diff --git a/README.md b/README.md index 2c8831e59..e7a9a3109 100644 --- a/README.md +++ b/README.md @@ -249,6 +249,7 @@ Currently supported arms: - Mico arm with Mico gripper `(mico)` - Jaco arm with 3-finger Jaco gripper `(jaco)` - Sawyer arm with Baxter gripper `(sawyer)` +- UR5 arm with Robotiq 85 gripper `(ur5)` You can then swap out the arm using `robot_configuration`: diff --git a/requirements.txt b/requirements.txt index 39a8696c7..2848bc939 100644 --- a/requirements.txt +++ b/requirements.txt @@ -3,3 +3,4 @@ Pillow pyquaternion html-testRunner setuptools +natsort diff --git a/rlbench/__init__.py b/rlbench/__init__.py index 2b58e2465..e4a347881 100644 --- a/rlbench/__init__.py +++ b/rlbench/__init__.py @@ -1,12 +1,12 @@ -__version__ = '1.0.10' +__version__ = '1.1.0' import numpy as np import pyrep pr_v = np.array(pyrep.__version__.split('.'), dtype=int) -if pr_v.size < 4 or np.any(pr_v < np.array([4, 1, 0, 1])): +if pr_v.size < 4 or np.any(pr_v < np.array([4, 1, 0, 2])): raise ImportError( - 'PyRep version must be greater than 4.1.0.1. Please update PyRep.') + 'PyRep version must be greater than 4.1.0.2. Please update PyRep.') from rlbench.environment import Environment diff --git a/rlbench/action_modes.py b/rlbench/action_modes.py index b7b5d6d64..c4fabe8d4 100644 --- a/rlbench/action_modes.py +++ b/rlbench/action_modes.py @@ -31,18 +31,22 @@ class ArmActionMode(Enum): # But does path planning between these points ABS_EE_POSE_PLAN_WORLD_FRAME = 8 + # Absolute end-effector pose (position (3) and quaternion (4)) + # But does path planning between these points (with collision checking) + ABS_EE_POSE_PLAN_WORLD_FRAME_WITH_COLLISION_CHECK = 9 + # Change in end-effector pose (position (3) and quaternion (4)) # But does path planning between these points - DELTA_EE_POSE_PLAN_WORLD_FRAME = 9 + DELTA_EE_POSE_PLAN_WORLD_FRAME = 10 # Change in end-effector pose (position (3) and quaternion (4)) # In the end-effector frame - EE_POSE_EE_FRAME = 10 + EE_POSE_EE_FRAME = 11 # Change in end-effector pose (position (3) and quaternion (4)) # But does path planning between these points. # In the end-effector frame - EE_POSE_PLAN_EE_FRAME = 11 + EE_POSE_PLAN_EE_FRAME = 12 # NOTE: There is no ABS/DELTA mode for the EE_FRAME because ABS == DELTA diff --git a/rlbench/backend/const.py b/rlbench/backend/const.py index c9c5628a7..161f47dfa 100644 --- a/rlbench/backend/const.py +++ b/rlbench/backend/const.py @@ -6,6 +6,9 @@ RIGHT_SHOULDER_RGB_FOLDER = 'right_shoulder_rgb' RIGHT_SHOULDER_DEPTH_FOLDER = 'right_shoulder_depth' RIGHT_SHOULDER_MASK_FOLDER = 'right_shoulder_mask' +OVERHEAD_RGB_FOLDER = 'overhead_rgb' +OVERHEAD_DEPTH_FOLDER = 'overhead_depth' +OVERHEAD_MASK_FOLDER = 'overhead_mask' WRIST_RGB_FOLDER = 'wrist_rgb' WRIST_DEPTH_FOLDER = 'wrist_depth' WRIST_MASK_FOLDER = 'wrist_mask' diff --git a/rlbench/backend/observation.py b/rlbench/backend/observation.py index 716bf5d3d..896d4e88e 100644 --- a/rlbench/backend/observation.py +++ b/rlbench/backend/observation.py @@ -8,15 +8,23 @@ def __init__(self, left_shoulder_rgb: np.ndarray, left_shoulder_depth: np.ndarray, left_shoulder_mask: np.ndarray, + left_shoulder_point_cloud: np.ndarray, right_shoulder_rgb: np.ndarray, right_shoulder_depth: np.ndarray, right_shoulder_mask: np.ndarray, + right_shoulder_point_cloud: np.ndarray, + overhead_rgb: np.ndarray, + overhead_depth: np.ndarray, + overhead_mask: np.ndarray, + overhead_point_cloud: np.ndarray, wrist_rgb: np.ndarray, wrist_depth: np.ndarray, wrist_mask: np.ndarray, + wrist_point_cloud: np.ndarray, front_rgb: np.ndarray, front_depth: np.ndarray, front_mask: np.ndarray, + front_point_cloud: np.ndarray, joint_velocities: np.ndarray, joint_positions: np.ndarray, joint_forces: np.ndarray, @@ -25,20 +33,28 @@ def __init__(self, gripper_matrix: np.ndarray, gripper_joint_positions: np.ndarray, gripper_touch_forces: np.ndarray, - wrist_camera_matrix: np.ndarray, - task_low_dim_state: np.ndarray): + task_low_dim_state: np.ndarray, + misc: dict): self.left_shoulder_rgb = left_shoulder_rgb self.left_shoulder_depth = left_shoulder_depth self.left_shoulder_mask = left_shoulder_mask + self.left_shoulder_point_cloud = left_shoulder_point_cloud self.right_shoulder_rgb = right_shoulder_rgb self.right_shoulder_depth = right_shoulder_depth self.right_shoulder_mask = right_shoulder_mask + self.right_shoulder_point_cloud = right_shoulder_point_cloud + self.overhead_rgb = overhead_rgb + self.overhead_depth = overhead_depth + self.overhead_mask = overhead_mask + self.overhead_point_cloud = overhead_point_cloud self.wrist_rgb = wrist_rgb self.wrist_depth = wrist_depth self.wrist_mask = wrist_mask + self.wrist_point_cloud = wrist_point_cloud self.front_rgb = front_rgb self.front_depth = front_depth self.front_mask = front_mask + self.front_point_cloud = front_point_cloud self.joint_velocities = joint_velocities self.joint_positions = joint_positions self.joint_forces = joint_forces @@ -47,8 +63,8 @@ def __init__(self, self.gripper_matrix = gripper_matrix self.gripper_joint_positions = gripper_joint_positions self.gripper_touch_forces = gripper_touch_forces - self.wrist_camera_matrix = wrist_camera_matrix self.task_low_dim_state = task_low_dim_state + self.misc = misc def get_low_dim_data(self) -> np.ndarray: """Gets a 1D array of all the low-dimensional obseervations. diff --git a/rlbench/backend/scene.py b/rlbench/backend/scene.py index 4ea944b4d..3597a41ee 100644 --- a/rlbench/backend/scene.py +++ b/rlbench/backend/scene.py @@ -1,20 +1,23 @@ from typing import List, Callable + +import numpy as np from pyrep import PyRep +from pyrep.const import ObjectType from pyrep.errors import ConfigurationPathError +from pyrep.objects import Dummy from pyrep.objects.shape import Shape from pyrep.objects.vision_sensor import VisionSensor -from rlbench.noise_model import NoiseModel -from rlbench.backend.spawn_boundary import SpawnBoundary -from rlbench.backend.observation import Observation from rlbench.backend.exceptions import ( WaypointError, BoundaryError, NoWaypointsError, DemoError) +from rlbench.backend.observation import Observation +from rlbench.backend.robot import Robot +from rlbench.backend.spawn_boundary import SpawnBoundary +from rlbench.backend.task import Task from rlbench.backend.utils import rgb_handles_to_mask from rlbench.demo import Demo +from rlbench.noise_model import NoiseModel from rlbench.observation_config import ObservationConfig, CameraConfig -from rlbench.backend.task import Task -from rlbench.backend.robot import Robot -import numpy as np STEPS_BEFORE_EPISODE_START = 10 @@ -30,19 +33,21 @@ def __init__(self, pyrep: PyRep, robot: Robot, self._robot = robot self._obs_config = obs_config self._active_task = None - self._inital_task_state = None + self._initial_task_state = None self._start_arm_joint_pos = robot.arm.get_joint_positions() self._starting_gripper_joint_pos = robot.gripper.get_joint_positions() self._workspace = Shape('workspace') self._workspace_boundary = SpawnBoundary([self._workspace]) self._cam_over_shoulder_left = VisionSensor('cam_over_shoulder_left') self._cam_over_shoulder_right = VisionSensor('cam_over_shoulder_right') + self._cam_overhead = VisionSensor('cam_overhead') self._cam_wrist = VisionSensor('cam_wrist') self._cam_front = VisionSensor('cam_front') self._cam_over_shoulder_left_mask = VisionSensor( 'cam_over_shoulder_left_mask') self._cam_over_shoulder_right_mask = VisionSensor( 'cam_over_shoulder_right_mask') + self._cam_overhead_mask = VisionSensor('cam_overhead_mask') self._cam_wrist_mask = VisionSensor('cam_wrist_mask') self._cam_front_mask = VisionSensor('cam_front_mask') self._has_init_task = self._has_init_episode = False @@ -56,13 +61,19 @@ def __init__(self, pyrep: PyRep, robot: Robot, x, y, z = self._workspace.get_position() minx, maxx, miny, maxy, _, _ = self._workspace.get_bounding_box() - self._workspace_minx = x - np.fabs(minx) - self._workspace_maxx = x + maxx - self._workspace_miny = y - np.fabs(miny) - self._workspace_maxy = y + maxy + self._workspace_minx = x - np.fabs(minx) - 0.2 + self._workspace_maxx = x + maxx + 0.2 + self._workspace_miny = y - np.fabs(miny) - 0.2 + self._workspace_maxy = y + maxy + 0.2 self._workspace_minz = z self._workspace_maxz = z + 1.0 # 1M above workspace + self.target_workspace_check = Dummy.create() + self._step_callback = None + + self._robot_shapes = self._robot.arm.get_objects_in_tree( + object_type=ObjectType.SHAPE) + def load(self, task: Task) -> None: """Loads the task and positions at the centre of the workspace. @@ -73,7 +84,7 @@ def load(self, task: Task) -> None: # Set at the centre of the workspace task.get_base().set_position(self._workspace.get_position()) - self._inital_task_state = task.get_state() + self._initial_task_state = task.get_state() self._active_task = task self._initial_task_pose = task.boundary_root().get_orientation() self._has_init_task = self._has_init_episode = False @@ -91,7 +102,7 @@ def unload(self) -> None: def init_task(self) -> None: self._active_task.init_task() - self._inital_task_state = self._active_task.get_state() + self._initial_task_state = self._active_task.get_state() self._has_init_task = True self._variation_index = 0 @@ -118,7 +129,7 @@ def init_episode(self, index: int, randomly_place: bool=True, break except (BoundaryError, WaypointError) as e: self._active_task.cleanup_() - self._active_task.restore_state(self._inital_task_state) + self._active_task.restore_state(self._initial_task_state) attempts += 1 if attempts >= max_attempts: raise e @@ -145,7 +156,7 @@ def reset(self) -> None: if self._active_task is not None and self._has_init_task: self._active_task.cleanup_() - self._active_task.restore_state(self._inital_task_state) + self._active_task.restore_state(self._initial_task_state) self._active_task.set_initial_objects_in_scene() def get_observation(self) -> Observation: @@ -168,33 +179,39 @@ def get_observation(self) -> Observation: lsc_ob = self._obs_config.left_shoulder_camera rsc_ob = self._obs_config.right_shoulder_camera + oc_ob = self._obs_config.overhead_camera wc_ob = self._obs_config.wrist_camera fc_ob = self._obs_config.front_camera - lsc_mask_fn = ( - rgb_handles_to_mask if lsc_ob.masks_as_one_channel else lambda x: x) - rsc_mask_fn = ( - rgb_handles_to_mask if rsc_ob.masks_as_one_channel else lambda x: x) - wc_mask_fn = ( - rgb_handles_to_mask if wc_ob.masks_as_one_channel else lambda x: x) - fc_mask_fn = ( - rgb_handles_to_mask if fc_ob.masks_as_one_channel else lambda x: x) + lsc_mask_fn, rsc_mask_fn, oc_mask_fn, wc_mask_fn, fc_mask_fn = [ + (rgb_handles_to_mask if c.masks_as_one_channel else lambda x: x + ) for c in [lsc_ob, rsc_ob, oc_ob, wc_ob, fc_ob]] def get_rgb_depth(sensor: VisionSensor, get_rgb: bool, get_depth: bool, - rgb_noise: NoiseModel, depth_noise: NoiseModel, - depth_in_meters: bool): - rgb = depth = None + get_pcd: bool, rgb_noise: NoiseModel, + depth_noise: NoiseModel, depth_in_meters: bool): + rgb = depth = pcd = None if sensor is not None and (get_rgb or get_depth): sensor.handle_explicitly() if get_rgb: rgb = sensor.capture_rgb() if rgb_noise is not None: rgb = rgb_noise.apply(rgb) - if get_depth: + rgb = np.clip((rgb * 255.).astype(np.uint8), 0, 255) + if get_depth or get_pcd: depth = sensor.capture_depth(depth_in_meters) if depth_noise is not None: depth = depth_noise.apply(depth) - return rgb, depth + if get_pcd: + depth_m = depth + if not depth_in_meters: + near = sensor.get_near_clipping_plane() + far = sensor.get_far_clipping_plane() + depth_m = near + depth * (far - near) + pcd = sensor.pointcloud_from_depth(depth_m) + if not get_depth: + depth = None + return rgb, depth, pcd def get_mask(sensor: VisionSensor, mask_fn): mask = None @@ -203,23 +220,28 @@ def get_mask(sensor: VisionSensor, mask_fn): mask = mask_fn(sensor.capture_rgb()) return mask - left_shoulder_rgb, left_shoulder_depth = get_rgb_depth( - self._cam_over_shoulder_left, lsc_ob.rgb, lsc_ob.depth, + left_shoulder_rgb, left_shoulder_depth, left_shoulder_pcd = get_rgb_depth( + self._cam_over_shoulder_left, lsc_ob.rgb, lsc_ob.depth, lsc_ob.point_cloud, lsc_ob.rgb_noise, lsc_ob.depth_noise, lsc_ob.depth_in_meters) - right_shoulder_rgb, right_shoulder_depth = get_rgb_depth( - self._cam_over_shoulder_right, rsc_ob.rgb, rsc_ob.depth, + right_shoulder_rgb, right_shoulder_depth, right_shoulder_pcd = get_rgb_depth( + self._cam_over_shoulder_right, rsc_ob.rgb, rsc_ob.depth, rsc_ob.point_cloud, rsc_ob.rgb_noise, rsc_ob.depth_noise, rsc_ob.depth_in_meters) - wrist_rgb, wrist_depth = get_rgb_depth( - self._cam_wrist, wc_ob.rgb, wc_ob.depth, + overhead_rgb, overhead_depth, overhead_pcd = get_rgb_depth( + self._cam_overhead, oc_ob.rgb, oc_ob.depth, oc_ob.point_cloud, + oc_ob.rgb_noise, oc_ob.depth_noise, oc_ob.depth_in_meters) + wrist_rgb, wrist_depth, wrist_pcd = get_rgb_depth( + self._cam_wrist, wc_ob.rgb, wc_ob.depth, wc_ob.point_cloud, wc_ob.rgb_noise, wc_ob.depth_noise, wc_ob.depth_in_meters) - front_rgb, front_depth = get_rgb_depth( - self._cam_front, fc_ob.rgb, fc_ob.depth, + front_rgb, front_depth, front_pcd = get_rgb_depth( + self._cam_front, fc_ob.rgb, fc_ob.depth, fc_ob.point_cloud, fc_ob.rgb_noise, fc_ob.depth_noise, fc_ob.depth_in_meters) left_shoulder_mask = get_mask(self._cam_over_shoulder_left_mask, lsc_mask_fn) if lsc_ob.mask else None right_shoulder_mask = get_mask(self._cam_over_shoulder_right_mask, rsc_mask_fn) if rsc_ob.mask else None + overhead_mask = get_mask(self._cam_overhead_mask, + oc_mask_fn) if oc_ob.mask else None wrist_mask = get_mask(self._cam_wrist_mask, wc_mask_fn) if wc_ob.mask else None front_mask = get_mask(self._cam_front_mask, @@ -228,14 +250,22 @@ def get_mask(sensor: VisionSensor, mask_fn): obs = Observation( left_shoulder_rgb=left_shoulder_rgb, left_shoulder_depth=left_shoulder_depth, + left_shoulder_point_cloud=left_shoulder_pcd, right_shoulder_rgb=right_shoulder_rgb, right_shoulder_depth=right_shoulder_depth, + right_shoulder_point_cloud=right_shoulder_pcd, + overhead_rgb=overhead_rgb, + overhead_depth=overhead_depth, + overhead_point_cloud=overhead_pcd, wrist_rgb=wrist_rgb, wrist_depth=wrist_depth, + wrist_point_cloud=wrist_pcd, front_rgb=front_rgb, front_depth=front_depth, + front_point_cloud=front_pcd, left_shoulder_mask=left_shoulder_mask, right_shoulder_mask=right_shoulder_mask, + overhead_mask=overhead_mask, wrist_mask=wrist_mask, front_mask=front_mask, joint_velocities=( @@ -254,25 +284,30 @@ def get_mask(sensor: VisionSensor, mask_fn): gripper_pose=( np.array(tip.get_pose()) if self._obs_config.gripper_pose else None), - gripper_matrix=(tip.get_matrix() - if self._obs_config.gripper_matrix else None), + gripper_matrix=( + tip.get_matrix() + if self._obs_config.gripper_matrix else None), gripper_touch_forces=( ee_forces_flat if self._obs_config.gripper_touch_forces else None), gripper_joint_positions=( np.array(self._robot.gripper.get_joint_positions()) if self._obs_config.gripper_joint_positions else None), - wrist_camera_matrix=(self._cam_wrist.get_matrix() - if self._cam_wrist.still_exists() else None), task_low_dim_state=( self._active_task.get_low_dim_state() if - self._obs_config.task_low_dim_state else None)) + self._obs_config.task_low_dim_state else None), + misc=self._get_misc()) obs = self._active_task.decorate_observation(obs) return obs def step(self): self._pyrep.step() self._active_task.step() + if self._step_callback is not None: + self._step_callback() + + def register_step_callback(self, func): + self._step_callback = func def get_demo(self, record: bool = True, callable_each_step: Callable[[Observation], None] = None, @@ -298,11 +333,18 @@ def get_demo(self, record: bool = True, while True: success = False for i, point in enumerate(waypoints): - point.start_of_path() + grasped_objects = self._robot.gripper.get_grasped_objects() + colliding_shapes = [s for s in self._pyrep.get_objects_in_tree( + object_type=ObjectType.SHAPE) if s not in grasped_objects + and s not in self._robot_shapes and s.is_collidable() + and self._robot.arm.check_arm_collision(s)] + [s.set_collidable(False) for s in colliding_shapes] try: path = point.get_path() + [s.set_collidable(True) for s in colliding_shapes] except ConfigurationPathError as e: + [s.set_collidable(True) for s in colliding_shapes] raise DemoError( 'Could not get a path for waypoint %d.' % i, self._active_task) from e @@ -407,7 +449,7 @@ def _demo_record_step(self, demo_list, record, func): def _set_camera_properties(self) -> None: def _set_rgb_props(rgb_cam: VisionSensor, rgb: bool, depth: bool, conf: CameraConfig): - if not (rgb or depth): + if not (rgb or depth or conf.point_cloud): rgb_cam.remove() else: rgb_cam.set_explicit_handling(1) @@ -431,6 +473,11 @@ def _set_mask_props(mask_cam: VisionSensor, mask: bool, self._obs_config.right_shoulder_camera.rgb, self._obs_config.right_shoulder_camera.depth, self._obs_config.right_shoulder_camera) + _set_rgb_props( + self._cam_overhead, + self._obs_config.overhead_camera.rgb, + self._obs_config.overhead_camera.depth, + self._obs_config.overhead_camera) _set_rgb_props( self._cam_wrist, self._obs_config.wrist_camera.rgb, self._obs_config.wrist_camera.depth, @@ -447,6 +494,10 @@ def _set_mask_props(mask_cam: VisionSensor, mask: bool, self._cam_over_shoulder_right_mask, self._obs_config.right_shoulder_camera.mask, self._obs_config.right_shoulder_camera) + _set_mask_props( + self._cam_overhead_mask, + self._obs_config.overhead_camera.mask, + self._obs_config.overhead_camera) _set_mask_props( self._cam_wrist_mask, self._obs_config.wrist_camera.mask, self._obs_config.wrist_camera) @@ -463,3 +514,21 @@ def _place_task(self) -> None: self._workspace_boundary.sample( self._active_task.boundary_root(), min_rotation=min_rot, max_rotation=max_rot) + + def _get_misc(self): + def _get_cam_data(cam: VisionSensor, name: str): + d = {} + if cam.still_exists(): + d = { + '%s_extrinsics' % name: cam.get_matrix(), + '%s_intrinsics' % name: cam.get_intrinsic_matrix(), + '%s_near' % name: cam.get_near_clipping_plane(), + '%s_far' % name: cam.get_far_clipping_plane(), + } + return d + misc = _get_cam_data(self._cam_over_shoulder_left, 'left_shoulder_camera') + misc.update(_get_cam_data(self._cam_over_shoulder_right, 'right_shoulder_camera')) + misc.update(_get_cam_data(self._cam_overhead, 'overhead_camera')) + misc.update(_get_cam_data(self._cam_front, 'front_camera')) + misc.update(_get_cam_data(self._cam_wrist, 'wrist_camera')) + return misc diff --git a/rlbench/backend/task.py b/rlbench/backend/task.py index b19e08fdd..c169e9e60 100644 --- a/rlbench/backend/task.py +++ b/rlbench/backend/task.py @@ -42,6 +42,7 @@ def __init__(self, pyrep: PyRep, robot: Robot): self._waypoint_abilities_end = {} self._waypoints_should_repeat = lambda: False self._initial_objs_in_scene = None + self._stop_at_waypoint_index = -1 ######################## # Overriding functions # @@ -236,6 +237,13 @@ def register_waypoints_should_repeat(self, func: Callable[[], bool]): """ self._waypoints_should_repeat = func + def register_stop_at_waypoint(self, waypoint_index: int): + """Register at what index the demo should be stopped. + + :param waypoint_index: The waypoint index. + """ + self._stop_at_waypoint_index = waypoint_index + ########################## # Other public functions # ########################## @@ -337,9 +345,12 @@ def _feasible(self, waypoints: List[Point]) -> Tuple[bool, int]: arm = self.robot.arm start_vals = arm.get_joint_positions() for i, point in enumerate(waypoints): + path = None try: path = point.get_path(ignore_collisions=True) except ConfigurationPathError as err: + pass + if path is None: arm.set_joint_positions(start_vals) return False, i path.set_to_end() @@ -354,7 +365,7 @@ def _get_waypoints(self, validating=False) -> List[Waypoint]: i = 0 while True: name = waypoint_name % i - if not Object.exists(name): + if not Object.exists(name) or i == self._stop_at_waypoint_index: # There are no more waypoints... break ob_type = Object.get_object_type(name) diff --git a/rlbench/backend/waypoints.py b/rlbench/backend/waypoints.py index 1df9e3c3b..479324553 100644 --- a/rlbench/backend/waypoints.py +++ b/rlbench/backend/waypoints.py @@ -16,7 +16,7 @@ def __init__(self, waypoint: Object, robot: Robot, ignore_collisions=False, self._start_of_path_func = start_of_path_func self._end_of_path_func = end_of_path_func if len(self._ext) > 0: - self._ignore_collisions = 'ignore_collisions' in self._ext + self._ignore_collisions = 'ignore_collision' in self._ext self._linear_only = 'linear' in self._ext def get_path(self, ignore_collisions=False) -> ArmConfigurationPath: diff --git a/rlbench/environment.py b/rlbench/environment.py index 7726265bb..991743a57 100644 --- a/rlbench/environment.py +++ b/rlbench/environment.py @@ -1,12 +1,17 @@ +import pickle + from pyrep import PyRep +from pyrep.objects import VisionSensor from pyrep.robots.arms.panda import Panda from pyrep.robots.arms.jaco import Jaco from pyrep.robots.arms.mico import Mico from pyrep.robots.arms.sawyer import Sawyer +from pyrep.robots.arms.ur5 import UR5 from pyrep.robots.end_effectors.panda_gripper import PandaGripper from pyrep.robots.end_effectors.jaco_gripper import JacoGripper from pyrep.robots.end_effectors.mico_gripper import MicoGripper from pyrep.robots.end_effectors.baxter_gripper import BaxterGripper +from pyrep.robots.end_effectors.robotiq85_gripper import Robotiq85Gripper from rlbench import utils from rlbench.demo import Demo @@ -37,6 +42,7 @@ 'jaco': (Jaco, JacoGripper, 6), 'mico': (Mico, MicoGripper, 6), 'sawyer': (Sawyer, BaxterGripper, 7), + 'ur5': (UR5, Robotiq85Gripper, 6), } @@ -59,7 +65,7 @@ def __init__(self, action_mode: ActionMode, dataset_root: str='', self._obs_config = obs_config self._headless = headless self._static_positions = static_positions - self._robot_configuration = robot_configuration + self._robot_configuration = robot_configuration.lower() self._randomize_every = randomize_every self._frequency = frequency @@ -96,6 +102,7 @@ def _set_arm_control_action(self): self._action_mode.arm == ArmActionMode.ABS_EE_POSE_WORLD_FRAME or self._action_mode.arm == ArmActionMode.DELTA_EE_POSE_WORLD_FRAME or self._action_mode.arm == ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME or + self._action_mode.arm == ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME_WITH_COLLISION_CHECK or self._action_mode.arm == ArmActionMode.DELTA_EE_POSE_PLAN_WORLD_FRAME or self._action_mode.arm == ArmActionMode.EE_POSE_PLAN_EE_FRAME or self._action_mode.arm == ArmActionMode.EE_POSE_EE_FRAME): @@ -191,6 +198,7 @@ def action_size(self): elif (self._action_mode.arm == ArmActionMode.ABS_EE_POSE_WORLD_FRAME or self._action_mode.arm == ArmActionMode.DELTA_EE_POSE_WORLD_FRAME or self._action_mode.arm == ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME or + self._action_mode.arm == ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME_WITH_COLLISION_CHECK or self._action_mode.arm == ArmActionMode.DELTA_EE_POSE_PLAN_WORLD_FRAME or self._action_mode.arm == ArmActionMode.EE_POSE_PLAN_EE_FRAME or self._action_mode.arm == ArmActionMode.EE_POSE_EE_FRAME): @@ -199,13 +207,45 @@ def action_size(self): def get_demos(self, task_name: str, amount: int, variation_number=0, - image_paths=False) -> List[Demo]: + image_paths=False, + random_selection: bool = True, + from_episode_number: int = 0) -> List[Demo]: if self._dataset_root is None or len(self._dataset_root) == 0: raise RuntimeError( "Can't ask for a stored demo when no dataset root provided.") demos = utils.get_stored_demos( amount, image_paths, self._dataset_root, variation_number, - task_name, self._obs_config) + task_name, self._obs_config, random_selection, from_episode_number) return demos - + def get_scene_data(self) -> dict: + """Get the data of various scene/camera information. + + This temporarily starts the simulator in headless mode. + + :return: A dictionary containing scene data. + """ + def _get_cam_info(cam: VisionSensor): + if not cam.still_exists(): + return None + intrinsics = cam.get_intrinsic_matrix() + return dict( + intrinsics=intrinsics, + near_plane=cam.get_near_clipping_plane(), + far_plane=cam.get_far_clipping_plane(), + extrinsics=cam.get_matrix()) + headless = self._headless + self._headless = True + self.launch() + d = dict( + left_shoulder_camera=_get_cam_info( + self._scene._cam_over_shoulder_left), + right_shoulder_camera=_get_cam_info( + self._scene._cam_over_shoulder_right), + front_camera=_get_cam_info(self._scene._cam_front), + wrist_camera=_get_cam_info(self._scene._cam_wrist), + overhead_camera=_get_cam_info(self._scene._cam_overhead) + ) + self.shutdown() + self._headless = headless + return d diff --git a/rlbench/observation_config.py b/rlbench/observation_config.py index 7c75c4cf5..005a74ea6 100644 --- a/rlbench/observation_config.py +++ b/rlbench/observation_config.py @@ -8,6 +8,7 @@ def __init__(self, rgb_noise: NoiseModel=Identity(), depth=True, depth_noise: NoiseModel=Identity(), + point_cloud=True, mask=True, image_size=(128, 128), render_mode=RenderMode.OPENGL3, @@ -17,6 +18,7 @@ def __init__(self, self.rgb_noise = rgb_noise self.depth = depth self.depth_noise = depth_noise + self.point_cloud = point_cloud self.mask = mask self.image_size = image_size self.render_mode = render_mode @@ -26,6 +28,7 @@ def __init__(self, def set_all(self, value: bool): self.rgb = value self.depth = value + self.point_cloud = value self.mask = value @@ -33,6 +36,7 @@ class ObservationConfig(object): def __init__(self, left_shoulder_camera: CameraConfig = None, right_shoulder_camera: CameraConfig = None, + overhead_camera: CameraConfig = None, wrist_camera: CameraConfig = None, front_camera: CameraConfig = None, joint_velocities=True, @@ -56,6 +60,9 @@ def __init__(self, self.right_shoulder_camera = ( CameraConfig() if right_shoulder_camera is None else right_shoulder_camera) + self.overhead_camera = ( + CameraConfig() if overhead_camera is None + else overhead_camera) self.wrist_camera = ( CameraConfig() if wrist_camera is None else wrist_camera) @@ -84,6 +91,7 @@ def set_all(self, value: bool): def set_all_high_dim(self, value: bool): self.left_shoulder_camera.set_all(value) self.right_shoulder_camera.set_all(value) + self.overhead_camera.set_all(value) self.wrist_camera.set_all(value) self.front_camera.set_all(value) diff --git a/rlbench/robot_ttms/ur5.ttm b/rlbench/robot_ttms/ur5.ttm new file mode 100644 index 000000000..91dd27011 Binary files /dev/null and b/rlbench/robot_ttms/ur5.ttm differ diff --git a/rlbench/task_design.ttt b/rlbench/task_design.ttt index 6f96aefdf..2cee23bbe 100644 Binary files a/rlbench/task_design.ttt and b/rlbench/task_design.ttt differ diff --git a/rlbench/task_environment.py b/rlbench/task_environment.py index 46c8069f0..8de538140 100644 --- a/rlbench/task_environment.py +++ b/rlbench/task_environment.py @@ -4,6 +4,7 @@ import numpy as np from pyquaternion import Quaternion from pyrep import PyRep +from pyrep.const import ObjectType, ConfigurationPathAlgorithms from pyrep.errors import IKError from pyrep.objects import Dummy @@ -54,7 +55,8 @@ def __init__(self, pyrep: PyRep, robot: Robot, scene: Scene, task: Task, self._scene.load(self._task) self._pyrep.start() - self._target_workspace_check = Dummy.create() + self._robot_shapes = self._robot.arm.get_objects_in_tree( + object_type=ObjectType.SHAPE) def get_name(self) -> str: return self._task.get_name() @@ -136,26 +138,65 @@ def _ee_action(self, action, relative_to=None): prev_values = cur_positions done = reached or not_moving - def _path_action(self, action, relative_to=None): - self._assert_unit_quaternion(action[3:]) + def _path_action_get_path(self, action, collision_checking, relative_to): try: - - # Check if the target is in the workspace; if not, then quick reject - # Only checks position, not rotation - pos_to_check = action[:3] - if relative_to is not None: - self._target_workspace_check.set_position( - pos_to_check, relative_to) - pos_to_check = self._target_workspace_check.get_position() - valid = self._scene.check_target_in_workspace(pos_to_check) - if not valid: - raise InvalidActionError('Target is outside of workspace.') - path = self._robot.arm.get_path( - action[:3], quaternion=action[3:], ignore_collisions=True, - relative_to=relative_to) - done = False - observations = [] + action[:3], quaternion=action[3:], + ignore_collisions=not collision_checking, + relative_to=relative_to, + ) + return path + except IKError as e: + raise InvalidActionError('Could not find a path.') from e + + def _path_action(self, action, collision_checking=False, relative_to=None): + self._assert_unit_quaternion(action[3:]) + # Check if the target is in the workspace; if not, then quick reject + # Only checks position, not rotation + pos_to_check = action[:3] + if relative_to is not None: + self._scene.target_workspace_check.set_position( + pos_to_check, relative_to) + pos_to_check = self._scene.target_workspace_check.get_position() + valid = self._scene.check_target_in_workspace(pos_to_check) + if not valid: + raise InvalidActionError('Target is outside of workspace.') + + observations = [] + done = False + if collision_checking: + # First check if we are colliding with anything + colliding = self._robot.arm.check_arm_collision() + if colliding: + # Disable collisions with the objects that we are colliding with + grasped_objects = self._robot.gripper.get_grasped_objects() + colliding_shapes = [s for s in self._pyrep.get_objects_in_tree( + object_type=ObjectType.SHAPE) if ( + s.is_collidable() and + s not in self._robot_shapes and + s not in grasped_objects and + self._robot.arm.check_arm_collision(s))] + [s.set_collidable(False) for s in colliding_shapes] + path = self._path_action_get_path( + action, collision_checking, relative_to) + [s.set_collidable(True) for s in colliding_shapes] + # Only run this path until we are no longer colliding + while not done: + done = path.step() + self._scene.step() + if self._enable_path_observations: + observations.append(self._scene.get_observation()) + colliding = self._robot.arm.check_arm_collision() + if not colliding: + break + success, terminate = self._task.success() + # If the task succeeds while traversing path, then break early + if success: + done = True + break + if not done: + path = self._path_action_get_path( + action, collision_checking, relative_to) while not done: done = path.step() self._scene.step() @@ -165,10 +206,8 @@ def _path_action(self, action, relative_to=None): # If the task succeeds while traversing path, then break early if success: break - observations.append(self._scene.get_observation()) - return observations - except IKError as e: - raise InvalidActionError('Could not find a path.') from e + + return observations def step(self, action) -> (Observation, int, bool): # returns observation, reward, done, info @@ -184,8 +223,8 @@ def step(self, action) -> (Observation, int, bool): raise ValueError('Gripper action expected to be within 0 and 1.') # Discretize the gripper action - current_ee = (1.0 if self._robot.gripper.get_open_amount()[0] > 0.9 - else 0.0) + open_condition = all(x > 0.9 for x in self._robot.gripper.get_open_amount()) + current_ee = 1.0 if open_condition else 0.0 if ee_action > 0.5: ee_action = 1.0 @@ -198,6 +237,8 @@ def step(self, action) -> (Observation, int, bool): (len(self._robot.arm.joints),)) self._robot.arm.set_joint_target_velocities(arm_action) self._scene.step() + self._robot.arm.set_joint_target_velocities( + np.zeros_like(arm_action)) elif self._action_mode.arm == ArmActionMode.DELTA_JOINT_VELOCITY: @@ -206,6 +247,8 @@ def step(self, action) -> (Observation, int, bool): cur = np.array(self._robot.arm.get_joint_velocities()) self._robot.arm.set_joint_target_velocities(cur + arm_action) self._scene.step() + self._robot.arm.set_joint_target_velocities( + np.zeros_like(arm_action)) elif self._action_mode.arm == ArmActionMode.ABS_JOINT_POSITION: @@ -213,6 +256,8 @@ def step(self, action) -> (Observation, int, bool): (len(self._robot.arm.joints),)) self._robot.arm.set_joint_target_positions(arm_action) self._scene.step() + self._robot.arm.set_joint_target_positions( + self._robot.arm.get_joint_positions()) elif self._action_mode.arm == ArmActionMode.DELTA_JOINT_POSITION: @@ -221,6 +266,8 @@ def step(self, action) -> (Observation, int, bool): cur = np.array(self._robot.arm.get_joint_positions()) self._robot.arm.set_joint_target_positions(cur + arm_action) self._scene.step() + self._robot.arm.set_joint_target_positions( + self._robot.arm.get_joint_positions()) elif