diff --git a/Piper_ros_private-ros-noetic/src/piper/CMakeLists.txt b/Piper_ros_private-ros-noetic/src/piper/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..b9364d7707bf9bf23b08bd35192c5b39f9845c00 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper/CMakeLists.txt @@ -0,0 +1,220 @@ +cmake_minimum_required(VERSION 3.0.2) +project(piper) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + actionlib + actionlib_msgs + control_msgs + roscpp + rospy + sensor_msgs + std_msgs + trajectory_msgs + message_generation + geometry_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +# add_message_files( +# FILES +# AgxArmStatusMsg.msg +# Joint.msg +# PosCmd.msg +# ) +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# actionlib_msgs# control_msgs# sensor_msgs# +# std_msgs# trajectory_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES piper + CATKIN_DEPENDS actionlib actionlib_msgs control_msgs roscpp rospy sensor_msgs std_msgs trajectory_msgs message_generation geometry_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/piper.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/piper_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_piper.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Piper_ros_private-ros-noetic/src/piper/launch/start_ms_piper.launch b/Piper_ros_private-ros-noetic/src/piper/launch/start_ms_piper.launch new file mode 100644 index 0000000000000000000000000000000000000000..bd29b33c773c2534fd3ec1c5569ba5024380836c --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper/launch/start_ms_piper.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Piper_ros_private-ros-noetic/src/piper/package.xml b/Piper_ros_private-ros-noetic/src/piper/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..0eb8d8d7efa179165e7159c9c93aa47ade4ef545 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper/package.xml @@ -0,0 +1,92 @@ + + + piper + 0.0.0 + The piper package + + + + + agilex + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + actionlib + actionlib_msgs + control_msgs + roscpp + rospy + sensor_msgs + std_msgs + trajectory_msgs + actionlib + actionlib_msgs + control_msgs + roscpp + rospy + sensor_msgs + std_msgs + trajectory_msgs + actionlib + actionlib_msgs + control_msgs + roscpp + rospy + sensor_msgs + std_msgs + trajectory_msgs + + message_generation + message_runtime + + message_generation + message_runtime + + geometry_msgs + geometry_msgs + geometry_msgs + + + + + + + diff --git a/Piper_ros_private-ros-noetic/src/piper/scripts/__pycache__/piper_control.cpython-39.pyc b/Piper_ros_private-ros-noetic/src/piper/scripts/__pycache__/piper_control.cpython-39.pyc new file mode 100644 index 0000000000000000000000000000000000000000..036b37f6aafbcadd89c22b7b2be9a979147c3df3 Binary files /dev/null and b/Piper_ros_private-ros-noetic/src/piper/scripts/__pycache__/piper_control.cpython-39.pyc differ diff --git a/Piper_ros_private-ros-noetic/src/piper/scripts/piper_read_master_node.py b/Piper_ros_private-ros-noetic/src/piper/scripts/piper_read_master_node.py new file mode 100644 index 0000000000000000000000000000000000000000..776c27b2f3c0f1cae942c31beefe9cae34722f12 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper/scripts/piper_read_master_node.