From bae70e1de0f23e3901d6866cb5cc61d6a1863213 Mon Sep 17 00:00:00 2001 From: 0nhc Date: Sat, 2 Nov 2024 23:53:16 -0500 Subject: [PATCH] removed plane in scene_points --- cfg/active_grasp.rviz | 16 +- cfg/active_grasp.yaml | 2 +- cfg/sim/challenging_scene_4.yaml | 11 + cfg/sim/challenging_scene_5.yaml | 11 + cfg/sim/challenging_scene_6.yaml | 11 + gsnet_input_points.txt | 1149 + scene_points.txt | 41776 +++++++++++++++++ src/active_grasp/active_perception_policy.py | 30 +- target_points.txt | 365 + 9 files changed, 43358 insertions(+), 13 deletions(-) create mode 100644 cfg/sim/challenging_scene_4.yaml create mode 100644 cfg/sim/challenging_scene_5.yaml create mode 100644 cfg/sim/challenging_scene_6.yaml create mode 100644 gsnet_input_points.txt create mode 100644 scene_points.txt create mode 100644 target_points.txt diff --git a/cfg/active_grasp.rviz b/cfg/active_grasp.rviz index 12afbaa..e640c35 100644 --- a/cfg/active_grasp.rviz +++ b/cfg/active_grasp.rviz @@ -424,7 +424,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.094533920288086 + Distance: 2.0648767948150635 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -432,17 +432,17 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.32280832529067993 - Y: 0.16504701972007751 - Z: 0.43913549184799194 + X: -0.054327137768268585 + Y: -0.14501728117465973 + Z: 0.2944410443305969 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: 0.3053985834121704 Target Frame: - Yaw: 0.8653952479362488 + Yaw: 0.7053982615470886 Saved: - Class: rviz/Orbit Distance: 1.2000000476837158 @@ -482,5 +482,5 @@ Window Geometry: Views: collapsed: true Width: 1095 - X: 1260 - Y: 27 + X: 1273 + Y: 127 diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml index 97f915a..7781978 100644 --- a/cfg/active_grasp.yaml +++ b/cfg/active_grasp.yaml @@ -3,7 +3,7 @@ bt_sim: gripper_force: 10 # scene: random # scene: manual - scene: $(find active_grasp)/cfg/sim/challenging_scene_3.yaml + scene: $(find active_grasp)/cfg/sim/challenging_scene_6.yaml hw: roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt diff --git a/cfg/sim/challenging_scene_4.yaml b/cfg/sim/challenging_scene_4.yaml new file mode 100644 index 0000000..bdc0f41 --- /dev/null +++ b/cfg/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 diff --git a/cfg/sim/challenging_scene_5.yaml b/cfg/sim/challenging_scene_5.yaml new file mode 100644 index 0000000..eef5550 --- /dev/null +++ b/cfg/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 diff --git a/cfg/sim/challenging_scene_6.yaml b/cfg/sim/challenging_scene_6.yaml new file mode 100644 index 0000000..6ac2c09 --- /dev/null +++ b/cfg/sim/challenging_scene_6.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: [0.0, 0.05, 0.05] + rpy: [0, 0, -45] + scale: 0.5 +- object_id: active_perception/cabinet2 + xyz: [0.1, 0.0, 0.0] + rpy: [0, 0, 45] + scale: 0.25 diff --git a/gsnet_input_points.txt b/gsnet_input_points.txt new file mode 100644 index 0000000..cd7fb7b --- /dev/null +++ b/gsnet_input_points.txt @@ -0,0 +1,1149 @@ +1.283305790275335312e-02,-2.138843014836311340e-02,4.930000305175781250e-01 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+2.905008494853973389e-01,2.230296880006790161e-01,4.320000112056732178e-01 +2.923750579357147217e-01,2.230296880006790161e-01,4.320000112056732178e-01 +2.942492663860321045e-01,2.230296880006790161e-01,4.320000112056732178e-01 +2.961234450340270996e-01,2.230296880006790161e-01,4.320000112056732178e-01 +2.979976534843444824e-01,2.230296880006790161e-01,4.320000112056732178e-01 diff --git a/src/active_grasp/active_perception_policy.py b/src/active_grasp/active_perception_policy.py index eb1dc29..f62f531 100644 --- a/src/active_grasp/active_perception_policy.py +++ b/src/active_grasp/active_perception_policy.py @@ -217,13 +217,27 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): # Visualize Initial Camera Pose self.vis_cam_pose(x) + self.publish_pointcloud([[0,0,0]]) # When policy hasn't produced an available grasp while(self.updated == False): + # Clear visualization points + 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) ap_input = {'target_pts': self.target_points, 'scene_pts': self.scene_points} + # save point cloud + 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=",") + ap_output = self.ap_inference_engine.inference(ap_input) delta_rot_6d = ap_output['estimated_delta_rot_6d'] @@ -268,7 +282,12 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): radius=target_points_radius) # gsnet_input_points = target_points_list # gsnet_input_points = merged_points_list + self.publish_pointcloud([[0,0,0]]) self.publish_pointcloud(gsnet_input_points) + + # save point cloud as .txt + np.savetxt("gsnet_input_points.txt", gsnet_input_points, delimiter=",") + received_points = False while(received_points == False): gsnet_grasping_poses = np.asarray(self.request_grasping_pose(gsnet_input_points)) @@ -320,6 +339,7 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): self.best_grasp = None self.vis.clear_grasp() self.done = True + self.publish_pointcloud([[0,0,0]]) def publish_grasps(self, gg): marker_array = MarkerArray() @@ -456,12 +476,14 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): x = x_mat[i][j] y = y_mat[i][j] z = z_mat[i][j] - if(int(seg_id) == int(target_id)): - # This pixel belongs to the target object to be grasped - target_points.append([x,y,z]) - else: + + # no background and no plane + if(int(seg_id) != int(255) and int(seg_id) != int(1)): # 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]) target_points = np.asarray(target_points) target_points = target_points.reshape(1, target_points.shape[0], 3) diff --git 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