self._action_mode.arm == ArmActionMode.ABS_JOINT_TORQUE: @@ -228,6 +275,9 @@ def step(self, action) -> (Observation, int, bool): arm_action, (len(self._robot.arm.joints),)) self._torque_action(arm_action) self._scene.step() + self._torque_action(self._robot.arm.get_joint_forces()) + self._robot.arm.set_joint_target_velocities( + np.zeros_like(arm_action)) elif self._action_mode.arm == ArmActionMode.DELTA_JOINT_TORQUE: @@ -235,6 +285,9 @@ def step(self, action) -> (Observation, int, bool): new_action = cur + arm_action self._torque_action(new_action) self._scene.step() + self._torque_action(self._robot.arm.get_joint_forces()) + self._robot.arm.set_joint_target_velocities( + np.zeros_like(arm_action)) elif self._action_mode.arm == ArmActionMode.ABS_EE_POSE_WORLD_FRAME: @@ -245,7 +298,15 @@ def step(self, action) -> (Observation, int, bool): self._assert_action_space(arm_action, (7,)) self._path_observations = [] - self._path_observations = self._path_action(list(arm_action)) + self._path_observations = self._path_action( + list(arm_action), collision_checking=False) + + elif self._action_mode.arm == ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME_WITH_COLLISION_CHECK: + + self._assert_action_space(arm_action, (7,)) + self._path_observations = [] + self._path_observations = self._path_action( + list(arm_action), collision_checking=True) elif self._action_mode.arm == ArmActionMode.DELTA_EE_POSE_PLAN_WORLD_FRAME: @@ -288,10 +349,6 @@ def step(self, action) -> (Observation, int, bool): if current_ee != ee_action: done = False - while not done: - done = self._robot.gripper.actuate(ee_action, velocity=0.2) - self._pyrep.step() - self._task.step() if ee_action == 0.0 and self._attach_grasped_objects: # If gripper close action, the check for grasp. for g_obj in self._task.get_graspable_objects(): @@ -299,6 +356,15 @@ def step(self, action) -> (Observation, int, bool): else: # If gripper open action, the check for ungrasp. self._robot.gripper.release() + while not done: + done = self._robot.gripper.actuate(ee_action, velocity=0.2) + self._pyrep.step() + self._task.step() + if ee_action == 1.0: + # Step a few more times to allow objects to drop + for _ in range(10): + self._pyrep.step() + self._task.step() success, terminate = self._task.success() task_reward = self._task.reward() @@ -308,6 +374,7 @@ def step(self, action) -> (Observation, int, bool): def enable_path_observations(self, value: bool) -> None: if (self._action_mode.arm != ArmActionMode.DELTA_EE_POSE_PLAN_WORLD_FRAME and self._action_mode.arm != ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME and + self._action_mode.arm != ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME_WITH_COLLISION_CHECK and self._action_mode.arm != ArmActionMode.EE_POSE_PLAN_EE_FRAME): raise RuntimeError('Only available in DELTA_EE_POSE_PLAN or ' 'ABS_EE_POSE_PLAN action mode.') @@ -316,6 +383,7 @@ def enable_path_observations(self, value: bool) -> None: def get_path_observations(self): if (self._action_mode.arm != ArmActionMode.DELTA_EE_POSE_PLAN_WORLD_FRAME and self._action_mode.arm != ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME and + self._action_mode.arm != ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME_WITH_COLLISION_CHECK and self._action_mode.arm != ArmActionMode.EE_POSE_PLAN_EE_FRAME): raise RuntimeError('Only available in DELTA_EE_POSE_PLAN or ' 'ABS_EE_POSE_PLAN action mode.') @@ -325,6 +393,8 @@ def get_demos(self, amount: int, live_demos: bool = False, image_paths: bool = False, callable_each_step: Callable[[Observation], None] = None, max_attempts: int = _MAX_DEMO_ATTEMPTS, + random_selection: bool = True, + from_episode_number: int = 0 ) -> List[Demo]: """Negative means all demos""" @@ -339,7 +409,8 @@ def get_demos(self, amount: int, live_demos: bool = False, "Can't ask for stored demo when no dataset root provided.") demos = utils.get_stored_demos( amount, image_paths, self._dataset_root, self._variation_number, - self._task.get_name(), self._obs_config) + self._task.get_name(), self._obs_config, + random_selection, from_episode_number) else: ctr_loop = self._robot.arm.joints[0].is_control_loop_enabled() self._robot.arm.set_control_loop_enabled(True) @@ -358,7 +429,6 @@ def _get_live_demos(self, amount: int, while attempts > 0: random_seed = np.random.get_state() self.reset() - logging.info('Collecting demo %d' % i) try: demo = self._scene.get_demo( callable_each_step=callable_each_step) diff --git a/rlbench/task_ttms/beat_the_buzz.ttm b/rlbench/task_ttms/beat_the_buzz.ttm index 3746dd807..472e849ea 100644 Binary files a/rlbench/task_ttms/beat_the_buzz.ttm and b/rlbench/task_ttms/beat_the_buzz.ttm differ diff --git a/rlbench/task_ttms/change_channel.ttm b/rlbench/task_ttms/change_channel.ttm index 0602a1b56..5ce356d81 100644 Binary files a/rlbench/task_ttms/change_channel.ttm and b/rlbench/task_ttms/change_channel.ttm differ diff --git a/rlbench/task_ttms/change_clock.ttm b/rlbench/task_ttms/change_clock.ttm index 694db1648..19f18c3a5 100644 Binary files a/rlbench/task_ttms/change_clock.ttm and b/rlbench/task_ttms/change_clock.ttm differ diff --git a/rlbench/task_ttms/close_box.ttm b/rlbench/task_ttms/close_box.ttm index 1b3f3ac80..e8e57827c 100644 Binary files a/rlbench/task_ttms/close_box.ttm and b/rlbench/task_ttms/close_box.ttm differ diff --git a/rlbench/task_ttms/close_door.ttm b/rlbench/task_ttms/close_door.ttm index 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b/rlbench/task_ttms/tv_on.ttm differ diff --git a/rlbench/tasks/change_channel.py b/rlbench/tasks/change_channel.py index cea8520e6..63b5e4286 100644 --- a/rlbench/tasks/change_channel.py +++ b/rlbench/tasks/change_channel.py @@ -12,40 +12,31 @@ class ChangeChannel(Task): def init_task(self) -> None: - self.tv = Shape('tv_frame') - self.screen_on = Shape('tv_screen_on') - self.screen_up = Shape('tv_screen_up') - self.screen_down = Shape('tv_screen_down') - self.remote = Shape('tv_remote') - self.boundary = Shape('spawn_boundary') - self.joint_conditions = [ + self._remote = Shape('tv_remote') + self._joint_conditions = [ JointCondition(Joint('target_button_joint1'), 0.003), JointCondition(Joint('target_button_joint2'), 0.003) ] + self._w6 = Dummy('waypoint6') + self._w6z = self._w6.get_position()[2] + self.register_graspable_objects([self._remote]) + self._spawn_boundary = SpawnBoundary([Shape('spawn_boundary')]) + self._target_buttons = [ + Shape('target_button_wrap1'), Shape('target_button_wrap2')] def init_episode(self, index: int) -> List[str]: detectors = [ProximitySensor('success%d' % i) for i in range(2)] - self.register_success_conditions([self.joint_conditions[index], - DetectedCondition(self.remote, - detectors[0]), - DetectedCondition(self.remote, - detectors[1]) - ]) - self.register_graspable_objects([self.remote]) - w6 = Dummy('waypoint6') - _, _, z = w6.get_position( - relative_to=self.remote) - rel_pos_lst = [ - Shape('target_button_wrap1').get_position(relative_to=self.remote), - Shape('target_button_wrap2').get_position(relative_to=self.remote) - ] - rel_pos_lst[index % 2][2] = z - w6.set_position(rel_pos_lst[index], relative_to=self.remote, - reset_dynamics=False) - b = SpawnBoundary([self.boundary]) - b.sample(self.remote) - btn = {0: 'plus', 1: 'minus'} - chnl = {0: 'up', 1: 'minus'} + self.register_success_conditions([ + self._joint_conditions[index], + DetectedCondition(self._remote, detectors[0]), + DetectedCondition(self._remote, detectors[1]) + ]) + x, y, _ = self._target_buttons[index % 2].get_position() + self._w6.set_position([x, y, self._w6z]) + self._spawn_boundary.clear() + self._spawn_boundary.sample(self._remote) + btn = ['plus', 'minus'] + chnl = ['up', 'minus'] return ['turn the channel %s' % chnl[index], 'change the television channel %s' % chnl[index], 'point the remote at the tv and press the %s button to turn ' @@ -60,28 +51,6 @@ def init_episode(self, index: int) -> List[str]: def variation_count(self) -> int: return 2 - def step(self) -> None: - if self.joint_conditions[0].condition_met() == (True, True): - self.screen_on.set_position( - [9.9959*10**(-3), -2.3971*10**(-2), 5.2193*10**(-4)], - relative_to=self.tv, - reset_dynamics=False) - self.screen_up.set_position( - [3.8501*10**(-3), -2.3971*10**(-2), +5.226*10**(-4)], - relative_to=self.tv, - reset_dynamics=False - ) - elif self.joint_conditions[1].condition_met() == (True, True): - self.screen_on.set_position( - [9.9959*10**(-3), -2.3971*10**(-2), 5.2193*10**(-4)], - relative_to=self.tv, - reset_dynamics=False) - self.screen_down.set_position( - [3.8501*10**(-3), -2.3971*10**(-2), +5.226*10**(-4)], - relative_to=self.tv, - reset_dynamics=False - ) - def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]: return (0.0, 0.0, -0.5*np.pi), (0.0, 0.0, +0.5 * np.pi) diff --git a/rlbench/tasks/close_door.py b/rlbench/tasks/close_door.py index fb1bc16c3..d3480f60e 100644 --- a/rlbench/tasks/close_door.py +++ b/rlbench/tasks/close_door.py @@ -18,7 +18,7 @@ def init_task(self) -> None: def init_episode(self, index: int) -> List[str]: return ['close the door', 'shut the door', - 'grip the handle and slide the door shut', + 'grip the handle and pull the door shut', 'use the handle to move the door closed'] def variation_count(self) -> int: diff --git a/rlbench/tasks/close_fridge.py b/rlbench/tasks/close_fridge.py index a92659d73..c06f34e30 100644 --- a/rlbench/tasks/close_fridge.py +++ b/rlbench/tasks/close_fridge.py @@ -30,4 +30,4 @@ def boundary_root(self) -> Object: def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]: - return (0.0, 0.0, -3.14/2), (0.0, 0.0, 3.14/2) + return (0.0, 0.0, -np.pi/4), (0.0, 0.0, np.pi/4) diff --git a/rlbench/tasks/get_ice_from_fridge.py b/rlbench/tasks/get_ice_from_fridge.py index c2798db6a..d26d00bfb 100644 --- a/rlbench/tasks/get_ice_from_fridge.py +++ b/rlbench/tasks/get_ice_from_fridge.py @@ -1,30 +1,26 @@ from typing import List, Tuple + import numpy as np +from pyrep.objects.joint import Joint from pyrep.objects.object import Object -from pyrep.objects.shape import Shape from pyrep.objects.proximity_sensor import ProximitySensor -from pyrep.const import PrimitiveShape -from pyrep.objects.joint import Joint -from rlbench.backend.task import Task -from rlbench.backend.conditions import DetectedCondition, JointCondition +from pyrep.objects.shape import Shape -ICE_NUM = 5 +from rlbench.backend.conditions import DetectedCondition, JointCondition +from rlbench.backend.task import Task class GetIceFromFridge(Task): def init_task(self) -> None: - self.drops = [] - self.success_sensor = ProximitySensor('success') - self.cup = Shape('cup') - self.register_graspable_objects([self.cup]) - self.tongue_condition = JointCondition(Joint('joint'), np.deg2rad(1)) + cup = Shape('cup') + self.register_graspable_objects([cup]) + self.register_success_conditions([ + JointCondition(Joint('joint'), np.deg2rad(1)), + DetectedCondition(cup, ProximitySensor('success')) + ]) def init_episode(self, index: int) -> List[str]: - self.register_success_conditions( - [DetectedCondition(self.robot.gripper, self.success_sensor)]) - self.tongued = False - self.tonguedOnce = False return ['get ice from fridge', 'use the cup to get ice from the fridge', 'pick up the cup and fill it with ice from the fridge', @@ -34,31 +30,9 @@ def init_episode(self, index: int) -> List[str]: def variation_count(self) -> int: return 1 - def step(self) -> None: - if not self.tongued: - self.tongued = self.tongue_condition.condition_met()[0] - if self.tongued and not self.tonguedOnce: - for i in range(ICE_NUM): - drop = Shape.create(PrimitiveShape.CUBOID, mass=0.0001, - size=[0.005, 0.005, 0.005]) - drop.set_color([0.1, 0.1, 0.9]) - pos = list(np.random.normal(0, 0.0005, size=(3,))) - drop.set_position(pos, - relative_to=self.cup) - self.drops.append(drop) - self.register_success_conditions( - [DetectedCondition(self.drops[i], self.success_sensor) for i - in range(ICE_NUM)]) - self.tonguedOnce = True - - def cleanup(self) -> None: - for d in self.drops: - d.remove() - self.drops = [] - def boundary_root(self) -> Object: return Shape('fridge_root') def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]: - return (0.0, 0.0, -3.14/2), (0.0, 0.0, 3.14/2) + return (0.0, 0.0, -np.pi/4), (0.0, 0.0, np.pi/4) diff --git a/rlbench/tasks/open_door.py b/rlbench/tasks/open_door.py index e2f5770eb..1ddb74442 100644 --- a/rlbench/tasks/open_door.py +++ b/rlbench/tasks/open_door.py @@ -10,29 +10,27 @@ class OpenDoor(Task): def init_task(self) -> None: - self.door_main = Shape('door_main') - self.door_main.set_dynamic(False) - door_joint = Joint('door_frame_joint') - handle_joint = Joint('door_handle_joint') + self._door_joint = Joint('door_frame_joint') self.register_success_conditions( - [JointCondition(door_joint, np.deg2rad(25))]) + [JointCondition(self._door_joint, np.deg2rad(25))]) self.door_unlock_cond = JointCondition( - handle_joint, np.deg2rad(25)) + Joint('door_handle_joint'), np.deg2rad(25)) def init_episode(self, index: int) -> List[str]: - self.door_unlocked = False + self._door_unlocked = False + self._door_joint.set_motor_locked_at_zero_velocity(True) return ['open the door', - 'grip the handle and slide the door open', - 'use the handle to move the door open'] + 'grip the handle and push the door open', + 'use the handle to open the door'] def variation_count(self) -> int: return 1 def step(self) -> None: - if not self.door_unlocked: - self.door_unlocked = self.door_unlock_cond.condition_met()[0] - if self.door_unlocked: - self.door_main.set_dynamic(True) + if not self._door_unlocked: + self._door_unlocked = self.door_unlock_cond.condition_met()[0] + if self._door_unlocked: + self._door_joint.set_motor_locked_at_zero_velocity(False) def base_rotation_bounds(self) -> Tuple[List[float], List[float]]: return [0, 0, -3.14 / 4.], [0, 0, 3.14 / 4.] diff --git a/rlbench/tasks/open_fridge.py b/rlbench/tasks/open_fridge.py index 4214ba417..e12eb28d7 100644 --- a/rlbench/tasks/open_fridge.py +++ b/rlbench/tasks/open_fridge.py @@ -13,7 +13,7 @@ class OpenFridge(Task): def init_task(self): top_joint = Joint('top_joint') self.register_success_conditions( - [JointCondition(top_joint, np.deg2rad(40))]) + [JointCondition(top_joint, np.deg2rad(30))]) def init_episode(self, index: int) -> List[str]: return ['open fridge', @@ -28,4 +28,4 @@ def boundary_root(self) -> Object: def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]: - return (0.0, 0.0, -3.14/2), (0.0, 0.0, 3.14/2) + return (0.0, 0.0, -np.pi/4), (0.0, 0.0, np.pi/4) diff --git a/rlbench/tasks/play_jenga.py b/rlbench/tasks/play_jenga.py index c441f7eaa..019bf7167 100644 --- a/rlbench/tasks/play_jenga.py +++ b/rlbench/tasks/play_jenga.py @@ -10,22 +10,13 @@ class PlayJenga(Task): def init_task(self) -> None: target = Shape('target_cuboid') original_detector = ProximitySensor('original_detector') - self.register_success_conditions( - [DetectedCondition(Shape('Cuboid0'), original_detector), - DetectedCondition(Shape('Cuboid1'), original_detector), - DetectedCondition(Shape('Cuboid2'), original_detector), - DetectedCondition(Shape('Cuboid3'), original_detector), - DetectedCondition(Shape('Cuboid4'), original_detector), - DetectedCondition(Shape('Cuboid5'), original_detector), - DetectedCondition(Shape('Cuboid6'), original_detector), - DetectedCondition(Shape('Cuboid7'), original_detector), - DetectedCondition(Shape('Cuboid8'), original_detector), - DetectedCondition(Shape('Cuboid9'), original_detector), - DetectedCondition(Shape('Cuboid10'), original_detector), - DetectedCondition(Shape('Cuboid11'), original_detector), - DetectedCondition(Shape('Cuboid12'), original_detector), - DetectedCondition(target, original_detector, negated=True), - NothingGrasped(self.robot.gripper)]) + bricks = [Shape('Cuboid%d' % i) for i in range(13)] + conds = [DetectedCondition(b, original_detector) for b in bricks] + conds.extend([ + DetectedCondition(target, original_detector, negated=True), + NothingGrasped(self.robot.gripper) + ]) + self.register_success_conditions(conds) self.register_graspable_objects([target]) def init_episode(self, index: int) -> List[str]: diff --git a/rlbench/tasks/put_books_on_bookshelf.py b/rlbench/tasks/put_books_on_bookshelf.py index 63b18238b..4b39d4466 100644 --- a/rlbench/tasks/put_books_on_bookshelf.py +++ b/rlbench/tasks/put_books_on_bookshelf.py @@ -1,4 +1,6 @@ from typing import List, Tuple + +from pyrep.objects import Dummy from pyrep.objects.shape import Shape from pyrep.objects.proximity_sensor import ProximitySensor from rlbench.backend.task import Task @@ -8,24 +10,23 @@ class PutBooksOnBookshelf(Task): def init_task(self) -> None: - success_sensor = ProximitySensor('success') - book0 = Shape('book0') - book1 = Shape('book1') - book2 = Shape('book2') - self.register_success_conditions( - [DetectedCondition(book0, success_sensor), - DetectedCondition(book1, success_sensor), - DetectedCondition(book2, success_sensor), - NothingGrasped(self.robot.gripper)]) - self.register_graspable_objects([book2, book1, book0]) + self._success_sensor = ProximitySensor('success') + self._books = [Shape('book2'), Shape('book1'), Shape('book0')] + self._waypoints_idxs = [5, 11, -1] + self.register_graspable_objects(self._books) def init_episode(self, index: int) -> List[str]: - return ['put books on bookshelf', - 'pick up the books and place them on the top shelf', - 'stack the books up on the top shelf'] + self.register_success_conditions([ + DetectedCondition( + b, self._success_sensor) for b in self._books[:index+1] + ]) + self.register_stop_at_waypoint(self._waypoints_idxs[index]) + return ['put %d books on bookshelf' % (index + 1), + 'pick up %d books and place them on the top shelf' % (index + 1), + 'stack %d books up on the top shelf' % (index + 1)] def variation_count(self) -> int: - return 1 + return 3 def base_rotation_bounds(self) -> Tuple[List[float], List[float]]: return [0.0, 0.0, -3.14/2], [0.0, 0.0, 3.14/2] diff --git a/rlbench/tasks/put_bottle_in_fridge.py b/rlbench/tasks/put_bottle_in_fridge.py index 198fb7004..f4cbd6538 100644 --- a/rlbench/tasks/put_bottle_in_fridge.py +++ b/rlbench/tasks/put_bottle_in_fridge.py @@ -1,10 +1,12 @@ from typing import List, Tuple +import numpy as np from pyrep.objects.object import Object -from pyrep.objects.shape import Shape from pyrep.objects.proximity_sensor import ProximitySensor -from rlbench.backend.task import Task +from pyrep.objects.shape import Shape + from rlbench.backend.conditions import DetectedCondition, NothingGrasped +from rlbench.backend.task import Task class PutBottleInFridge(Task): @@ -32,4 +34,4 @@ def boundary_root(self) -> Object: def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]: - return (0.0, 0.0, -3.14/2), (0.0, 0.0, 3.14/2) + return (0.0, 0.0, -np.pi/4), (0.0, 0.0, np.pi/4) diff --git a/rlbench/tasks/stack_wine.py b/rlbench/tasks/stack_wine.py index 8e3e5e734..dd611515c 100644 --- a/rlbench/tasks/stack_wine.py +++ b/rlbench/tasks/stack_wine.py @@ -11,7 +11,8 @@ def init_task(self): wine_bottle = Shape('wine_bottle') self.register_graspable_objects([wine_bottle]) self.register_success_conditions( - [DetectedCondition(wine_bottle, ProximitySensor('success'))]) + [DetectedCondition(wine_bottle, ProximitySensor('success')), + NothingGrasped(self.robot.gripper)]) def init_episode(self, index: int) -> List[str]: return ['stack wine bottle', diff --git a/rlbench/tasks/take_toilet_roll_off_stand.py b/rlbench/tasks/take_toilet_roll_off_stand.py index 0be72830b..ae130fd87 100644 --- a/rlbench/tasks/take_toilet_roll_off_stand.py +++ b/rlbench/tasks/take_toilet_roll_off_stand.py @@ -1,8 +1,11 @@ -from typing import List -from pyrep.objects.shape import Shape +from typing import List, Tuple + +import numpy as np from pyrep.objects.proximity_sensor import ProximitySensor +from pyrep.objects.shape import Shape + +from rlbench.backend.conditions import DetectedCondition from rlbench.backend.task import Task -from rlbench.backend.conditions import DetectedCondition, NothingGrasped class TakeToiletRollOffStand(Task): @@ -12,8 +15,7 @@ def init_task(self) -> None: success_sensor = ProximitySensor('success') self.register_graspable_objects([roll]) self.register_success_conditions( - [DetectedCondition(roll, success_sensor, negated=True), - NothingGrasped(self.robot.gripper)]) + [DetectedCondition(roll, success_sensor, negated=True)]) def init_episode(self, index: int) -> List[str]: return ['take toilet roll off stand', @@ -27,3 +29,7 @@ def init_episode(self, index: int) -> List[str]: def variation_count(self) -> int: return 1 + + def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float], + Tuple[float, float, float]]: + return (0.0, 0.0, -np.pi), (0.0, 0.0, np.pi * 0.25) diff --git a/rlbench/tasks/tv_off.py b/rlbench/tasks/tv_off.py index 594e5ac48..a7e70b56d 100644 --- a/rlbench/tasks/tv_off.py +++ b/rlbench/tasks/tv_off.py @@ -10,17 +10,16 @@ class TvOff(Task): def init_task(self) -> None: - self.tv = Shape('tv_frame') - self.screen_off = Shape('tv_screen_off') - self.remote = Shape('tv_remote') - self.boundary = Shape('spawn_boundary') - self.condition = JointCondition(Joint('target_button_joint0'), 0.003) + self._remote = Shape('tv_remote') + self._spawn_boundary = SpawnBoundary([Shape('spawn_boundary')]) + self.register_graspable_objects([self._remote]) + self.register_success_conditions([ + JointCondition(Joint('target_button_joint0'), 0.003) + ]) def init_episode(self, index: int) -> List[str]: - self.register_success_conditions([self.condition]) - self.register_graspable_objects([self.remote]) - b = SpawnBoundary([self.boundary]) - b.sample(self.remote) + self._spawn_boundary.clear() + self._spawn_boundary.sample(self._remote) return ['turn off the TV', 'point the remote control at the television and turn off the ' 'television', @@ -34,12 +33,6 @@ def init_episode(self, index: int) -> List[str]: def variation_count(self) -> int: return 1 - def step(self) -> None: - if self.condition.condition_met() == (True, True): - self.screen_off.set_position([4*10**(-3), -2.3597*10**(-2), 5.2194*10**(-4)], - relative_to=self.tv, - reset_dynamics=False) - def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]: return (0.0, 0.0, -0.5*np.pi), (0.0, 0.0, +0.5 * np.pi) diff --git a/rlbench/tasks/tv_on.py b/rlbench/tasks/tv_on.py index 78d45bfad..7db676666 100644 --- a/rlbench/tasks/tv_on.py +++ b/rlbench/tasks/tv_on.py @@ -10,17 +10,16 @@ class TvOn(Task): def init_task(self) -> None: - self.tv = Shape('tv_frame') - self.screen_on = Shape('tv_screen_on') - self.remote = Shape('tv_remote') - self.boundary = Shape('spawn_boundary') - self.condition = JointCondition(Joint('target_button_joint0'), 0.003) + self._remote = Shape('tv_remote') + self._spawn_boundary = SpawnBoundary([Shape('spawn_boundary')]) + self.register_graspable_objects([self._remote]) + self.register_success_conditions([ + JointCondition(Joint('target_button_joint0'), 0.003) + ]) def init_episode(self, index: int) -> List[str]: - self.register_success_conditions([self.condition]) - self.register_graspable_objects([self.remote]) - b = SpawnBoundary([self.boundary]) - b.sample(self.remote) + self._spawn_boundary.clear() + self._spawn_boundary.sample(self._remote) return ['turn on the TV', 'point the remote control at the television and turn on the ' 'television', @@ -34,12 +33,6 @@ def init_episode(self, index: int) -> List[str]: def variation_count(self) -> int: return 1 - def step(self) -> None: - if self.condition.condition_met() == (True, True): - self.screen_on.set_position([0, -2.3597*10**(-2), 5.2194*10**(-4)], - relative_to=self.tv, - reset_dynamics=False) - def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]: return (0.0, 0.0, -0.5*np.pi), (0.0, 0.0, +0.5 * np.pi) diff --git a/rlbench/utils.py b/rlbench/utils.py index eb43a1669..57a92f917 100644 --- a/rlbench/utils.py +++ b/rlbench/utils.py @@ -6,11 +6,13 @@ import numpy as np from PIL import Image +from natsort import natsorted +from pyrep.objects import VisionSensor -from rlbench.observation_config import ObservationConfig from rlbench.backend.const import * from rlbench.backend.utils import image_to_float_array, rgb_handles_to_mask from rlbench.demo import Demo +from rlbench.observation_config import ObservationConfig class InvalidTaskName(Exception): @@ -38,7 +40,9 @@ def name_to_task_class(task_file: str): def get_stored_demos(amount: int, image_paths: bool, dataset_root: str, variation_number: int, task_name: str, - obs_config: ObservationConfig) -> List[Demo]: + obs_config: ObservationConfig, + random_selection: bool = True, + from_episode_number: int = 0) -> List[Demo]: task_root = join(dataset_root, task_name) if not exists(task_root): @@ -56,7 +60,11 @@ def get_stored_demos(amount: int, image_paths: bool, dataset_root: str, raise RuntimeError( 'You asked for %d examples, but only %d were available.' % ( amount, len(examples))) - selected_examples = np.random.choice(examples, amount, replace=False) + if random_selection: + selected_examples = np.random.choice(examples, amount, replace=False) + else: + selected_examples = natsorted( + examples)[from_episode_number:from_episode_number+amount] # Process these examples (e.g. loading observations) demos = [] @@ -71,6 +79,9 @@ def get_stored_demos(amount: int, image_paths: bool, dataset_root: str, r_sh_rgb_f = join(example_path, RIGHT_SHOULDER_RGB_FOLDER) r_sh_depth_f = join(example_path, RIGHT_SHOULDER_DEPTH_FOLDER) r_sh_mask_f = join(example_path, RIGHT_SHOULDER_MASK_FOLDER) + oh_rgb_f = join(example_path, OVERHEAD_RGB_FOLDER) + oh_depth_f = join(example_path, OVERHEAD_DEPTH_FOLDER) + oh_mask_f = join(example_path, OVERHEAD_MASK_FOLDER) wrist_rgb_f = join(example_path, WRIST_RGB_FOLDER) wrist_depth_f = join(example_path, WRIST_DEPTH_FOLDER) wrist_mask_f = join(example_path, WRIST_MASK_FOLDER) @@ -82,7 +93,8 @@ def get_stored_demos(amount: int, image_paths: bool, dataset_root: str, if not (num_steps == len(listdir(l_sh_rgb_f)) == len( listdir(l_sh_depth_f)) == len(listdir(r_sh_rgb_f)) == len( - listdir(r_sh_depth_f)) == len(listdir(wrist_rgb_f)) == len( + listdir(r_sh_depth_f)) == len(listdir(oh_rgb_f)) == len( + listdir(oh_depth_f)) == len(listdir(wrist_rgb_f)) == len( listdir(wrist_depth_f)) == len(listdir(front_rgb_f)) == len( listdir(front_depth_f))): raise RuntimeError('Broken dataset assumption') @@ -91,25 +103,31 @@ def get_stored_demos(amount: int, image_paths: bool, dataset_root: str, si = IMAGE_FORMAT % i if obs_config.left_shoulder_camera.rgb: obs[i].left_shoulder_rgb = join(l_sh_rgb_f, si) - if obs_config.left_shoulder_camera.depth: + if obs_config.left_shoulder_camera.depth or obs_config.left_shoulder_camera.point_cloud: obs[i].left_shoulder_depth = join(l_sh_depth_f, si) if obs_config.left_shoulder_camera.mask: obs[i].left_shoulder_mask = join(l_sh_mask_f, si) if obs_config.right_shoulder_camera.rgb: obs[i].right_shoulder_rgb = join(r_sh_rgb_f, si) - if obs_config.right_shoulder_camera.depth: + if obs_config.right_shoulder_camera.depth or obs_config.right_shoulder_camera.point_cloud: obs[i].right_shoulder_depth = join(r_sh_depth_f, si) if obs_config.right_shoulder_camera.mask: obs[i].right_shoulder_mask = join(r_sh_mask_f, si) + if obs_config.overhead_camera.rgb: + obs[i].overhead_rgb = join(oh_rgb_f, si) + if obs_config.overhead_camera.depth or obs_config.overhead_camera.point_cloud: + obs[i].overhead_depth = join(oh_depth_f, si) + if obs_config.overhead_camera.mask: + obs[i].overhead_mask = join(oh_mask_f, si) if obs_config.wrist_camera.rgb: obs[i].wrist_rgb = join(wrist_rgb_f, si) - if obs_config.wrist_camera.depth: + if obs_config.wrist_camera.depth or obs_config.wrist_camera.point_cloud: obs[i].wrist_depth = join(wrist_depth_f, si) if obs_config.wrist_camera.mask: obs[i].wrist_mask = join(wrist_mask_f, si) if obs_config.front_camera.rgb: obs[i].front_rgb = join(front_rgb_f, si) - if obs_config.front_camera.depth: + if obs_config.front_camera.depth or obs_config.front_camera.point_cloud: obs[i].front_depth = join(front_depth_f, si) if obs_config.front_camera.mask: obs[i].front_mask = join(front_mask_f, si) @@ -144,6 +162,11 @@ def get_stored_demos(amount: int, image_paths: bool, dataset_root: str, _resize_if_needed(Image.open( obs[i].right_shoulder_rgb), obs_config.right_shoulder_camera.image_size)) + if obs_config.overhead_camera.rgb: + obs[i].overhead_rgb = np.array( + _resize_if_needed(Image.open( + obs[i].overhead_rgb), + obs_config.overhead_camera.image_size)) if obs_config.wrist_camera.rgb: obs[i].wrist_rgb = np.array( _resize_if_needed( @@ -155,30 +178,106 @@ def get_stored_demos(amount: int, image_paths: bool, dataset_root: str, Image.open(obs[i].front_rgb), obs_config.front_camera.image_size)) - if obs_config.left_shoulder_camera.depth: - obs[i].left_shoulder_depth = image_to_float_array( + if obs_config.left_shoulder_camera.depth or obs_config.left_shoulder_camera.point_cloud: + l_sh_depth = image_to_float_array( _resize_if_needed( Image.open(obs[i].left_shoulder_depth), obs_config.left_shoulder_camera.image_size), DEPTH_SCALE) - if obs_config.right_shoulder_camera.depth: - obs[i].right_shoulder_depth = image_to_float_array( + near = obs[i].misc['left_shoulder_camera_near'] + far = obs[i].misc['left_shoulder_camera_far'] + l_sh_depth_m = near + l_sh_depth * (far - near) + if obs_config.left_shoulder_camera.depth: + d = l_sh_depth_m if obs_config.left_shoulder_camera.depth_in_meters else l_sh_depth + obs[i].left_shoulder_depth = obs_config.left_shoulder_camera.depth_noise.apply(d) + else: + obs[i].left_shoulder_depth = None + + if obs_config.right_shoulder_camera.depth or obs_config.right_shoulder_camera.point_cloud: + r_sh_depth = image_to_float_array( _resize_if_needed( Image.open(obs[i].right_shoulder_depth), obs_config.right_shoulder_camera.image_size), DEPTH_SCALE) - if obs_config.wrist_camera.depth: - obs[i].wrist_depth = image_to_float_array( + near = obs[i].misc['right_shoulder_camera_near'] + far = obs[i].misc['right_shoulder_camera_far'] + r_sh_depth_m = near + r_sh_depth * (far - near) + if obs_config.right_shoulder_camera.depth: + d = r_sh_depth_m if obs_config.right_shoulder_camera.depth_in_meters else r_sh_depth + obs[i].right_shoulder_depth = obs_config.right_shoulder_camera.depth_noise.apply(d) + else: + obs[i].right_shoulder_depth = None + + if obs_config.overhead_camera.depth or obs_config.overhead_camera.point_cloud: + oh_depth = image_to_float_array( + _resize_if_needed( + Image.open(obs[i].overhead_depth), + obs_config.overhead_camera.image_size), + DEPTH_SCALE) + near = obs[i].misc['overhead_camera_near'] + far = obs[i].misc['overhead_camera_far'] + oh_depth_m = near + oh_depth * (far - near) + if obs_config.overhead_camera.depth: + d = oh_depth_m if obs_config.overhead_camera.depth_in_meters else oh_depth + obs[i].overhead_depth = obs_config.overhead_camera.depth_noise.apply(d) + else: + obs[i].overhead_depth = None + + if obs_config.wrist_camera.depth or obs_config.wrist_camera.point_cloud: + wrist_depth = image_to_float_array( _resize_if_needed( Image.open(obs[i].wrist_depth), obs_config.wrist_camera.image_size), DEPTH_SCALE) - if obs_config.front_camera.depth: - obs[i].front_depth = image_to_float_array( + near = obs[i].misc['wrist_camera_near'] + far = obs[i].misc['wrist_camera_far'] + wrist_depth_m = near + wrist_depth * (far - near) + if obs_config.wrist_camera.depth: + d = wrist_depth_m if obs_config.wrist_camera.depth_in_meters else wrist_depth + obs[i].wrist_depth = obs_config.wrist_camera.depth_noise.apply(d) + else: + obs[i].wrist_depth = None + + if obs_config.front_camera.depth or obs_config.front_camera.point_cloud: + front_depth = image_to_float_array( _resize_if_needed( Image.open(obs[i].front_depth), obs_config.front_camera.image_size), DEPTH_SCALE) + near = obs[i].misc['front_camera_near'] + far = obs[i].misc['front_camera_far'] + front_depth_m = near + front_depth * (far - near) + if obs_config.front_camera.depth: + d = front_depth_m if obs_config.front_camera.depth_in_meters else front_depth + obs[i].front_depth = obs_config.front_camera.depth_noise.apply(d) + else: + obs[i].front_depth = None + + if obs_config.left_shoulder_camera.point_cloud: + obs[i].left_shoulder_point_cloud = VisionSensor.pointcloud_from_depth_and_camera_params( + l_sh_depth_m, + obs[i].misc['left_shoulder_camera_extrinsics'], + obs[i].misc['left_shoulder_camera_intrinsics']) + if obs_config.right_shoulder_camera.point_cloud: + obs[i].right_shoulder_point_cloud = VisionSensor.pointcloud_from_depth_and_camera_params( + r_sh_depth_m, + obs[i].misc['right_shoulder_camera_extrinsics'], + obs[i].misc['right_shoulder_camera_intrinsics']) + if obs_config.overhead_camera.point_cloud: + obs[i].overhead_point_cloud = VisionSensor.pointcloud_from_depth_and_camera_params( + oh_depth_m, + obs[i].misc['overhead_camera_extrinsics'], + obs[i].misc['overhead_camera_intrinsics']) + if obs_config.wrist_camera.point_cloud: + obs[i].wrist_point_cloud = VisionSensor.pointcloud_from_depth_and_camera_params( + wrist_depth_m, + obs[i].misc['wrist_camera_extrinsics'], + obs[i].misc['wrist_camera_intrinsics']) + if obs_config.front_camera.point_cloud: + obs[i].front_point_cloud = VisionSensor.pointcloud_from_depth_and_camera_params( + front_depth_m, + obs[i].misc['front_camera_extrinsics'], + obs[i].misc['front_camera_intrinsics']) # Masks are stored as coded RGB images. # Here we transform them into 1 channel handles. @@ -192,6 +291,11 @@ def get_stored_demos(amount: int, image_paths: bool, dataset_root: str, np.array(_resize_if_needed(Image.open( obs[i].right_shoulder_mask), obs_config.right_shoulder_camera.image_size))) + if obs_config.overhead_camera.mask: + obs[i].overhead_mask = rgb_handles_to_mask( + np.array(_resize_if_needed(Image.open( + obs[i].overhead_mask), + obs_config.overhead_camera.image_size))) if obs_config.wrist_camera.mask: obs[i].wrist_mask = rgb_handles_to_mask(np.array( _resize_if_needed(Image.open( diff --git a/tests/demos/test_demos.py b/tests/demos/test_demos.py index 79fbc0ef2..f7198466f 100644 --- a/tests/demos/test_demos.py +++ b/tests/demos/test_demos.py @@ -17,7 +17,7 @@ DIR_PATH = os.path.dirname(os.path.abspath(__file__)) # Task does work, but fails demos often. These should eventually be improved. -FLAKY_TASKS = ['put_all_groceries_in_cupboard', 'get_ice_from_fridge'] +FLAKY_TASKS = ['put_all_groceries_in_cupboard'] class TestTasks(unittest.TestCase): diff --git a/tests/unit/assets/tasks/reach_target/variation0/episodes/episode0/front_depth/0.png b/tests/unit/assets/tasks/reach_target/variation0/episodes/episode0/front_depth/0.png index 84d4408d8..c20cb43ff 100644 Binary files a/tests/unit/assets/tasks/reach_target/variation0/episodes/episode0/front_depth/0.png and b/tests/unit/assets/tasks/reach_target/variation0/episodes/episode0/front_depth/0.png differ diff --git a/tests/unit/assets/tasks/reach_target/variation0/episodes/episode0/front_depth/1.png b/tests/unit/assets/tasks/reach_target/variation0/episodes/episode0/front_depth/1.png index a8226e520..95f9fc189 100644 Binary files a/tests/unit/assets/tasks/reach_target/variation0/episodes/episode0/front_depth/1.png and 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differ diff --git a/tests/unit/test_domain_randomization_environment.py b/tests/unit/test_domain_randomization_environment.py index dfdc3be31..ee6dc6e15 100644 --- a/tests/unit/test_domain_randomization_environment.py +++ b/tests/unit/test_domain_randomization_environment.py @@ -41,11 +41,11 @@ def test_visual_randomize_every_2_episodes(self): # obs1 and obs2 should be almost identical self.assertLess( np.mean(np.abs(obs1.right_shoulder_rgb - obs2.right_shoulder_rgb)), - 0.05) + 5) # obs2 and obs3 should be very different self.assertGreater( np.mean(np.abs(obs2.right_shoulder_rgb - obs3.right_shoulder_rgb)), - 0.05) + 5) def test_visual_randomize_every_2_transitions(self): visual_config = VisualRandomizationConfig(ASSET_DIR) @@ -58,8 +58,8 @@ def test_visual_randomize_every_2_transitions(self): # obs1 and obs2 should be almost identical self.assertLess( np.mean(np.abs(obs1.right_shoulder_rgb - obs2.right_shoulder_rgb)), - 0.05) + 5) # obs2 and obs3 should be very different self.assertGreater( np.mean(np.abs(obs2.right_shoulder_rgb - obs3.right_shoulder_rgb)), - 0.05) + 5) diff --git a/tests/unit/test_environment.py b/tests/unit/test_environment.py index 2825e5686..9caa0536c 100644 --- a/tests/unit/test_environment.py +++ b/tests/unit/test_environment.py @@ -23,6 +23,7 @@ def get_task(self, task_class, arm_action_mode, obs_config=None): obs_config.set_all(False) obs_config.set_all_low_dim(True) obs_config.right_shoulder_camera.rgb = True + obs_config.left_shoulder_camera.point_cloud = True action_mode = ActionMode(arm_action_mode) self.env = environment.Environment( action_mode, ASSET_DIR, obs_config, headless=True) @@ -47,6 +48,7 @@ def test_get_all_camera_observations(self): obs_config = ObservationConfig() obs_config.left_shoulder_camera.rgb = True obs_config.right_shoulder_camera.rgb = True + obs_config.overhead_camera.rgb = True obs_config.front_camera.rgb = True obs_config.wrist_camera.rgb = True task = self.get_task( @@ -54,6 +56,7 @@ def test_get_all_camera_observations(self): desc, obs = task.reset() self.assertIsNotNone(obs.left_shoulder_rgb) self.assertIsNotNone(obs.right_shoulder_rgb) + self.assertIsNotNone(obs.overhead_rgb) self.assertIsNotNone(obs.front_rgb) self.assertIsNotNone(obs.wrist_rgb) @@ -90,6 +93,7 @@ def test_get_stored_demos_images(self): self.assertGreater(len(demos[0]), 0) self.assertIsInstance(demos[0][0].right_shoulder_rgb, np.ndarray) self.assertIsNone(demos[0][0].left_shoulder_rgb) + self.assertIsInstance(demos[0][0].left_shoulder_point_cloud, np.ndarray) def test_get_stored_demos_images_without_init_sim(self): obs_config = ObservationConfig() diff --git a/tests/unit/test_scene.py b/tests/unit/test_scene.py index 734e1c5b3..37c113ac1 100644 --- a/tests/unit/test_scene.py +++ b/tests/unit/test_scene.py @@ -46,8 +46,8 @@ def test_sensor_noise_images(self): np.array_equal(obs1.right_shoulder_rgb, obs2.right_shoulder_rgb)) self.assertFalse( np.array_equal(obs1.left_shoulder_rgb, obs2.left_shoulder_rgb)) - self.assertTrue(obs1.left_shoulder_rgb.max() <= 1.0) - self.assertTrue(obs1.left_shoulder_rgb.min() >= 0.0) + self.assertTrue(obs1.left_shoulder_rgb.max() <= 255) + self.assertTrue(obs1.left_shoulder_rgb.min() >= 0) def test_sensor_noise_robot(self): obs_config = ObservationConfig( diff --git a/tools/dataset_generator.py b/tools/dataset_generator.py index 2cfeaaf39..e855d5e5b 100644 --- a/tools/dataset_generator.py +++ b/tools/dataset_generator.py @@ -58,6 +58,12 @@ def save_demo(demo, example_path): example_path, RIGHT_SHOULDER_DEPTH_FOLDER) right_shoulder_mask_path = os.path.join( example_path, RIGHT_SHOULDER_MASK_FOLDER) + overhead_rgb_path = os.path.join( + example_path, OVERHEAD_RGB_FOLDER) + overhead_depth_path = os.path.join( + example_path, OVERHEAD_DEPTH_FOLDER) + overhead_mask_path = os.path.join( + example_path, OVERHEAD_MASK_FOLDER) wrist_rgb_path = os.path.join(example_path, WRIST_RGB_FOLDER) wrist_depth_path = os.path.join(example_path, WRIST_DEPTH_FOLDER) wrist_mask_path = os.path.join(example_path, WRIST_MASK_FOLDER) @@ -71,6 +77,9 @@ def save_demo(demo, example_path): check_and_make(right_shoulder_rgb_path) check_and_make(right_shoulder_depth_path) check_and_make(right_shoulder_mask_path) + check_and_make(overhead_rgb_path) + check_and_make(overhead_depth_path) + check_and_make(overhead_mask_path) check_and_make(wrist_rgb_path) check_and_make(wrist_depth_path) check_and_make(wrist_mask_path) @@ -79,25 +88,26 @@ def save_demo(demo, example_path): check_and_make(front_mask_path) for i, obs in enumerate(demo): - left_shoulder_rgb = Image.fromarray( - (obs.left_shoulder_rgb * 255).astype(np.uint8)) + left_shoulder_rgb = Image.fromarray(obs.left_shoulder_rgb) left_shoulder_depth = utils.float_array_to_rgb_image( obs.left_shoulder_depth, scale_factor=DEPTH_SCALE) left_shoulder_mask = Image.fromarray( (obs.left_shoulder_mask * 255).astype(np.uint8)) - right_shoulder_rgb = Image.fromarray( - (obs.right_shoulder_rgb * 255).astype(np.uint8)) + right_shoulder_rgb = Image.fromarray(obs.right_shoulder_rgb) right_shoulder_depth = utils.float_array_to_rgb_image( obs.right_shoulder_depth, scale_factor=DEPTH_SCALE) right_shoulder_mask = Image.fromarray( (obs.right_shoulder_mask * 255).astype(np.uint8)) - - wrist_rgb = Image.fromarray((obs.wrist_rgb * 255).astype(np.uint8)) + overhead_rgb = Image.fromarray(obs.overhead_rgb) + overhead_depth = utils.float_array_to_rgb_image( + obs.overhead_depth, scale_factor=DEPTH_SCALE) + overhead_mask = Image.fromarray( + (obs.overhead_mask * 255).astype(np.uint8)) + wrist_rgb = Image.fromarray(obs.wrist_rgb) wrist_depth = utils.float_array_to_rgb_image( obs.wrist_depth, scale_factor=DEPTH_SCALE) wrist_mask = Image.fromarray((obs.wrist_mask * 255).astype(np.uint8)) - - front_rgb = Image.fromarray((obs.front_rgb * 255).astype(np.uint8)) + front_rgb = Image.fromarray(obs.front_rgb) front_depth = utils.float_array_to_rgb_image( obs.front_depth, scale_factor=DEPTH_SCALE) front_mask = Image.fromarray((obs.front_mask * 255).astype(np.uint8)) @@ -114,6 +124,12 @@ def save_demo(demo, example_path): os.path.join(right_shoulder_depth_path, IMAGE_FORMAT % i)) right_shoulder_mask.save( os.path.join(right_shoulder_mask_path, IMAGE_FORMAT % i)) + overhead_rgb.save( + os.path.join(overhead_rgb_path, IMAGE_FORMAT % i)) + overhead_depth.save( + os.path.join(overhead_depth_path, IMAGE_FORMAT % i)) + overhead_mask.save( + os.path.join(overhead_mask_path, IMAGE_FORMAT % i)) wrist_rgb.save(os.path.join(wrist_rgb_path, IMAGE_FORMAT % i)) wrist_depth.save(os.path.join(wrist_depth_path, IMAGE_FORMAT % i)) wrist_mask.save(os.path.join(wrist_mask_path, IMAGE_FORMAT % i)) @@ -124,15 +140,23 @@ def save_demo(demo, example_path): # We save the images separately, so set these to None for pickling. obs.left_shoulder_rgb = None obs.left_shoulder_depth = None + obs.left_shoulder_point_cloud = None obs.left_shoulder_mask = None obs.right_shoulder_rgb = None obs.right_shoulder_depth = None + obs.right_shoulder_point_cloud = None obs.right_shoulder_mask = None + obs.overhead_rgb = None + obs.overhead_depth = None + obs.overhead_point_cloud = None + obs.overhead_mask = None obs.wrist_rgb = None obs.wrist_depth = None + obs.wrist_point_cloud = None obs.wrist_mask = None obs.front_rgb = None obs.front_depth = None + obs.front_point_cloud = None obs.front_mask = None # Save the low-dimension data @@ -154,17 +178,28 @@ def run(i, lock, task_index, variation_count, results, file_lock, tasks): obs_config.set_all(True) obs_config.right_shoulder_camera.image_size = img_size obs_config.left_shoulder_camera.image_size = img_size + obs_config.overhead_camera.image_size = img_size obs_config.wrist_camera.image_size = img_size obs_config.front_camera.image_size = img_size + + # Store depth as 0 - 1 + obs_config.right_shoulder_camera.depth_in_meters = False + obs_config.left_shoulder_camera.depth_in_meters = False + obs_config.overhead_camera.depth_in_meters = False + obs_config.wrist_camera.depth_in_meters = False + obs_config.front_camera.depth_in_meters = False + # We want to save the masks as rgb encodings. obs_config.left_shoulder_camera.masks_as_one_channel = False