import re,os from kivy.lang import Builder import numpy as np import torch import torch.nn as nn import pybullet as p from panda3d_kivy.mdapp import MDApp from direct.gui.DirectGui import * from panda3d.core import AmbientLight, DirectionalLight, Spotlight, PerspectiveLens import math import imageio import time from surrol.gui.scene import Scene, GymEnvScene from surrol.gui.application import Application, ApplicationConfig from surrol.tasks.ecm_misorient import MisOrient from surrol.tasks.ecm_reach import ECMReach from surrol.tasks.ecm_active_track import ActiveTrack from surrol.tasks.ecm_static_track import StaticTrack from surrol.tasks.gauze_retrieve import GauzeRetrieve from surrol.tasks.needle_reach import NeedleReach from surrol.tasks.needle_pick import NeedlePick from surrol.tasks.peg_board import PegBoard from surrol.tasks.peg_board_bimanual import BiPegBoard from surrol.tasks.peg_transfer import PegTransfer from surrol.tasks.peg_transfer_RL import PegTransferRL from surrol.tasks.needle_regrasp_bimanual import NeedleRegrasp from surrol.tasks.peg_transfer_bimanual import BiPegTransfer from surrol.tasks.pick_and_place import PickAndPlace from surrol.tasks.match_board import MatchBoard from surrol.tasks.match_board_ii import MatchBoardII from surrol.tasks.needle_the_rings import NeedleRings # from surrol.tasks.match_board_ii import BiMatchBoard from surrol.tasks.ecm_env import EcmEnv, goal_distance,reset_camera from surrol.robots.ecm import RENDER_HEIGHT, RENDER_WIDTH, FoV from surrol.robots.ecm import Ecm from haptic_src.touch_haptic import initTouch_right, closeTouch_right, getDeviceAction_right, startScheduler, stopScheduler from haptic_src.touch_haptic import initTouch_left, closeTouch_left, getDeviceAction_left from direct.task import Task from surrol.utils.pybullet_utils import step from rl.agents.goal_conditioned_decision_transformer import GoalConditionedDecisionTransformer from rl.utils.surrol_data import SurRoLDataset app = None hint_printed = False resetFlag = False def open_scene(id): global app, hint_printed,resetFlag scene = None menu_dict = {0:StartPage(),1:ECMPage(),2:NeedlePage(),3:PegPage(),4:PickPlacePage()} task_list =[NeedlePick,PegTransfer,NeedleRegrasp,BiPegTransfer,PickAndPlace,BiPegBoard,NeedleRings,MatchBoard,ECMReach,MisOrient,StaticTrack,ActiveTrack,NeedleReach,GauzeRetrieve] bimanual_list=[9,10,11,12,16,17,18] if id < 5: scene = menu_dict[id] elif id in bimanual_list: jaws=[1.0, 1.0] if id==9 or id==10 else [1.0,1.0] scene = SurgicalSimulatorBimanual(task_list[(id-5)//2], {'render_mode': 'human'}, jaw_states=jaws,id=id) if id %2==1 and id!=9 else \ SurgicalSimulatorBimanual(task_list[(id-5)//2], {'render_mode': 'human'}, jaw_states=jaws,id=id,demo=1) else: if id ==15: scene = SurgicalSimulator(PegBoard,{'render_mode': 'human'},id) elif id ==8: scene = SurgicalSimulator(PegTransferRL,{'render_mode': 'human'},id,demo=1) elif id ==6: scene = SurgicalSimulator(NeedlePick,{'render_mode': 'human'},id,demo=1) else: scene = SurgicalSimulator(task_list[(id-5)//2],{'render_mode': 'human'},id) if id%2==1 else\ SurgicalSimulator(task_list[(id-5)//2],{'render_mode': 'human'},id,demo=1) # if id == 0: # scene = StartPage() # elif id == 1: # scene = ECMPage() # elif id == 2: # scene = NeedlePage() # elif id == 3: # scene = PegPage() # elif id == 4: # scene = PickPlacePage() # elif id == 5: # scene = SurgicalSimulator(NeedlePick, {'render_mode': 'human'},id) # elif id == 6: # scene = SurgicalSimulator(NeedlePick, {'render_mode': 'human'},id,demo=1) # elif id == 7: # scene = SurgicalSimulator(PegTransfer, {'render_mode': 'human'},id) # elif id == 8: # scene = SurgicalSimulator(PegTransfer, {'render_mode': 'human'},id,demo=1) # elif id == 9: # scene = SurgicalSimulatorBimanual(NeedleRegrasp, {'render_mode': 'human'}, jaw_states=[1.0, -0.5],id=id) # elif id == 10: # scene = SurgicalSimulatorBimanual(NeedleRegrasp, {'render_mode': 'human'}, jaw_states=[1.0, -0.5],id=id,demo=1) # elif id == 11: # scene = SurgicalSimulatorBimanual(BiPegTransfer, {'render_mode': 'human'}, jaw_states=[1.0, 1.0],id=id) # elif id == 12: # scene = SurgicalSimulatorBimanual(BiPegTransfer, {'render_mode': 'human'}, jaw_states=[1.0, 1.0],id=id,demo=1) # elif id == 13: # scene = SurgicalSimulator(PickAndPlace, {'render_mode': 'human'},id) # elif id == 14: # scene = SurgicalSimulator(PickAndPlace, {'render_mode': 'human'},id,demo=1) # elif id == 15: # scene = SurgicalSimulator(PegBoard, {'render_mode': 'human'},id) # elif id == 16: # scene = SurgicalSimulator(PegBoard, {'render_mode': 'human'},id) # elif id == 17: # scene = SurgicalSimulatorBimanual(NeedleRings, {'render_mode': 'human'}, jaw_states=[1.0, 1.0],id=id) # elif id == 18: # scene = SurgicalSimulatorBimanual(NeedleRings, {'render_mode': 'human'}, jaw_states=[1.0, 1.0],id=id,demo=1) # elif id == 19: # scene = SurgicalSimulator(MatchBoard, {'render_mode': 'human'},id) # elif id == 20: # scene = SurgicalSimulator(MatchBoard, {'render_mode': 'human'},id,demo=1) # elif id == 21: # scene = SurgicalSimulator(ECMReach, {'render_mode': 'human'},id) # elif id == 22: # scene = SurgicalSimulator(ECMReach, {'render_mode': 'human'},id,demo=1) # elif id == 23: # scene = SurgicalSimulator(MisOrient, {'render_mode': 'human'},id) # elif id == 24: # scene = SurgicalSimulator(MisOrient, {'render_mode': 'human'},id,demo=1) # elif id == 25: # scene = SurgicalSimulator(StaticTrack, {'render_mode': 'human'},id) # elif id == 26: # scene = SurgicalSimulator(StaticTrack, {'render_mode': 'human'},id,demo=1) # elif id == 27: # scene = SurgicalSimulator(ActiveTrack, {'render_mode': 'human'},id) # elif id == 28: # scene = SurgicalSimulator(ActiveTrack, {'render_mode': 'human'},id,demo=1) # elif id == 29: # scene = SurgicalSimulator(NeedleReach, {'render_mode': 'human'},id) # elif id == 30: # scene = SurgicalSimulator(NeedleReach, {'render_mode': 'human'},id,demo=1) # elif id == 31: # scene = SurgicalSimulator(GauzeRetrieve, {'render_mode': 'human'},id) # elif id == 32: # scene = SurgicalSimulator(GauzeRetrieve, {'render_mode': 'human'},id,demo=1) # if id in (1, 2) and not hint_printed: # print('Press to control the PSM.') # hint_printed = True if scene: app.play(scene) selection_panel_kv = '''MDBoxLayout: orientation: 'vertical' spacing: dp(10) padding: dp(20) MDLabel: text: "SurRol Simulator v2" theme_text_color: "Primary" font_style: "H6" bold: True size_hint: 1.0, 0.1 MDSeparator: MDGridLayout: cols: 2 spacing: "30dp" padding: "20dp", "10dp", "20dp", "20dp" size_hint: 1.0, 0.9 MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/ecm_track.