@@ -272,7 +274,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -287,7 +289,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
+      Value: false
     - Alpha: 0.20000000298023224
       Autocompute Intensity Bounds: false
       Autocompute Value Bounds:
@@ -369,7 +371,7 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz/PointCloud2
-      Color: 239; 41; 41
+      Color: 114; 159; 207
       Color Transformer: FlatColor
       Decay Time: 0
       Enabled: true
@@ -424,7 +426,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.094533920288086
+      Distance: 1.2382971048355103
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -432,17 +434,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.32280832529067993
+        X: 0.27311334013938904
-        Y: 0.16504701972007751
+        Y: -0.15430450439453125
-        Z: 0.43913549184799194
+        Z: 0.29310858249664307
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2053970992565155
+      Pitch: 0.4653984010219574
       Target Frame: <Fixed Frame>
-      Yaw: 0.8653952479362488
+      Yaw: 1.5403975248336792
     Saved:
       - Class: rviz/Orbit
         Distance: 1.2000000476837158
@@ -482,5 +484,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1095
-  X: 1260
+  X: 1273
-  Y: 27
+  Y: 53

cfg/active_grasp.yaml

@@ -1,10 +1,9 @@
 bt_sim:
   gui: True
-  gripper_force: 10
+  gripper_force: 100
   # scene: random
   # scene: manual
-  scene: $(find active_grasp)/cfg/sim/challenging_scene_3.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
@@ -43,3 +42,9 @@ ap_grasp:
   max_views: 80
   ap_config_path: $(find active_grasp)/src/active_grasp/active_perception/configs/local_inference_config.yaml
   max_inference_num: 50
+  crop_min_radius: 0.2
+  crop_radius_step: 0.05
+  crop_max_radius: 0.5
+  num_knn_neighbours: 5
+  gsnet_grasp_offset: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, -0.01], [0, 0, 0, 1]] 
+

cfg/old_sim/challenging_scene_1.yaml

@@ -0,0 +1,12 @@
+center: [0.45, 0.0, 0.0]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+
+- object_id: active_perception/omni_objects/blender_cabinet/blender_cabinet_003
+  xyz: [0.2, 0.0, 0.0]
+  rpy: [0, 0, 110]
+  scale: 1.0
+- object_id: active_perception/omni_objects/bowl/bowl_001
+  xyz: [0.1, -0.15, 0.2]
+  rpy: [0, 0, 0]
+  scale: 1.0

cfg/old_sim/challenging_scene_3.yaml

@@ -3,7 +3,7 @@ q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
 objects:
 - object_id: ycb/006_mustard_bottle
   xyz: [-0.1, 0.13, 0.1]
-  rpy: [0, 0, 90]
+  rpy: [0, 0, 100]
   scale: 0.8
 - object_id: active_perception/box2
   xyz: [0.05, 0.15, 0.3]

cfg/old_sim/challenging_scene_4.yaml

@@ -0,0 +1,11 @@
+center: [0.5, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [-0.05, 0.0, 0.1]
+  rpy: [0, 0, 0]
+  scale: 0.5
+- object_id: active_perception/shelf1
+  xyz: [-0.05, 0.0, 0.0]
+  rpy: [0, 0, 45]
+  scale: 0.5

cfg/old_sim/challenging_scene_5.yaml

@@ -0,0 +1,11 @@
+center: [0.5, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [-0.1, 0.0, 0.1]
+  rpy: [0, 0, 0]
+  scale: 0.5
+- object_id: active_perception/cabinet1
+  xyz: [-0.1, 0.0, 0.0]
+  rpy: [0, 0, 45]
+  scale: 0.5

cfg/old_sim/challenging_scene_6.yaml

@@ -2,10 +2,10 @@ center: [0.5, 0.0, 0.25]
 q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
 objects:
 - object_id: ycb/006_mustard_bottle
-  xyz: [0.0, 0.0, 0.03]
+  xyz: [0.0, 0.05, 0.05]
-  rpy: [0, 0, 0]
+  rpy: [0, 0, -45]
-  scale: 0.8
+  scale: 0.5
-- object_id: active_perception/box
+- object_id: active_perception/cabinet2
   xyz: [0.0, 0.0, 0.0]
-  rpy: [0, 0, 0]
+  rpy: [0, 0, 135]
-  scale: 0.8
+  scale: 0.25

cfg/old_sim/custom_scene_1.yaml

@@ -0,0 +1,12 @@
+center: [0.45, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [0.0, +0.1, 0.1]
+  rpy: [0, 0, 0]
+  scale: 0.8
+- object_id: active_perception/blender_cabinet
+  xyz: [-0.1, -0.2, 0.02]
+  rpy: [0, 0, 0]
+  scale: 1.0
+

cfg/old_sim/scene_0.yaml

@@ -0,0 +1,44 @@
+
+center: [0.8, 0.0, 0.0]
+q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+
+- object_id: active_perception/omni_objects/chair/chair_028
+  xyz: [-0.0068908389657735825, 0.005315959919244051, 0.22069703042507172]
+  rpy: [1.7886940604406145, 1.01981032172009, 89.94713459186843]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/banana/banana_039
+  xyz: [0.7659764885902405, 0.13244639337062836, -0.04103884473443031]
+  rpy: [-159.92582804293914, -85.42660168404156, -103.58175651841792]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/biscuit/biscuit_114
+  xyz: [0.008980791084468365, 0.07558994740247726, 0.2308768779039383]
+  rpy: [11.011894411740208, 11.353458522097622, 152.3866433619816]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/biscuit/biscuit_115
+  xyz: [0.04214617237448692, 0.10601552575826645, 0.23250775039196014]
+  rpy: [83.20043939487029, -10.314548853298982, -177.60985707120096]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/biscuit/biscuit_120
+  xyz: [0.11285210400819778, -0.07488349825143814, 0.22921115159988403]
+  rpy: [-89.49948184622092, 4.498975090794982, -9.099756342937475]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/shrimp/shrimp_041
+  xyz: [0.15021200478076935, 0.09884239733219147, 0.23815606534481049]
+  rpy: [8.284258796440458, 79.99516936338651, 110.00644636249444]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/tomato/tomato_030
+  xyz: [-0.04284593090415001, 0.041140712797641754, 0.256274938583374]
+  rpy: [-9.592290990627584, -68.86805058250192, -125.56497138835732]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/apple/apple_060
+  xyz: [-0.008709152229130268, -0.022433513775467873, 0.23665982484817505]
+  rpy: [-53.995144869912664, -29.051497741486138, 168.64676150555815]
+  scale: 1.0

cfg/pkl_scene/scene_0/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_11/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_12/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_13/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_16/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_27/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_28/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_30/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_31/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_4/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_43/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_45/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_47/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_49/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_5/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_50/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_51/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_53/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_6/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_61/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_62/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_63/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_65/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.

cfg/pkl_scene/scene_67/fall_objects.pickle

@@ -0,0 +1 @@
+<EFBFBD>]<5D>.