obs_config.right_shoulder_camera.masks_as_one_channel = False + obs_config.overhead_camera.masks_as_one_channel = False obs_config.wrist_camera.masks_as_one_channel = False obs_config.front_camera.masks_as_one_channel = False if FLAGS.renderer == 'opengl': obs_config.right_shoulder_camera.render_mode = RenderMode.OPENGL obs_config.left_shoulder_camera.render_mode = RenderMode.OPENGL + obs_config.overhead_camera.render_mode = RenderMode.OPENGL obs_config.wrist_camera.render_mode = RenderMode.OPENGL obs_config.front_camera.render_mode = RenderMode.OPENGL @@ -204,9 +239,6 @@ def run(i, lock, task_index, variation_count, results, file_lock, tasks): break t = tasks[task_index.value] - print('Process', i, 'collecting task:', task_env.get_name(), - '// variation:', my_variation_count) - task_env = rlbench_env.get_task(t) task_env.set_variation(my_variation_count) obs, descriptions = task_env.reset() @@ -226,6 +258,8 @@ def run(i, lock, task_index, variation_count, results, file_lock, tasks): abort_variation = False for ex_idx in range(FLAGS.episodes_per_task): + print('Process', i, '// Task:', task_env.get_name(), + '// Variation:', my_variation_count, '// Demo:', ex_idx) attempts = 10 while attempts > 0: try: diff --git a/tools/task_builder.py b/tools/task_builder.py index 6483945c0..b01c7044d 100644 --- a/tools/task_builder.py +++ b/tools/task_builder.py @@ -237,6 +237,7 @@ def rename(self): obs_config.set_all(False) obs_config.right_shoulder_camera = cam_config obs_config.left_shoulder_camera = cam_config + obs_config.overhead_camera = cam_config obs_config.wrist_camera = cam_config obs_config.front_camera = cam_config @@ -261,7 +262,7 @@ def rename(self): print('(v) for task variation.') print('(e) for episode of same variation.') print('(d) for demo.') - print('(p) for running the sim for 100 steps.') + print('(p) for running the sim for 100 steps (with rendering).') else: print('(!) to run task validator.') print('(+) run the simulator') @@ -279,7 +280,7 @@ def rename(self): pr.stop() pr.step_ui() elif inp == 'p': - [pr.step() for _ in range(100)] + [(pr.step(), scene.get_observation()) for _ in range(100)] elif inp == 'd': loaded_task.new_demo() elif inp == 'v': diff --git a/tutorials/complex_task.md b/tutorials/complex_task.md index 63812cb0c..857784d43 100644 --- a/tutorials/complex_task.md +++ b/tutorials/complex_task.md @@ -17,7 +17,7 @@ In addition to the features common to all tasks, this task will need to excute t ## A note on Grasping and Physics in V-Rep It is worth discussing here how the Panda grasps objects in the simulator, and how this differs from how a human hand would grasp in the real world. Rather than rely on friction and reactionary force as a person would when picking something up, RLBench and PyRep simplify physics calculations (and thus speed up and smooth out simulation) by making any object upon which the Panda's gripper closes on a child of the Panda tip, as long as said object has been registered as graspable in the python file. This keeps the object's pose stationary relative to the Panda tip while it is grasped, and the object is released from this relationship when it is returned to its original place in the Scene Hierarchy tree upon the re-opening of the gripper. This can even be noticed in the animation of empty_container above; see the objects labeled 'Shape' followed by a number dissapear from view in the scene hierarchy when grasped (in actual fact they are still there, but are moved to into a node of the Panda's collapsed sub-tree) and re-appear when dropped. -Note then that what matters for grasping, and for the entire task, is not that every physical property of every object matches exactly what it would be in real life, but that succesfully completed demos behave in such a way that a model could theoretically learn how some of these common items would behave in common tasks. In practice it is okay for a small item that might have a mass of 0.1kg in real life to have its mass set to 0.5 or 5kg in the simulation, as long as the task environment is reflective of the actions and interactions that would be happening in real life. Some objects, like the hanger in the *move_hanger* task, will have a certain 'visual' object as a child of a similar, more simple 'physical' object that is set to invisible (by inverting its camera visibility layers - more on this later) in order to speed up the task. This is done because having every object in a simulation be either a simple, non-convex shape or a grouping of such massively simplifies the calculations performed by the physics engine, helping to eradicate buggy and unrealistic behaviours which you may otherwise encounter. +Note then that what matters for grasping, and for the entire task, is not that every physical property of every object matches exactly what it would be in real life, but that succesfully completed demos behave in such a way that a model could theoretically learn how some of these common items would behave in common tasks. In practice it is okay for a small item that might have a mass of 0.1kg in real life to have its mass set to 0.5 or 5kg in the simulation, as long as the task environment is reflective of the actions and interactions that would be happening in real life. Some objects, like the hanger in the *move_hanger* task, will have a certain 'visual' object as a child of a similar, more simple 'physical' object that is set to invisible (by inverting its camera visibility layers - more on this later) in order to speed up the task. This is done because having every object in a simulation be either a simple, convex shape or a grouping of such massively simplifies the calculations performed by the physics engine, helping to eradicate buggy and unrealistic behaviours which you may otherwise encounter. Workarounds are sometimes useful, and do not necessarily impact the quality of the task and its contribution to the data set. For example, when creating the peppers in weighing_scales, it was found that they would naturally slide towards one direction when left alone on a flat surface, as if that surface was somehow tilted. Adding an 'invisible' block to the base of the peppers increased their surface area and stopped this from happening without affecting the quality of either (a) the visual information available to the panda throughout the task or (b) the actions the Panda would take to succesfully complete it. You will likely encounter unrealistic and frustrating behaviors of objects in the physics simulator at some point - look at existing tasks to inspire creative workarounds that maintain the high quality of this dataset. @@ -58,7 +58,7 @@ Now we will group each of the large_container objects together in order to end u Rename the resulting grouped object to *large_container*. Set all 4 of its *Object special properties*, and ensure that it is set to to *Respondabl* but not *Dynamic* by clicking on *Show dynamic properties* under the *Common* tab of the Scene Object Properties dialog. #### A note on Grouping and Merging -Both grouping and merging allow us to treat a collection of objects as a single object, but there are some key distinctions between the two actions which will affect how we choose which action to use. As previously mentioned, the physics engine runs far faster and smoother when all shapes for which it makes calculations are non-convex. If a *merge* would result in a non-convex object being created, potential problems arise. Merging does, however, have the advantage of creating a tighter coupling between objects for the purpose of dynamic motion, ie motion that occurs as a result of physical laws like gravity as opposed to motion that is the direct result of scene manipulation, such as if the Panda were to grasp and move an object. This means that any grouping of objects will not preserve the relative poses of the grouped objects. For example, if we had instead created a mug object by grouping a mug body and handle and then attempted to pick up the mug by its handle, it would come detached from the body, as if they were never actually connected. In this case a merging would result in a non-convex shape, so we could instead make the mug body a child of the handle and hope that the body never has a force applied onto it that is not also applied to the handle (the mug body remains stationary relative to the handle when the handle is moved because of parent-child relationship but the reverse relationship would not hold!), or better yet find a way to create the mug as a single non-convex object (more on this in another document). +Both grouping and merging allow us to treat a collection of objects as a single object, but there are some key distinctions between the two actions which will affect how we choose which action to use. As previously mentioned, the physics engine runs far faster and smoother when all shapes for which it makes calculations are convex. If a *merge* would result in a non-convex object being created, potential problems arise. Merging does, however, have the advantage of creating a tighter coupling between objects for the purpose of dynamic motion, ie motion that occurs as a result of physical laws like gravity as opposed to motion that is the direct result of scene manipulation, such as if the Panda were to grasp and move an object. This means that any grouping of objects will not preserve the relative poses of the grouped objects. For example, if we had instead created a mug object by grouping a mug body and handle and then attempted to pick up the mug by its handle, it would come detached from the body, as if they were never actually connected. In this case a merging would result in a non-convex shape, so we could instead make the mug body a child of the handle and hope that the body never has a force applied onto it that is not also applied to the handle (the mug body remains stationary relative to the handle when the handle is moved because of parent-child relationship but the reverse relationship would not hold!), or better yet find a way to create the mug as a single convex object (more on this in another document). That said, these problems only apply if such objects are made *dynamic*, only then can external forces other than the actions of the Panda and forces resulting from an object collision act on our objects in the V-Rep simulator. All containers to be added in this task will have their dynamic properties turned off, meaning that their pose will stay static unless an object in the scene were to do work on it, which it will not. You will however, need to ensure they are set to *Respondable*. As such, either grouping or merging would work just fine here and only actually serve the purpose of allowing us to treat the container as a single object in both the V-Rep scene and the Python File.