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "1. Endoscope Fov Control" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Practise ECM control skills" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn1 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/needlepick_poster.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "2. Fundamental Actions" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Practise fundamental actions in surgery" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn2 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/pegtransfer_poster.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "3. Basic Robot Skill Training Tasks" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Pratise positioning and orienting objects" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn3 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" ''' # MDCard: # orientation: "vertical" # size_hint: .45, None # height: box_top.height + box_bottom.height # MDBoxLayout: # id: box_top # spacing: "20dp" # adaptive_height: True # FitImage: # source: "images/pick&place.png" # size_hint: 0.5, None # height: text_box.height # MDBoxLayout: # id: text_box # orientation: "vertical" # adaptive_height: True # spacing: "10dp" # padding: 0, "10dp", "10dp", "10dp" # MDLabel: # text: "4. Pick & Place Tasks" # theme_text_color: "Primary" # font_style: "H6" # bold: True # adaptive_height: True # MDLabel: # text: "Practice positioning and orienting objects" # adaptive_height: True # theme_text_color: "Primary" # MDSeparator: # MDBoxLayout: # id: box_bottom # adaptive_height: True # padding: "0dp", 0, 0, 0 # MDRaisedButton: # id: btn4 # text: "Play" # size_hint: 0.8, 1.0 # MDIconButton: # icon: "application-settings" Peg_panel_kv = '''MDBoxLayout: orientation: 'vertical' MDLabel: text: " Basic Robot Skill Training Tasks" theme_text_color: "Primary" font_style: "H4" bold: True spacing: "10dp" size_hint: 1.0, 0.3 MDSeparator: MDGridLayout: cols: 2 spacing: "40dp" padding: "20dp", "10dp", "20dp", "20dp" size_hint: 1.0, 1.0 MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/pegtransfer_poster.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Peg Transfer" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Move the gripper to a randomly sampled position" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn1 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/bipegtransfer_poster.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Bi-Peg Transfer" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Bimanual peg transfer" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn2 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/pegboard.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Peg Board" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Transfer red ring from peg board to peg on floor" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn3 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/pick&place.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Pick and Place" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Place colored jacks into matching containers" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn4 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/matchboard.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Match Board" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Transfer various objects into matching spaces" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn5 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/needlerings.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Needle the Rings" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Pass a needle through the target ring" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn6 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDBoxLayout: MDRectangleFlatIconButton: icon: "exit-to-app" id: btn7 text: "Exit" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.1, 0 MDRectangleFlatIconButton: icon: "head-lightbulb-outline" id: btn8 text: "AI Assistant" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.1, 0 MDRectangleFlatIconButton: icon: "chart-histogram" id: btn8 text: "Evaluation" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.1,0 MDRectangleFlatIconButton: icon: "help-box" id: btn8 text: "Help" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.1,0 ''' PickPlace_panel_kv = '''MDBoxLayout: orientation: 'vertical' MDLabel: text: " Pick & Place Tasks" theme_text_color: "Primary" font_style: "H4" bold: True spacing: "10dp" size_hint: 1.0, 0.3 MDSeparator: MDGridLayout: cols: 2 spacing: "40dp" padding: "20dp", "10dp", "20dp", "20dp" size_hint: 1.0, 1.0 MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/gauze_retrieve.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Gauze Retrieve" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: " Pick the gauze and place it at the target position" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn1 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/pick&place.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Pick and Place" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Place colored jacks into matching colored containers" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn2 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/matchboard.