93 lines
4.2 KiB
Python
93 lines
4.2 KiB
Python
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from .base_task import Base_task
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from .utils import *
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import sapien
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import math
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class block_handover(Base_task):
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def setup_demo(self,**kwags):
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super()._init(**kwags)
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self.create_table_and_wall()
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self.load_robot()
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self.setup_planner()
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self.load_camera(kwags.get('camera_w', 640),kwags.get('camera_h', 480))
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self.pre_move()
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self.load_actors(f"./task_config/scene_info/{self.task_name[4:]}.json")
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self.step_lim = 600
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def pre_move(self):
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render_freq = self.render_freq
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self.render_freq=0
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self.together_open_gripper(save_freq=None)
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self.render_freq = render_freq
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def create_target_block_data(self, half_size):
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contact_discription_list = []
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test_matrix = np.array([[0,0,1,0],[1,0,0,0],[0,1,0,0],[0,0,0,1]])
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test_matrix[:3,:3] = t3d.euler.euler2mat(0,0,np.pi) @ test_matrix[:3,:3]
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contact_points_list = []
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data = {
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'center': [0,0,0],
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'extents': half_size,
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'scale': [1,1,1], # 缩放
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'target_pose': [[[1,0,0,0],[0,1,0,0],[0,0,1,half_size[2]],[0,0,0,1]]], # 目标点矩阵
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'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个）
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'transform_matrix': np.eye(4).tolist(), # 模型到标轴的旋转矩阵
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"functional_matrix": [], # 功能点矩阵
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'contact_points_discription': contact_discription_list, # 抓取点描述
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'contact_points_group': [],
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'contact_points_mask': [],
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'target_point_discription': ["The center point on the bottom of the box."]
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}
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return data
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def create_grasp_block_data(self, half_size):
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contact_discription_list = []
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contact_points_list = [
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[[0, 0, 1, 0], [0, -1, 0, 0], [1, 0, 0, 0.05], [0, 0, 0, 1]], # front
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[[0, 1, 0, 0], [0, 0, 1, 0], [1, 0, 0, 0.05], [0, 0, 0, 1]], # left
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[[0, -1, 0, 0], [0, 0, -1, 0], [1, 0, 0, 0.05], [0, 0, 0, 1]], # right
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[[0, 0, -1, 0], [0, 1, 0, 0], [1, 0, 0, 0.05], [0, 0, 0, 1]], # back
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[[0, 0, 1, 0], [0, -1, 0, 0], [1, 0, 0, -0.05], [0, 0, 0, 1]], # front
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[[0, 1, 0, 0], [0, 0, 1, 0], [1, 0, 0, -0.05], [0, 0, 0, 1]], # left
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[[0, -1, 0, 0], [0, 0, -1, 0], [1, 0, 0, -0.05], [0, 0, 0, 1]], # right
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[[0, 0, -1, 0], [0, 1, 0, 0], [1, 0, 0, -0.05], [0, 0, 0, 1]], # back
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]
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functional_matrix = np.eye(4)
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functional_matrix[:3,:3] = t3d.euler.euler2mat(np.pi,0,0)
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functional_matrix[:3,3] = np.array([0,0,-half_size[2]])
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data = {
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'center': [0,0,0],
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'extents': half_size,
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'scale': [1,1,1], # scale
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'target_pose': [[[1,0,0,0],[0,1,0,0],[0,0,1,-half_size[2]],[0,0,0,1]]], # traget points matrix
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'contact_points_pose' : contact_points_list, # contact points matrix list
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'transform_matrix': np.eye(4).tolist(), # transform matrix
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"functional_matrix": [functional_matrix.tolist()], # functional points matrix
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'contact_points_discription': contact_discription_list, # contact points discription
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'contact_points_group': [[0, 1, 2, 3], [4, 5, 6, 7]],
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'contact_points_mask': [True, True],
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'target_point_discription': ["The center point on the bottom of the block."]
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}
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return data
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def play_once(self):
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pass
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def check_success(self):
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grasp_block = self.actor_name_dic['grasp_block']
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target_block = self.actor_name_dic['target_block']
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box_pos = grasp_block.get_pose().p
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target_pose = target_block.get_pose().p
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if box_pos[2] < 0.78:
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self.actor_pose = False
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eps = 0.02
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right_endpose = self.get_right_endpose_pose()
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endpose_target_pose = [0.241,-0.129,0.889,0,-0.7,-0.71,0]
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return abs(box_pos[0] - target_pose[0]) < eps and abs(box_pos[1] - target_pose[1]) < eps and abs(box_pos[2] - 0.85) < 0.0015 and self.is_right_gripper_open() |