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python3 +# -*-coding:utf8-*- +# 本文件为读取主臂发送的消息，当机械臂设置为主臂，主臂只发送关节角消息和控制指令 +from typing import ( + Optional, +) +from piper_sdk import * + +import rospy +import rosnode +from sensor_msgs.msg import JointState +from std_msgs.msg import Bool + +def check_ros_master(): + try: + rosnode.rosnode_ping('rosout', max_count=1, verbose=False) + rospy.loginfo("ROS Master is running.") + except rosnode.ROSNodeIOException: + rospy.logerr("ROS Master is not running.") + raise RuntimeError("ROS Master is not running.") + +class C_PiperRosNode(): + """机械臂ros节点 + """ + def __init__(self) -> None: + check_ros_master() + rospy.init_node('piper_read_master_node', anonymous=True) + + self.can_port = "can0" + if rospy.has_param('~can_port'): + self.can_port = rospy.get_param("~can_port") + rospy.loginfo("%s is %s", rospy.resolve_name('~can_port'), self.can_port) + else: + rospy.loginfo("未找到can_port参数,请输入 _can_port:=can0 类似的格式") + exit(0) + + self.joint_std_pub_master = rospy.Publisher('/master/joint_states', JointState, queue_size=1) + + self.joint_state_master = JointState() + self.joint_state_master.name = ['joint0', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'] + self.joint_state_master.position = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,0] + self.joint_state_master.velocity = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,0] + self.joint_state_master.effort = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,0] + + self.piper = C_PiperInterface(can_name=self.can_port) + self.piper.ConnectPort() + + def Pubilsh(self): + """机械臂消息发布 + """ + rate = rospy.Rate(200) # 200 Hz + while not rospy.is_shutdown(): + self.joint_state_master.header.stamp = rospy.Time.now() + # Here, you can set the joint positions to any value you want + joint_0 = self.piper.GetArmJointCtrl().joint_ctrl.joint_1/1000 * 0.017444 + joint_1 = self.piper.GetArmJointCtrl().joint_ctrl.joint_2/1000 * 0.017444 + joint_2 = self.piper.GetArmJointCtrl().joint_ctrl.joint_3/1000 * 0.017444 + joint_3 = self.piper.GetArmJointCtrl().joint_ctrl.joint_4/1000 * 0.017444 + joint_4 = self.piper.GetArmJointCtrl().joint_ctrl.joint_5/1000 * 0.017444 + joint_5 = self.piper.GetArmJointCtrl().joint_ctrl.joint_6/1000 * 0.017444 + joint_6 = self.piper.GetArmGripperCtrl().gripper_ctrl.grippers_angle/1000000 + self.joint_state_master.position = [joint_0,joint_1, joint_2, joint_3, joint_4, joint_5,joint_6] # Example values + + self.joint_std_pub_master.publish(self.joint_state_master) + rate.sleep() + +if __name__ == '__main__': + try: + piper_all = C_PiperRosNode() + piper_all.Pubilsh() + except rospy.ROSInterruptException: + pass + diff --git a/Piper_ros_private-ros-noetic/src/piper_description/launch/display_xacro.launch b/Piper_ros_private-ros-noetic/src/piper_description/launch/display_xacro.launch new file mode 100644 index 0000000000000000000000000000000000000000..346024ad554582bdbf1d069c018c8e6b3f3c07ed --- /dev/null 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0000000000000000000000000000000000000000..8b137891791fe96927ad78e64b0aad7bded08bdc --- /dev/null +++ b/camera_ws/build/ros_astra_camera/CMakeFiles/tf2_msgs_generate_messages_nodejs.dir/progress.make @@ -0,0 +1 @@ + diff --git a/collect_data/collect_data.py b/collect_data/collect_data.py new file mode 100644 index 0000000000000000000000000000000000000000..e2a7ab37ef30cfee343cf9d086bae2aa5e59f92d --- /dev/null +++ b/collect_data/collect_data.py @@ -0,0 +1,455 @@ +# -- coding: UTF-8 +import os +import time +import numpy as np +import h5py +import argparse +import dm_env + +import collections +from collections import deque + +import rospy +from sensor_msgs.msg import JointState +from sensor_msgs.msg import Image +from nav_msgs.msg import Odometry +from cv_bridge import CvBridge +import sys +import cv2 + +# 保存数据函数 +def save_data(args, timesteps, actions, dataset_path): + # 数据字典 + data_size = len(actions) + data_dict = { + # 一个是奖励里面的qpos，qvel， effort ,一个是实际发的acition + '/observations/qpos': [], + '/observations/qvel': [], + '/observations/effort': [], + '/action': [], + '/base_action': [], + # '/base_action_t265': [], + } + + # 相机字典 观察的图像 + for cam_name in args.camera_names: + data_dict[f'/observations/images/{cam_name}'] = [] + if