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Match Board" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Pick up various objects and place them into corresponding spaces on the board" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn3 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDBoxLayout: MDRectangleFlatIconButton: icon: "exit-to-app" id: btn4 text: "Exit" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.1, 0 MDRectangleFlatIconButton: icon: "head-lightbulb-outline" id: btn5 text: "AI Assistant" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.1, 0 MDRectangleFlatIconButton: icon: "chart-histogram" id: btn6 text: "Evaluation" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.1,0 MDRectangleFlatIconButton: icon: "help-box" id: btn7 text: "Help" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.1,0 ''' needle_panel_kv = '''MDBoxLayout: orientation: 'vertical' MDLabel: text: " Fundamental Actions" theme_text_color: "Primary" font_style: "H4" bold: True spacing: "10dp" size_hint: 1.0, 0.3 MDSeparator: MDGridLayout: cols: 2 spacing: "40dp" padding: "20dp", "10dp", "20dp", "20dp" size_hint: 1.0, 1.0 MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/needle_reach.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Needle Reach" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Move the gripper to a randomly sampled position" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn1 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/gauze_retrieve.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Gauze Retrieve" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Pick the gauze and place it at the target position" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn2 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/needlepick_poster.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Needle Pick" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Pick up the needle and move to target position" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn3 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/needleregrasp_poster.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Needle Regrasp" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Bimanual version of needle pick" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn4 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDBoxLayout: MDRectangleFlatIconButton: icon: "exit-to-app" id: btn5 text: "Exit" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.1, 0 MDRectangleFlatIconButton: icon: "head-lightbulb-outline" id: btn6 text: "AI Assistant" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.1, 0 MDRectangleFlatIconButton: icon: "chart-histogram" id: btn6 text: "Evaluation" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.1,0 MDRectangleFlatIconButton: icon: "help-box" id: btn6 text: "Help" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.1,0 ''' ECM_panel_kv = '''MDBoxLayout: orientation: 'vertical' MDLabel: text: " Endoscope Fov Control" theme_text_color: "Primary" font_style: "H4" bold: True spacing: "10dp" size_hint: 1.0, 0.3 MDSeparator: MDGridLayout: cols: 2 spacing: "40dp" padding: "20dp", "10dp", "20dp", "20dp" size_hint: 1.0, 1.0 MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/ecm_reach.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "ECM Reach" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Move the ECM to a randomly sampled position" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn1 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/misorient.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "MisOrient" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Adjust ECM to minimize misorientation" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn2 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/static_track.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Static Track" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Make ECM track a static target cube" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn3 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDCard: orientation: "vertical" size_hint: .45, None height: box_top.height + box_bottom.height MDBoxLayout: id: box_top spacing: "20dp" adaptive_height: True FitImage: source: "images/active_track.png" size_hint: 0.5, None height: text_box.height MDBoxLayout: id: text_box orientation: "vertical" adaptive_height: True spacing: "10dp" padding: 0, "10dp", "10dp", "10dp" MDLabel: text: "Active Track" theme_text_color: "Primary" font_style: "H6" bold: True adaptive_height: True MDLabel: text: "Make ECM track a active target cube" adaptive_height: True theme_text_color: "Primary" MDSeparator: MDBoxLayout: id: box_bottom adaptive_height: True padding: "0dp", 0, 0, 0 MDRaisedButton: id: btn4 text: "Play" size_hint: 0.8, 1.0 MDIconButton: icon: "application-settings" MDBoxLayout: MDRectangleFlatIconButton: icon: "exit-to-app" id: btn5 text: "Exit" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.1, 0 MDRectangleFlatIconButton: icon: "head-lightbulb-outline" id: btn6 text: "AI Assistant" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.1, 0 MDRectangleFlatIconButton: icon: "chart-histogram" id: btn6 text: "Evaluation" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.1,0 MDRectangleFlatIconButton: icon: "help-box" id: btn6 text: "Help" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.1,0 ''' class SelectionUI(MDApp): def __init__(self, panda_app, display_region): super().__init__(panda_app=panda_app, display_region=display_region) self.screen = None def build(self): self.theme_cls.theme_style = "Dark" self.screen = Builder.load_string(selection_panel_kv) return self.screen def on_start(self): self.screen.ids.btn1.bind(on_press = lambda _: open_scene(1)) self.screen.ids.btn2.bind(on_press = lambda _: open_scene(2)) self.screen.ids.btn3.bind(on_press = lambda _: open_scene(3)) # self.screen.ids.btn4.bind(on_press = lambda _: open_scene(4)) # self.screen.ids.btn11.bind(on_press = lambda _: open_scene(11)) class NeedleUI(MDApp): def __init__(self, panda_app, display_region): super().