args.use_depth_image: + data_dict[f'/observations/images_depth/{cam_name}'] = [] + + # len(action): max_timesteps, len(time_steps): max_timesteps + 1 + # 动作长度 遍历动作 + while actions: + # 循环弹出一个队列 + action = actions.pop(0) # 动作 当前动作 + ts = timesteps.pop(0) # 奖励 前一帧 + + # 往字典里面添值 + # Timestep返回的qpos，qvel,effort + data_dict['/observations/qpos'].append(ts.observation['qpos']) + data_dict['/observations/qvel'].append(ts.observation['qvel']) + data_dict['/observations/effort'].append(ts.observation['effort']) + + # 实际发的action + data_dict['/action'].append(action) + data_dict['/base_action'].append(ts.observation['base_vel']) + + # 相机数据 + # data_dict['/base_action_t265'].append(ts.observation['base_vel_t265']) + for cam_name in args.camera_names: + data_dict[f'/observations/images/{cam_name}'].append(ts.observation['images'][cam_name]) + if args.use_depth_image: + data_dict[f'/observations/images_depth/{cam_name}'].append(ts.observation['images_depth'][cam_name]) + + t0 = time.time() + with h5py.File(dataset_path + '.hdf5', 'w', rdcc_nbytes=1024**2*2) as root: + # 文本的属性： + # 1 是否仿真 + # 2 图像是否压缩 + # + root.attrs['sim'] = False + root.attrs['compress'] = False + + # 创建一个新的组observations，观测状态组 + # 图像组 + obs = root.create_group('observations') + image = obs.create_group('images') + for cam_name in args.camera_names: + _ = image.create_dataset(cam_name, (data_size, 480, 640, 3), dtype='uint8', + chunks=(1, 480, 640, 3), ) + if args.use_depth_image: + image_depth = obs.create_group('images_depth') + for cam_name in args.camera_names: + _ = image_depth.create_dataset(cam_name, (data_size, 480, 640), dtype='uint16', + chunks=(1, 480, 640), ) + + _ = obs.create_dataset('qpos', (data_size, 14)) + _ = obs.create_dataset('qvel', (data_size, 14)) + _ = obs.create_dataset('effort', (data_size, 14)) + _ = root.create_dataset('action', (data_size, 14)) + _ = root.create_dataset('base_action', (data_size, 2)) + + # data_dict write into h5py.File + for name, array in data_dict.items(): + root[name][...] = array + print(f'\033[32m\nSaving: {time.time() - t0:.1f} secs. %s \033[0m\n'%dataset_path) + + +class RosOperator: + def __init__(self, args): + self.robot_base_deque = None + self.puppet_arm_right_deque = None + self.puppet_arm_left_deque = None + self.master_arm_right_deque = None + self.master_arm_left_deque = None + self.img_front_deque = None + self.img_right_deque = None + self.img_left_deque = None + self.img_front_depth_deque = None + self.img_right_depth_deque = None + self.img_left_depth_deque = None + self.bridge = None + self.args = args + self.init() + self.init_ros() + + def init(self): + self.bridge = CvBridge() + self.img_left_deque = deque() + self.img_right_deque = deque() + self.img_front_deque = deque() + self.img_left_depth_deque = deque() + self.img_right_depth_deque = deque() + self.img_front_depth_deque = deque() + self.master_arm_left_deque = deque() + self.master_arm_right_deque = deque() + self.puppet_arm_left_deque = deque() + self.puppet_arm_right_deque = deque() + self.robot_base_deque = deque() + + def get_frame(self): + if len(self.img_left_deque) == 0 or len(self.img_right_deque) == 0 or len(self.img_front_deque) == 0 or \ + (self.args.use_depth_image and (len(self.img_left_depth_deque) == 0 or len(self.img_right_depth_deque) == 0 or len(self.img_front_depth_deque) == 0)): + return False + if self.args.use_depth_image: + frame_time = min([self.img_left_deque[-1].header.stamp.to_sec(), self.img_right_deque[-1].header.stamp.to_sec(), self.img_front_deque[-1].header.stamp.to_sec(), + self.img_left_depth_deque[-1].header.stamp.to_sec(), self.img_right_depth_deque[-1].header.stamp.to_sec(), self.img_front_depth_deque[-1].header.stamp.to_sec()]) + else: + frame_time = min([self.img_left_deque[-1].header.stamp.to_sec(), self.img_right_deque[-1].header.stamp.to_sec(), self.img_front_deque[-1].header.stamp.to_sec()]) + + if len(self.img_left_deque) == 0 or self.img_left_deque[-1].header.stamp.to_sec() < frame_time: + return False + if len(self.img_right_deque) == 0 or self.img_right_deque[-1].header.stamp.to_sec() < frame_time: + return False + if len(self.img_front_deque) == 0 or self.img_front_deque[-1].header.stamp.to_sec() < frame_time: + return False + if len(self.master_arm_left_deque) == 0 or self.master_arm_left_deque[-1].header.stamp.to_sec() < frame_time: + return False + if len(self.master_arm_right_deque) == 0 or self.master_arm_right_deque[-1].header.stamp.to_sec() < frame_time: + return False + if len(self.puppet_arm_left_deque) == 0 or self.puppet_arm_left_deque[-1].header.stamp.to_sec() < frame_time: + return False + if len(self.puppet_arm_right_deque) == 0 or self.puppet_arm_right_deque[-1].header.stamp.to_sec() < frame_time: + return False + if self.args.use_depth_image and (len(self.img_left_depth_deque) == 0 or self.img_left_depth_deque[-1].header.stamp.to_sec() < frame_time): + return False + if self.args.use_depth_image and (len(self.img_right_depth_deque) == 0 or self.img_right_depth_deque[-1].header.stamp.to_sec() < frame_time): + return False + if self.args.use_depth_image and (len(self.img_front_depth_deque) == 0 or self.img_front_depth_deque[-1].header.stamp.to_sec() < frame_time): + return False + if self.args.use_robot_base and (len(self.robot_base_deque) == 0 or self.robot_base_deque[-1].header.stamp.to_sec() < frame_time): + return False + + while self.img_left_deque[0].header.stamp.to_sec() < frame_time: + self.img_left_deque.popleft() + img_left = self.bridge.imgmsg_to_cv2(self.img_left_deque.popleft(), 'passthrough') + # print("img_left:", img_left.shape) + + while self.img_right_deque[0].header.stamp.to_sec() < frame_time: + self.img_right_deque.popleft() + img_right = self.bridge.imgmsg_to_cv2(self.img_right_deque.popleft(), 'passthrough') + + while self.img_front_deque[0].header.stamp.to_sec() < frame_time: + self.img_front_deque.popleft() + img_front = self.bridge.imgmsg_to_cv2(self.img_front_deque.popleft(), 'passthrough') + + while self.master_arm_left_deque[0].header.stamp.to_sec() < frame_time: + self.master_arm_left_deque.popleft() + master_arm_left = self.master_arm_left_deque.popleft() + + while self.master_arm_right_deque[0].header.stamp.to_sec() < frame_time: + self.master_arm_right_deque.popleft() + master_arm_right = self.master_arm_right_deque.popleft() + + while self.puppet_arm_left_deque[0].header.stamp.to_sec() < frame_time: + self.puppet_arm_left_deque.popleft() + puppet_arm_left = self.puppet_arm_left_deque.popleft() + + while self.puppet_arm_right_deque[0].header.stamp.to_sec() < frame_time: + self.puppet_arm_right_deque.popleft() + puppet_arm_right = self.puppet_arm_right_deque.popleft() + + img_left_depth = None + if self.args.use_depth_image: + while self.img_left_depth_deque[0].header.stamp.to_sec() < frame_time: + self.img_left_depth_deque.popleft() + img_left_depth = self.bridge.imgmsg_to_cv2(self.img_left_depth_deque.popleft(), 'passthrough') + top, bottom, left, right = 40, 40, 0, 0 + img_left_depth = cv2.copyMakeBorder(img_left_depth, top, bottom, left, right, cv2.BORDER_CONSTANT, value=0) + + img_right_depth = None + if self.args.use_depth_image: + while self.img_right_depth_deque[0].header.stamp.to_sec() < frame_time: + self.img_right_depth_deque.popleft() + img_right_depth = self.bridge.imgmsg_to_cv2(self.img_right_depth_deque.popleft(), 'passthrough') + top, bottom, left, right = 40, 40, 0, 0 + img_right_depth = cv2.copyMakeBorder(img_right_depth, top, bottom, left, right, cv2.BORDER_CONSTANT, value=0) + + img_front_depth = None + if self.args.use_depth_image: + while self.img_front_depth_deque[0].header.stamp.to_sec() < frame_time: + self.img_front_depth_deque.popleft() + img_front_depth = self.bridge.imgmsg_to_cv2(self.img_front_depth_deque.popleft(), 'passthrough') + top, bottom, left, right = 40, 40, 0, 0 + img_front_depth = cv2.copyMakeBorder(img_front_depth, top, bottom, left, right, cv2.BORDER_CONSTANT, value=0) + + robot_base = None + if self.args.use_robot_base: + while self.robot_base_deque[0].header.stamp.to_sec() < frame_time: + self.robot_base_deque.popleft() + robot_base = self.robot_base_deque.popleft() + return (img_front, img_left, img_right, img_front_depth, img_left_depth, img_right_depth, + puppet_arm_left, puppet_arm_right, master_arm_left, master_arm_right, robot_base) + + def img_left_callback(self, msg): + if len(self.img_left_deque) >= 2000: + self.img_left_deque.popleft() + self.img_left_deque.append(msg) + + def img_right_callback(self, msg): + if len(self.img_right_deque) >= 2000: + self.img_right_deque.popleft() + self.img_right_deque.append(msg) + + def img_front_callback(self, msg): + if len(self.img_front_deque) >= 2000: + self.img_front_deque.popleft() + self.img_front_deque.append(msg) + + def img_left_depth_callback(self, msg): + if len(self.img_left_depth_deque) >= 2000: + self.img_left_depth_deque.popleft() + self.img_left_depth_deque.append(msg) + + def img_right_depth_callback(self, msg): + if len(self.img_right_depth_deque) >= 2000: + self.img_right_depth_deque.popleft() + self.img_right_depth_deque.append(msg) + + def img_front_depth_callback(self, msg): + if len(self.img_front_depth_deque) >= 2000: + self.img_front_depth_deque.popleft() + self.img_front_depth_deque.append(msg) + + def master_arm_left_callback(self, msg): + if len(self.master_arm_left_deque) >= 2000: + self.master_arm_left_deque.popleft() + self.master_arm_left_deque.append(msg) + + def master_arm_right_callback(self, msg): + if len(self.master_arm_right_deque) >= 2000: + self.master_arm_right_deque.popleft() + self.master_arm_right_deque.append(msg) + + def puppet_arm_left_callback(self, msg): + if len(self.puppet_arm_left_deque) >= 2000: + self.puppet_arm_left_deque.popleft() + self.puppet_arm_left_deque.append(msg) + + def puppet_arm_right_callback(self, msg): + if len(self.puppet_arm_right_deque) >= 2000: + self.puppet_arm_right_deque.popleft() + self.puppet_arm_right_deque.append(msg) + + def robot_base_callback(self, msg): + if len(self.robot_base_deque) >= 2000: + self.robot_base_deque.popleft() + self.robot_base_deque.append(msg) + + def init_ros(self): + rospy.init_node('record_episodes', anonymous=True) + rospy.Subscriber(self.args.img_left_topic, Image, self.img_left_callback, queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.args.img_right_topic, Image, self.img_right_callback, queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.args.img_front_topic, Image, self.img_front_callback, queue_size=1000, tcp_nodelay=True) + if self.args.use_depth_image: + rospy.Subscriber(self.args.img_left_depth_topic, Image, self.img_left_depth_callback, queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.args.img_right_depth_topic, Image, self.img_right_depth_callback, queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.args.img_front_depth_topic, Image, self.img_front_depth_callback, queue_size=1000, tcp_nodelay=True) + + rospy.Subscriber(self.args.master_arm_left_topic, JointState, self.master_arm_left_callback, queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.args.master_arm_right_topic, JointState, self.master_arm_right_callback, queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.args.puppet_arm_left_topic, JointState, self.puppet_arm_left_callback, queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.args.puppet_arm_right_topic, JointState, self.puppet_arm_right_callback, queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.args.robot_base_topic, Odometry, self.robot_base_callback, queue_size=1000, tcp_nodelay=True) + + def