__init__(panda_app=panda_app, display_region=display_region) self.screen = None def build(self): self.theme_cls.theme_style = "Dark" self.screen = Builder.load_string(needle_panel_kv) return self.screen def on_start(self): self.screen.ids.btn1.bind(on_press = lambda _: open_scene(29)) self.screen.ids.btn2.bind(on_press = lambda _: open_scene(31)) self.screen.ids.btn3.bind(on_press = lambda _: open_scene(6)) self.screen.ids.btn4.bind(on_press = lambda _: open_scene(9)) self.screen.ids.btn5.bind(on_press = lambda _: open_scene(0)) self.screen.ids.btn6.bind(on_press = lambda _: open_scene(2)) class PegUI(MDApp): def __init__(self, panda_app, display_region): super().__init__(panda_app=panda_app, display_region=display_region) self.screen = None def build(self): self.theme_cls.theme_style = "Dark" self.screen = Builder.load_string(Peg_panel_kv) return self.screen def on_start(self): self.screen.ids.btn1.bind(on_press = lambda _: open_scene(7)) self.screen.ids.btn2.bind(on_press = lambda _: open_scene(11)) self.screen.ids.btn3.bind(on_press = lambda _: open_scene(15)) self.screen.ids.btn4.bind(on_press = lambda _: open_scene(13)) self.screen.ids.btn5.bind(on_press = lambda _: open_scene(19)) self.screen.ids.btn6.bind(on_press = lambda _: open_scene(17)) self.screen.ids.btn7.bind(on_press = lambda _: open_scene(0)) self.screen.ids.btn8.bind(on_press = lambda _: open_scene(3)) class PickPlaceUI(MDApp): def __init__(self, panda_app, display_region): super().__init__(panda_app=panda_app, display_region=display_region) self.screen = None def build(self): self.theme_cls.theme_style = "Dark" self.screen = Builder.load_string(PickPlace_panel_kv) return self.screen def on_start(self): self.screen.ids.btn1.bind(on_press = lambda _: open_scene(31)) self.screen.ids.btn2.bind(on_press = lambda _: open_scene(13)) self.screen.ids.btn3.bind(on_press = lambda _: open_scene(19)) self.screen.ids.btn4.bind(on_press = lambda _: open_scene(0)) self.screen.ids.btn5.bind(on_press = lambda _: open_scene(4)) self.screen.ids.btn6.bind(on_press = lambda _: open_scene(4)) self.screen.ids.btn7.bind(on_press = lambda _: open_scene(4)) class ECMUI(MDApp): def __init__(self, panda_app, display_region): super().__init__(panda_app=panda_app, display_region=display_region) self.screen = None def build(self): self.theme_cls.theme_style = "Dark" self.screen = Builder.load_string(ECM_panel_kv) return self.screen def on_start(self): self.screen.ids.btn1.bind(on_press = lambda _: open_scene(21)) self.screen.ids.btn2.bind(on_press = lambda _: open_scene(23)) self.screen.ids.btn3.bind(on_press = lambda _: open_scene(25)) self.screen.ids.btn4.bind(on_press = lambda _: open_scene(27)) self.screen.ids.btn5.bind(on_press = lambda _: open_scene(0)) self.screen.ids.btn6.bind(on_press = lambda _: open_scene(1)) class StartPage(Scene): def __init__(self): super(StartPage, self).__init__() def on_start(self): self.ui_display_region = self.build_kivy_display_region(0, 1.0, 0, 1.0) self.kivy_ui = SelectionUI( self.app, self.ui_display_region ) self.kivy_ui.run() def on_destroy(self): # !!! important self.kivy_ui.stop() self.app.win.removeDisplayRegion(self.ui_display_region) class NeedlePage(Scene): def __init__(self): super(NeedlePage, self).__init__() def on_start(self): self.ui_display_region = self.build_kivy_display_region(0, 1.0, 0, 1.0) self.kivy_ui = NeedleUI( self.app, self.ui_display_region ) self.kivy_ui.run() def on_destroy(self): # !!! important self.kivy_ui.stop() self.app.win.removeDisplayRegion(self.ui_display_region) class PegPage(Scene): def __init__(self): super(PegPage, self).__init__() def on_start(self): self.ui_display_region = self.build_kivy_display_region(0, 1.0, 0, 1.0) self.kivy_ui = PegUI( self.app, self.ui_display_region ) self.kivy_ui.run() def on_destroy(self): # !!! important self.kivy_ui.stop() self.app.win.removeDisplayRegion(self.ui_display_region) class PickPlacePage(Scene): def __init__(self): super(PickPlacePage, self).__init__() def on_start(self): self.ui_display_region = self.build_kivy_display_region(0, 1.0, 0, 1.0) self.kivy_ui = PickPlaceUI( self.app, self.ui_display_region ) self.kivy_ui.run() def on_destroy(self): # !!! important self.kivy_ui.stop() self.app.win.removeDisplayRegion(self.ui_display_region) class ECMPage(Scene): def __init__(self): super(ECMPage, self).__init__() def on_start(self): self.ui_display_region = self.build_kivy_display_region(0, 1.0, 0, 1.0) self.kivy_ui = ECMUI( self.app, self.ui_display_region ) self.kivy_ui.run() def on_destroy(self): # !!! important self.kivy_ui.stop() self.app.win.removeDisplayRegion(self.ui_display_region) menu_bar_kv_haptic = '''MDBoxLayout: md_bg_color: (1, 0, 0, 0) # adaptive_height: True padding: "0dp", 0, 0, 0 MDRectangleFlatIconButton: icon: "exit-to-app" id: btn1 text: "Exit" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.25, 1.0 MDRectangleFlatIconButton: icon: "head-lightbulb-outline" id: btn2 text: "AI Assistant" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.25, 1.0 MDRectangleFlatIconButton: icon: "chart-histogram" id: btn3 text: "Evaluation" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.25, 1.0 MDRectangleFlatIconButton: icon: "help-box" id: btn4 text: "Switch to Demo" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.25, 1.0 ''' menu_bar_kv_RL = '''MDBoxLayout: md_bg_color: (1, 0, 0, 0) # adaptive_height: True padding: "0dp", 0, 0, 0 MDRectangleFlatIconButton: icon: "exit-to-app" id: btn1 text: "Exit" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.25, 1.0 MDRectangleFlatIconButton: icon: "head-lightbulb-outline" id: btn2 text: "AI Assistant" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.25, 1.0 MDRectangleFlatIconButton: icon: "chart-histogram" id: btn3 text: "Evaluation" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.primary_color size_hint: 0.25, 1.0 MDRectangleFlatIconButton: icon: "help-box" id: btn4 text: "Switch to Haptic Device Training" text_color: (1, 1, 1, 1) icon_color: (1, 1, 1, 1) md_bg_color: app.theme_cls.bg_light size_hint: 0.25, 1.0 ''' class MenuBarUI(MDApp): def __init__(self, panda_app, display_region,id = None): super().