process(self): + timesteps = [] + actions = [] + # 图像数据 + image = np.random.randint(0, 255, size=(480, 640, 3), dtype=np.uint8) + image_dict = dict() + for cam_name in self.args.camera_names: + image_dict[cam_name] = image + count = 0 + + # input_key = input("please input s:") + # while input_key != 's' and not rospy.is_shutdown(): + # input_key = input("please input s:") + + rate = rospy.Rate(self.args.frame_rate) + print_flag = True + + while (count < self.args.max_timesteps + 1) and not rospy.is_shutdown(): + # 2 收集数据 + result = self.get_frame() + if not result: + if print_flag: + print("syn fail") + print_flag = False + rate.sleep() + continue + print_flag = True + count += 1 + (img_front, img_left, img_right, img_front_depth, img_left_depth, img_right_depth, + puppet_arm_left, puppet_arm_right, master_arm_left, master_arm_right, robot_base) = result + # 2.1 图像信息 + image_dict = dict() + image_dict[self.args.camera_names[0]] = img_front + image_dict[self.args.camera_names[1]] = img_left + image_dict[self.args.camera_names[2]] = img_right + + # 2.2 从臂的信息从臂的状态 机械臂示教模式时 会自动订阅 + obs = collections.OrderedDict() # 有序的字典 + obs['images'] = image_dict + if self.args.use_depth_image: + image_dict_depth = dict() + image_dict_depth[self.args.camera_names[0]] = img_front_depth + image_dict_depth[self.args.camera_names[1]] = img_left_depth + image_dict_depth[self.args.camera_names[2]] = img_right_depth + obs['images_depth'] = image_dict_depth + obs['qpos'] = np.concatenate((np.array(puppet_arm_left.position), np.array(puppet_arm_right.position)), axis=0) + obs['qvel'] = np.concatenate((np.array(puppet_arm_left.velocity), np.array(puppet_arm_right.velocity)), axis=0) + obs['effort'] = np.concatenate((np.array(puppet_arm_left.effort), np.array(puppet_arm_right.effort)), axis=0) + if self.args.use_robot_base: + obs['base_vel'] = [robot_base.twist.twist.linear.x, robot_base.twist.twist.angular.z] + else: + obs['base_vel'] = [0.0, 0.0] + + # 第一帧 只包含first， fisrt只保存StepType.FIRST + if count == 1: + ts = dm_env.TimeStep( + step_type=dm_env.StepType.FIRST, + reward=None, + discount=None, + observation=obs) + timesteps.append(ts) + continue + + # 时间步 + ts = dm_env.TimeStep( + step_type=dm_env.StepType.MID, + reward=None, + discount=None, + observation=obs) + + # 主臂保存状态 + action = np.concatenate((np.array(master_arm_left.position), np.array(master_arm_right.position)), axis=0) + actions.append(action) + timesteps.append(ts) + print("Frame data: ", count) + if rospy.is_shutdown(): + exit(-1) + rate.sleep() + + print("len(timesteps): ", len(timesteps)) + print("len(actions) : ", len(actions)) + return timesteps, actions + + +def get_arguments(): + parser = argparse.ArgumentParser() + parser.add_argument('--dataset_dir', action='store', type=str, help='Dataset_dir.', + default="./data", required=False) + parser.add_argument('--task_name', action='store', type=str, help='Task name.', + default="aloha_mobile_dummy", required=False) + parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.', + default=0, required=False) + + parser.add_argument('--max_timesteps', action='store', type=int, help='Max_timesteps.', + default=500, required=False) + + parser.add_argument('--camera_names', action='store', type=str, help='camera_names', + default=['cam_high', 'cam_left_wrist', 'cam_right_wrist'], required=False) + # topic name of color image + parser.add_argument('--img_front_topic', action='store', type=str, help='img_front_topic', + default='/camera_f/color/image_raw', required=False) + parser.add_argument('--img_left_topic', action='store', type=str, help='img_left_topic', + default='/camera_l/color/image_raw', required=False) + parser.add_argument('--img_right_topic', action='store', type=str, help='img_right_topic', + default='/camera_r/color/image_raw', required=False) + + # topic name of depth image + parser.add_argument('--img_front_depth_topic', action='store', type=str, help='img_front_depth_topic', + default='/camera_f/depth/image_raw', required=False) + parser.add_argument('--img_left_depth_topic', action='store', type=str, help='img_left_depth_topic', + default='/camera_l/depth/image_raw', required=False) + parser.add_argument('--img_right_depth_topic', action='store', type=str, help='img_right_depth_topic', + default='/camera_r/depth/image_raw', required=False) + + # topic name of arm + parser.add_argument('--master_arm_left_topic', action='store', type=str, help='master_arm_left_topic', + default='/master/joint_left', required=False) + parser.add_argument('--master_arm_right_topic', action='store', type=str, help='master_arm_right_topic', + default='/master/joint_right', required=False) + parser.add_argument('--puppet_arm_left_topic', action='store', type=str, help='puppet_arm_left_topic', + default='/puppet/joint_left', required=False) + parser.add_argument('--puppet_arm_right_topic', action='store', type=str, help='puppet_arm_right_topic', + default='/puppet/joint_right', required=False) + + # topic name of robot_base + parser.add_argument('--robot_base_topic', action='store', type=str, help='robot_base_topic', + default='/odom', required=False) + + parser.add_argument('--use_robot_base', action='store', type=bool, help='use_robot_base', + default=False, required=False) + # collect depth image + parser.add_argument('--use_depth_image', action='store', type=bool, help='use_depth_image', + default=False, required=False) + + parser.add_argument('--frame_rate', action='store', type=int, help='frame_rate', + default=30, required=False) + + args = parser.parse_args() + return args + + +def main(): + args = get_arguments() + ros_operator = RosOperator(args) + timesteps, actions = ros_operator.process() + dataset_dir = os.path.join(args.dataset_dir, args.task_name) + + if(len(actions) < args.max_timesteps): + print("\033[31m\nSave failure, please record %s timesteps of data.\033[0m\n" %args.max_timesteps) + exit(-1) + + if not os.path.exists(dataset_dir): + os.makedirs(dataset_dir) + dataset_path = os.path.join(dataset_dir, "episode_" + str(args.episode_idx)) + save_data(args, timesteps, actions, dataset_path) + + +if __name__ == '__main__': + main() + +# python collect_data.py --dataset_dir ~/data --max_timesteps 500 --episode_idx 0 diff --git a/collect_data/docs/1.jpg b/collect_data/docs/1.jpg new file mode 100644 index 0000000000000000000000000000000000000000..29867fcf177802c134aad827542171aab865078d Binary files /dev/null and b/collect_data/docs/1.jpg differ diff --git a/tranin_dir/blue_new/dataset_stats.pkl b/tranin_dir/blue_new/dataset_stats.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3e992ea0dc4b2398fe026a3460997d4895801c14 --- /dev/null +++ b/tranin_dir/blue_new/dataset_stats.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5073ab9de12a3d1c4117a5cebab8fe79b2e4eec547a9f483e35bb2af76761170 +size 32430 diff --git a/tranin_dir/purple/dataset_stats.pkl b/tranin_dir/purple/dataset_stats.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e011b0bb28b7b1421049cc68440e9eac282b9894 --- /dev/null +++ b/tranin_dir/purple/dataset_stats.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99e27ae44950116f6466a52e6172e44cfe9ea4f3b49104b11f5f1ab78c108c67 +size 27558