__init__(panda_app=panda_app, display_region=display_region) self.screen = None self.id = id self.ecm_list=[i for i in range(21,29)] self.fund_list = [31,32,5,6,9,10,29,30] self.basic_list=[7,8,11,12,15,16,17,18,13,14,19,20] def build(self): self.theme_cls.theme_style = "Dark" if self.id % 2 == 0: self.screen = Builder.load_string(menu_bar_kv_RL) else: self.screen = Builder.load_string(menu_bar_kv_haptic) return self.screen def on_start(self): # scene_menu = 1 if self.id in self.ecm_list: self.screen.ids.btn1.bind(on_press = lambda _: open_scene(1)) elif self.id in self.fund_list: self.screen.ids.btn1.bind(on_press = lambda _: open_scene(2)) elif self.id in self.basic_list: self.screen.ids.btn1.bind(on_press = lambda _: open_scene(3)) else: self.screen.ids.btn1.bind(on_press = lambda _: open_scene(0)) if self.id % 2 ==0: self.screen.ids.btn4.bind(on_press = lambda _: (open_scene(0), open_scene(self.id-1))) else: self.screen.ids.btn4.bind(on_press = lambda _:(open_scene(0), open_scene(self.id+1))) class SurgicalSimulatorBase(GymEnvScene): def __init__(self, env_type, env_params): super(SurgicalSimulatorBase, self).__init__(env_type, env_params) def before_simulation_step(self): pass def on_env_created(self): """Setup extrnal lights""" self.ecm_view_out = self.env._view_matrix table_pos = np.array(self.env.POSE_TABLE[0]) * self.env.SCALING # ambient light alight = AmbientLight('alight') alight.setColor((0.2, 0.2, 0.2, 1)) alnp = self.world3d.attachNewNode(alight) self.world3d.setLight(alnp) # directional light dlight = DirectionalLight('dlight') dlight.setColor((0.4, 0.4, 0.25, 1)) # dlight.setShadowCaster(True, app.configs.shadow_resolution, app.configs.shadow_resolution) dlnp = self.world3d.attachNewNode(dlight) dlnp.setPos(*(table_pos + np.array([1.0, 0.0, 15.0]))) dlnp.lookAt(*table_pos) self.world3d.setLight(dlnp) # spotlight slight = Spotlight('slight') slight.setColor((0.5, 0.5, 0.5, 1.0)) lens = PerspectiveLens() lens.setNearFar(0.5, 5) slight.setLens(lens) slight.setShadowCaster(True, app.configs.shadow_resolution, app.configs.shadow_resolution) slnp = self.world3d.attachNewNode(slight) slnp.setPos(*(table_pos + np.array([0, 0.0, 5.0]))) slnp.lookAt(*(table_pos + np.array([0.6, 0, 1.0]))) self.world3d.setLight(slnp) def on_start(self): self.ui_display_region = self.build_kivy_display_region(0, 1.0, 0, 0.061) self.kivy_ui = MenuBarUI( self.app, self.ui_display_region, self.id ) self.kivy_ui.run() def on_destroy(self): # !!! important self.kivy_ui.stop() self.app.win.removeDisplayRegion(self.ui_display_region) class MLP(nn.Module): def __init__(self, in_dim, out_dim, hidden_dim=256): super().__init__() self.mlp = nn.Sequential( nn.Linear(in_dim, hidden_dim), nn.ReLU(), nn.Linear(hidden_dim, hidden_dim), nn.ReLU(), nn.Linear(hidden_dim, hidden_dim), nn.ReLU(), nn.Linear(hidden_dim, out_dim), ) def forward(self, input): return self.mlp(input) class DeterministicActor(nn.Module): def __init__(self, dimo, dimg, dima, hidden_dim=256): super().__init__() self.trunk = MLP( in_dim=dimo+dimg, out_dim=dima, hidden_dim=hidden_dim ) def forward(self, obs): a = self.trunk(obs) return torch.tanh(a) class Normalizer: def __init__(self, size, eps=1e-2, default_clip_range=np.inf): self.size = size self.eps = eps self.default_clip_range = default_clip_range # some local information self.total_sum = np.zeros(self.size, np.float32) self.total_sumsq = np.zeros(self.size, np.float32) self.total_count = np.zeros(1, np.float32) # get the mean and std self.mean = np.zeros(self.size, np.float32) self.std = np.ones(self.size, np.float32) # update the parameters of the normalizer def update(self, v): v = v.reshape(-1, self.size) # do the computing self.total_sum += v.sum(axis=0) self.total_sumsq += (np.square(v)).sum(axis=0) self.total_count[0] += v.shape[0] def recompute_stats(self): # calculate the new mean and std self.mean = self.total_sum / self.total_count self.std = np.sqrt(np.maximum(np.square(self.eps), (self.total_sumsq / self.total_count) - np.square(self.total_sum / self.total_count))) # normalize the observation def normalize(self, v, clip_range=None): if clip_range is None: clip_range = self.default_clip_range return np.clip((v - self.mean) / (self.std), -clip_range, clip_range) class SurgicalSimulator(SurgicalSimulatorBase): def __init__(self, env_type, env_params,id=None,demo=None): super(SurgicalSimulator, self).__init__(env_type, env_params) self.id = id initTouch_right() startScheduler() if env_type.ACTION_SIZE != 3 and env_type.ACTION_SIZE != 1: self.psm1_action = np.zeros(env_type.ACTION_SIZE) self.psm1_action[4] = 0.5 self.app.accept('w-up', self.setPsmAction, [2, 0]) self.app.accept('w-repeat', self.addPsmAction, [2, 0.01]) self.app.accept('s-up', self.setPsmAction, [2, 0]) self.app.accept('s-repeat', self.addPsmAction, [2, -0.01]) self.app.accept('d-up', self.setPsmAction, [1, 0]) self.app.accept('d-repeat', self.addPsmAction, [1, 0.01]) self.app.accept('a-up', self.setPsmAction, [1, 0]) self.app.accept('a-repeat', self.addPsmAction, [1, -0.01]) self.app.accept('q-up', self.setPsmAction, [0, 0]) self.app.accept('q-repeat', self.addPsmAction, [0, 0.01]) self.app.accept('e-up', self.setPsmAction, [0, 0]) self.app.accept('e-repeat', self.addPsmAction, [0, -0.01]) self.app.accept('space-up', self.setPsmAction, [4, 1.0]) self.app.accept('space-repeat', self.setPsmAction, [4, -0.5]) self.ecm_view = 0 self.ecm_view_out = None self.demo = demo self.start_time = time.time() exempt_l = [i for i in range(21,23)] if self.id not in exempt_l: self.toggleEcmView() self.has_load_policy = False self.ecm_action = np.zeros(env_type.ACTION_ECM_SIZE) if env_type.ACTION_ECM_SIZE == 1: self.app.accept('1-up', self.setEcmAction, [0, 0]) self.app.accept('1-repeat', self.addEcmAction, [0, 0.2]) self.app.accept('3-up', self.setEcmAction, [0, 0]) self.app.accept('3-repeat', self.addEcmAction, [0, -0.2]) else: self.app.accept('5-up', self.setEcmAction, [2, 0]) self.app.accept('5-repeat', self.addEcmAction, [2, 0.2]) self.app.accept('2-up', self.setEcmAction, [2, 0]) self.app.accept('2-repeat', self.addEcmAction, [2, -0.2]) self.app.accept('6-up', self.setEcmAction, [1, 0]) self.app.accept('6-repeat', self.addEcmAction, [1, 0.2]) self.app.accept('4-up', self.setEcmAction, [1, 0]) self.app.accept('4-repeat', self.addEcmAction, [1, -0.2]) self.app.accept('1-up', self.setEcmAction, [0, 0]) self.app.accept('1-repeat', self.addEcmAction, [0, 0.2]) self.app.accept('3-up', self.setEcmAction, [0, 0]) self.app.accept('3-repeat', self.addEcmAction, [0, -0.2]) self.app.accept('m-up', self.toggleEcmView) self.app.accept('r-up', self.resetEcmFlag) self.device = 'cuda' self._setup_transformer_trajectory() self.reward_scale = 1.0 self.t = 0 def _setup_transformer_trajectory(self): obs = self.env._get_obs() dim_o = obs['observation'].shape[0] dim_g = obs['desired_goal'].shape[0] dim_a = self.env.action_space.shape[0] self.observations = torch.zeros((0, dim_o), device=self.device, dtype=torch.float32) self.goals = torch.zeros((0, dim_g), device=self.device, dtype=torch.float32) self.actions = torch.zeros((0, dim_a), device=self.device, dtype=torch.float32) self.rewards = torch.zeros(0, device=self.device, dtype=torch.float32) self.target_return = torch.tensor(self.target_return, device=self.device, dtype=torch.float32).reshape(1, 1) self.target_time_to_goal = torch.tensor(self.target_time_to_goal_init, device=self.device, dtype=torch.float32).reshape(1, 1) self.timesteps = torch.tensor(0, device=self.device, dtype=torch.long).reshape(1, 1) def _update_transformer_trajectory(self, obs): self.observations = torch.cat([self.observations, torch.from_numpy(obs['observation']).to(self.device)], dim=0) self.goals = torch.cat([self.goals, torch.from_numpy(obs['desired_goal']).to(self.device)], dim=0) def _step_simulation_task(self, task): """Step simulation """ if self.demo == None: # print(f"scene id:{self.id}") if task.time - self.time > 1 / 240.0: self.before_simulation_step() # Step simulation p.stepSimulation() self.after_simulation_step() # Call trigger update scene (if necessary) and draw methods p.getCameraImage( width=1, height=1, viewMatrix=self.env._view_matrix, projectionMatrix=self.env._proj_matrix) p.setGravity(0,0,-10.0) # print(f"ecm view out matrix:{self.ecm_view_out}") self.time = task.time else: if time.time() - self.time > 1/240: self.before_simulation_step() # Step simulation #pb.stepSimulation() # self._duration = 0.1 # needle self._duration = 0.1 step(self._duration) self.after_simulation_step() # Call trigger update scene (if necessary) and draw methods p.getCameraImage( width=1, height=1, viewMatrix=self.env._view_matrix, projectionMatrix=self.env._proj_matrix) p.setGravity(0,0,-10.0) self.time = time.time() # print(f"current time: {self.time}") # print(f"current task time: {task.time}") # if time.time()-self.start_time > (self.itr + 1) * time_size: obs = self.env._get_obs() obs = self.env._get_obs()['achieved_goal'] if isinstance(obs, dict) else None # print(f"waypoints: {self.env._waypoints}") success = self.env._is_success(obs,self.env._sample_goal()) if obs is not None else False print(f"success: {success}") wait_list=[12,30] if (self.id not in wait_list and success) or time.time()-self.start_time > 10: # if self.cnt>=6: # self.kivy_ui.stop() # self.app.win.removeDisplayRegion(self.ui_display_region) # self.before_simulation_step() # self._duration = 0.2 # step(self._duration) # self.after_simulation_step() open_scene(0) print(f"xxxx current time:{time.time()}") open_scene(self.id) exempt_l = [i for i in range(21,23)] if self.id not in exempt_l: self.toggleEcmView() # self.cnt+=1 return # self.start_time=time.time() # self.toggleEcmView() # self.itr += 1 return Task.cont def load_policy(self, obs, env): steps = str(300000) if self.id == 8: model_file = './peg_transfer_model' if self.id == 6: model_file = './needle_pick_model' actor_params = os.path.join(model_file, 'actor_' + steps + '.pt') actor_params = torch.load(actor_params) dim_o = obs['observation'].shape[0] dim_g = obs['desired_goal'].shape[0] dim_a = env.action_space.shape[0] actor = DeterministicActor( dim_o, dim_g, dim_a, 256 ) actor.load_state_dict(actor_params) g_norm = Normalizer(dim_g) g_norm_stat = np.load(os.path.join(model_file, 'g_norm_' + steps + '_stat.npy'), allow_pickle=True).item() g_norm.mean = g_norm_stat['mean'] g_norm.std = g_norm_stat['std'] o_norm = Normalizer(dim_o) o_norm_stat = np.load(os.path.join(model_file, 'o_norm_' + steps + '_stat.npy'), allow_pickle=True).item() o_norm.mean = o_norm_stat['mean'] o_norm.std = o_norm_stat['std'] return actor, o_norm, g_norm def _preproc_inputs(self, o, g, o_norm, g_norm): o_norm = o_norm.normalize(o) g_norm = g_norm.normalize(g) inputs = np.concatenate([o_norm, g_norm]) inputs = torch.tensor(inputs, dtype=torch.float32).unsqueeze(0) return inputs def load_transformer_policy(self, obs, env): if self.id == 8: model_file = './peg_transfer_model' actor_params = os.path.join(model_file, 'PegTransfer-v0.pth') if self.id == 6: model_file = './needle_pick_model' actor_params = os.path.join(model_file, 'NeedlePick-v0.pth') actor_params = torch.load(actor_params) dim_o = obs['observation'].shape[0] dim_g = obs['desired_goal'].shape[0] dim_a = env.action_space.shape[0] self.observation_dim = dim_o self.goal_dim = dim_g self.action_dim = dim_a actor = GoalConditionedDecisionTransformer( state_dim=dim_o, goal_dim=dim_g, act_dim=dim_a, max_length=100, max_ep_len=1000, hidden_size=128, n_layer=8, n_head=4, n_inner=4*128, activation_function='relu', n_positions=1024, resid_pdrop=0.1, attn_pdrop=0.1, ).to(device=self.device) actor.load_state_dict(actor_params) surrol_dataset = SurRoLDataset(model_file, seq_max_length=100, task='PegTranfer-v0' if self.id == 8 else 'NeedlePick-v0', with_relabel=True) self.offline_data_obs_mean, self.offline_data_obs_std, self.offline_data_goal_mean, self.offline_data_goal_std = surrol_dataset.pop_normalization_parameters() return actor def _get_transformer_output(self): # Add padding self.actions = torch.cat([self.actions, torch.zeros((1, self.action_dim), device=self.device)], dim=0) self.rewards = torch.cat([self.rewards, torch.zeros(1, device=self.device)]) action = self.actor.get_action( (self.observations.to(dtype=torch.float32) - self.offline_data_obs_mean) / self.offline_data_obs_std, (self.goals.to(dtype=torch.float32) - self.offline_data_goal_mean) / self.offline_data_goal_std, self.actions.to(dtype=torch.float32), self.rewards.to(dtype=torch.float32), self.target_return.to(dtype=torch.float32), self.target_time_to_goal.to(dtype=torch.float32), self.timesteps.to(dtype=torch.long), ) self.actions[-1] = action action = action.detach().cpu().numpy() return action def after_simulation_step(self): state = self.env._get_obs() reward = -1.0 cur_observation = torch.from_numpy(state['observation']).to(device=self.device).reshape(1, self.observation_dim) cur_goal = torch.from_numpy(state['desired_goal']).to(device=self.device).reshape(1, self.goal_dim) observations = torch.cat([observations, cur_observation], dim=0) goals = torch.cat([goals, cur_goal], dim=0) self.rewards[-1] = reward # Design for delayed reward pred_return = target_return[0, -1] - (reward / self.reward_scale) target_return = torch.cat([target_return, pred_return.reshape(1, 1)], dim=1) pred_time_to_goal = target_time_to_goal[0, -1] - 1. target_time_to_goal = torch.cat([target_time_to_goal, pred_time_to_goal.reshape(1, 1)], dim=1) timesteps = torch.cat([timesteps, torch.ones((1, 1), device=self.device, dtype=torch.long) * (self.t+1)], dim=1) self.t += 1 def before_simulation_step(self): if (self.id == 8 or self.id == 6) and not self.has_load_policy: obs = self.env._get_obs() self.actor = self.load_transformer_policy(obs, self.env) self.has_load_policy = True self.ecm_action = np.zeros(self.ecm_action.shape) retrived_action = np.array([0, 0, 0, 0, 0], dtype = np.float32) getDeviceAction_right(retrived_action) if self.demo: obs = self.env._get_obs() action = self.env.get_oracle_action(obs) if self.env.ACTION_SIZE != 3 and self.env.ACTION_SIZE != 1: # haptic right # retrived_action-> x,y,z, angle, buttonState(0,1,2) if retrived_action[4] == 2: self.psm1_action[0] = 0 self.psm1_action[1] = 0 self.psm1_action[2] = 0 self.psm1_action[3] = 0 else: self.psm1_action[0] = retrived_action[2]*0.9 self.psm1_action[1] = retrived_action[0]*0.9 self.psm1_action[2] = retrived_action[1]*0.9 self.psm1_action[3] = -retrived_action[3]/math.pi*180*0.5 if retrived_action[4] == 0: self.psm1_action[4] = 1 if retrived_action[4] == 1: self.psm1_action[4] = -0.5 if retrived_action[4] == 3: self.psm1_action[0] = 0 self.psm1_action[1] = 0 self.psm1_action[2] = 0 self.psm1_action[3] = 0 # print(f"len of retrieved action:{len(retrived_action)}") if self.demo: if self.id ==8: obs = self.env._get_obs() # o, g = obs['observation'], obs['desired_goal'] self._update_transformer_trajectory(obs) action = self._get_transformer_output() # action = self.actor(input_tensor).data.numpy().flatten() print(f"retrieved action is: {self.psm1_action}") self.psm1_action = action self.env._set_action(self.psm1_action) else: obs = self.env._get_obs() action = self.env.get_oracle_action(obs) self.psm1_action = action self.env._set_action(self.psm1_action) self.env._step_callback() else: self.env._set_action(self.psm1_action) self.env._step_callback() if retrived_action[4] == 3 and self.env.ACTION_ECM_SIZE == 3: self.ecm_action[0] = -retrived_action[0]*0.2 self.ecm_action[1] = -retrived_action[1]*0.2 self.ecm_action[2] = retrived_action[2]*0.2 if retrived_action[4] == 3 and self.env.ACTION_ECM_SIZE == 1: self.ecm_action[0] = -retrived_action[3]/math.pi*180*0.5 #active track if self.id == 27 or self.id == 28: self.env._step_callback() # self.env._set_action(self.ecm_action) if self.demo and (self.env.ACTION_ECM_SIZE == 3 or self.env.ACTION_ECM_SIZE == 1): self.ecm_action = action self.env._set_action(self.ecm_action) if self.demo is None: if self.env.ACTION_ECM_SIZE == 1: self.env._set_action(self.ecm_action) else: self.env._set_action_ecm(self.ecm_action) self.env.ecm.render_image() # _,_,rgb,_,_ = p.getCameraImage( # width=100, height=100, # viewMatrix=self.env._view_matrix, # projectionMatrix=self.env._proj_matrix # ) # rgb_array = np.array(rgb, dtype=np.uint8) # if len(rgb_array)>0: # rgb_array = np.reshape(rgb_array, (100, 100, 4)) # rgb_array = rgb_array[:, :, :3] # imageio.imwrite('test.png',rgb_array) if self.ecm_view: self.env._view_matrix = self.env.ecm.view_matrix else: self.env._view_matrix = self.ecm_view_out def setPsmAction(self, dim, val): self.psm1_action[dim] = val def addPsmAction(self, dim, incre): self.psm1_action[dim] += incre def addEcmAction(self, dim, incre): self.ecm_action[dim] += incre def setEcmAction(self, dim, val): self.ecm_action[dim] = val def resetEcmFlag(self): # print("reset enter") self.env._reset_ecm_pos() def toggleEcmView(self): self.ecm_view = not self.ecm_view def on_destroy(self): # !!! important stopScheduler() closeTouch_right() self.kivy_ui.stop() self.app.win.removeDisplayRegion(self.ui_display_region) class SurgicalSimulatorBimanual(SurgicalSimulatorBase): def __init__(self, env_type, env_params, jaw_states=[1.0, 1.0],id=None,demo=None): super(SurgicalSimulatorBimanual, self).__init__(env_type, env_params) initTouch_right() initTouch_left() startScheduler() self.id=id self.demo = demo self.closed=True self.start_time = time.time() self.psm1_action = np.zeros(env_type.ACTION_SIZE // 2) self.psm1_action[4] = jaw_states[0] self.psm2_action = np.zeros(env_type.ACTION_SIZE // 2) self.psm2_action[4] = jaw_states[1] self.app.accept('w-up', self.setPsmAction1, [2, 0]) self.app.accept('w-repeat', self.addPsmAction1, [2, 0.01]) self.app.accept('s-up', self.setPsmAction1, [2, 0]) self.app.accept('s-repeat', self.addPsmAction1, [2, -0.01]) self.app.accept('d-up', self.setPsmAction1, [1, 0]) self.app.accept('d-repeat', self.addPsmAction1, [1, 0.01]) self.app.accept('a-up', self.setPsmAction1, [1, 0]) self.app.accept('a-repeat', self.addPsmAction1, [1, -0.01]) self.app.accept('q-up', self.setPsmAction1, [0, 0]) self.app.accept('q-repeat', self.addPsmAction1, [0, 0.01]) self.app.accept('e-up', self.setPsmAction1, [0, 0]) self.app.accept('e-repeat', self.addPsmAction1, [0, -0.01]) self.app.accept('c-up', self.setPsmAction1, [4, 1.0]) self.app.accept('c-repeat', self.setPsmAction1, [4, -0.5]) self.app.accept('i-up', self.setPsmAction2, [2, 0]) self.app.accept('i-repeat', self.addPsmAction2, [2, 0.01]) self.app.accept('k-up', self.setPsmAction2, [2, 0]) self.app.accept('k-repeat', self.addPsmAction2, [2, -0.01]) self.app.accept('l-up', self.setPsmAction2, [1, 0]) self.app.accept('l-repeat', self.addPsmAction2, [1, 0.01]) self.app.accept('j-up', self.setPsmAction2, [1, 0]) self.app.accept('j-repeat', self.addPsmAction2, [1, -0.01]) self.app.accept('u-up', self.setPsmAction2, [0, 0]) self.app.accept('u-repeat', self.addPsmAction2, [0, 0.01]) self.app.accept('o-up', self.setPsmAction2, [0, 0]) self.app.accept('o-repeat', self.addPsmAction2, [0, -0.01]) self.app.accept('n-up', self.setPsmAction2, [4, 1.0]) self.app.accept('n-repeat', self.setPsmAction2, [4, -0.5]) self.ecm_view = 0 self.ecm_view_out = None exempt_l = [i for i in range(21,23)] if self.id not in exempt_l: self.toggleEcmView() self.ecm_action = np.zeros(env_type.ACTION_ECM_SIZE) self.app.accept('5-up', self.setEcmAction, [2, 0]) self.app.accept('5-repeat', self.addEcmAction, [2, 0.2]) self.app.accept('2-up', self.setEcmAction, [2, 0]) self.app.accept('2-repeat', self.addEcmAction, [2, -0.2]) self.app.accept('6-up', self.setEcmAction, [1, 0]) self.app.accept('6-repeat', self.addEcmAction, [1, 0.2]) self.app.accept('4-up', self.setEcmAction, [1, 0]) self.app.accept('4-repeat', self.addEcmAction, [1, -0.2]) self.app.accept('1-up', self.setEcmAction, [0, 0]) self.app.accept('1-repeat', self.addEcmAction, [0, 0.2]) self.app.accept('3-up', self.setEcmAction, [0, 0]) self.app.accept('3-repeat', self.addEcmAction, [0, -0.2]) self.app.accept('m-up', self.toggleEcmView) self.app.accept('r-up', self.resetEcmFlag) def _step_simulation_task(self, task): """Step simulation """ if self.demo == None: # print(f"scene id:{self.id}") if task.time - self.time > 1 / 240.0: self.before_simulation_step() # Step simulation p.stepSimulation() self.after_simulation_step() # Call trigger update scene (if necessary) and draw methods p.getCameraImage( width=1, height=1, viewMatrix=self.env._view_matrix, projectionMatrix=self.env._proj_matrix) p.setGravity(0,0,-10.0) self.time = task.time else: if time.time() - self.time > 1/240: self.before_simulation_step() # Step simulation #pb.stepSimulation() # self._duration = 0.1 # needle self._duration = 0.1 step(self._duration) self.after_simulation_step() # Call trigger update scene (if necessary) and draw methods p.getCameraImage( width=1, height=1, viewMatrix=self.env._view_matrix, projectionMatrix=self.env._proj_matrix) p.setGravity(0,0,-10.0) self.time = time.time() # print(f"current time: {self.time}") # print(f"current task time: {task.time}") # if time.time()-self.start_time > (self.itr + 1) * time_size: obs = self.env._get_obs() obs = self.env._get_obs()['achieved_goal'] if isinstance(obs, dict) else None # success = self.env._is_success(obs,self.env._sample_goal()) if obs is not None else False if time.time()-self.start_time > 18: # if self.cnt>=6: # self.kivy_ui.stop() # self.app.win.removeDisplayRegion(self.ui_display_region) open_scene(0) print(f"xxxx current time:{time.time()}") open_scene(self.id) exempt_l = [i for i in range(21,23)] if self.id not in exempt_l: self.toggleEcmView() # self.cnt+=1 return # self.start_time=time.time() # self.toggleEcmView() # self.itr += 1 return Task.cont def before_simulation_step(self): # haptic left retrived_action = np.array([0, 0, 0, 0, 0], dtype = np.float32) getDeviceAction_left(retrived_action) # retrived_action-> x,y,z, angle, buttonState(0,1,2) if self.demo: obs = self.env._get_obs() action = self.env.get_oracle_action(obs) if retrived_action[4] == 2: self.psm1_action[0] = 0 self.psm1_action[1] = 0 self.psm1_action[2] = 0 self.psm1_action[3] = 0 else: self.psm1_action[0] = retrived_action[2]*0.7 self.psm1_action[1] = retrived_action[0]*0.7 self.psm1_action[2] = retrived_action[1]*0.7 self.psm1_action[3] = -retrived_action[3]/math.pi*180*0.6 if retrived_action[4] == 0: self.psm1_action[4] = 1 if retrived_action[4] == 1: self.psm1_action[4] = -0.5 # # haptic right retrived_action = np.array([0, 0, 0, 0, 0], dtype = np.float32) getDeviceAction_right(retrived_action) # retrived_action-> x,y,z, angle, buttonState(0,1,2) if retrived_action[4] == 2: self.psm2_action[0] = 0 self.psm2_action[1] = 0 self.psm2_action[2] = 0 self.psm2_action[3] = 0 else: self.psm2_action[0] = retrived_action[2] self.psm2_action[1] = retrived_action[0] self.psm2_action[2] = retrived_action[1] self.psm2_action[3] = -retrived_action[3]/math.pi*180 if retrived_action[4] == 0: self.psm2_action[4] = 1 if retrived_action[4] == 1: self.psm2_action[4] = -0.5 '''Control ECM''' if retrived_action[4] == 3: self.psm1_action[0] = 0 self.psm1_action[1] = 0 self.psm1_action[2] = 0 self.psm1_action[3] = 0 self.ecm_action[0] = -retrived_action[0]*0.2 self.ecm_action[1] = -retrived_action[1]*0.2 self.ecm_action[2] = retrived_action[2]*0.2 if self.demo: self.env._set_action(action) self.env._step_callback(demo=self.demo) else: self.env._set_action(np.concatenate([self.psm2_action, self.psm1_action], axis=-1)) self.env._step_callback() # self.env._set_action(self.ecm_action) self.env._set_action_ecm(self.ecm_action) self.env.ecm.render_image() if self.ecm_view: self.env._view_matrix = self.env.ecm.view_matrix else: self.env._view_matrix = self.ecm_view_out def setPsmAction1(self, dim, val): self.psm1_action[dim] = val def addPsmAction1(self, dim, incre): self.psm1_action[dim] += incre def setPsmAction2(self, dim, val): self.psm2_action[dim] = val def addPsmAction2(self, dim, incre): self.psm2_action[dim] += incre def addEcmAction(self, dim, incre): self.ecm_action[dim] += incre def setEcmAction(self, dim, val): self.ecm_action[dim] = val def resetEcmFlag(self): # print("reset enter") self.env._reset_ecm_pos() def toggleEcmView(self): self.ecm_view = not self.ecm_view def on_destroy(self): # !!! important stopScheduler() closeTouch_right() closeTouch_left() self.kivy_ui.stop() self.app.win.removeDisplayRegion(self.ui_display_region) # ecm steoro size 1024x768 app_cfg = ApplicationConfig(window_width=1200, window_height=900) app = Application(app_cfg) open_scene(0) app.run()