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a32fcea | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 | #!/usr/bin/env python3
import os
import traceback
from pyrep import PyRep
from pyrep.const import RenderMode
from pyrep.robots.arms.dual_panda import PandaLeft, PandaRight
from pyrep.robots.end_effectors.dual_panda_gripper import PandaGripperLeft, PandaGripperRight
from pyrep.objects.shape import Shape
from yarr.utils.video_utils import CircleCameraMotion
from yarr.utils.video_utils import TaskRecorder
from pyrep.objects.dummy import Dummy
from pyrep.objects.vision_sensor import VisionSensor
from rlbench.backend.exceptions import *
from rlbench.observation_config import ObservationConfig
from rlbench.observation_config import CameraConfig
from rlbench.backend.robot import Robot
from rlbench.backend.robot import BimanualRobot
from rlbench.backend.scene import Scene
from rlbench.backend.task import BIMANUAL_TASKS_PATH
from rlbench.backend.const import BIMANUAL_TTT_FILE
import rich_click as click
from click_prompt import choice_option
from rlbench.utils import name_to_task_class
def main():
render_videos_for_task()
def get_bimanual_tasks():
return [t.replace('.py', '') for t in
os.listdir(BIMANUAL_TASKS_PATH) if t != '__init__.py' and t.endswith('.py')]
@click.command()
@choice_option('--bimanual-task-files', type=click.Choice(sorted(get_bimanual_tasks())), multiple=True)
@click.option('--add-task-description/--no-task-description', default=False)
@click.option('--add-gripper-color/--no-gripper-color', default=False)
def render_videos_for_task(bimanual_task_files, add_task_description, add_gripper_color):
CURRENT_DIR = os.path.dirname(os.path.abspath(__file__))
pr = PyRep()
ttt_file = os.path.join(CURRENT_DIR, '..', 'rlbench', BIMANUAL_TTT_FILE)
pr.launch(ttt_file, responsive_ui=True)
pr.step_ui()
robot = BimanualRobot(PandaRight(), PandaGripperRight(), PandaLeft(), PandaGripperLeft())
if add_gripper_color:
robot.colorize_gripper()
cam_config = CameraConfig(rgb=True, depth=False, mask=False,
render_mode=RenderMode.OPENGL3)
obs_config = ObservationConfig()
obs_config.set_all(False)
obs_config.right_shoulder_camera = cam_config
obs_config.left_shoulder_camera = cam_config
obs_config.overhead_camera = cam_config
obs_config.wrist_camera = cam_config
obs_config.front_camera = cam_config
scene = Scene(pr, robot, obs_config)
for task_file in bimanual_task_files:
if add_task_description:
task_name_mapping = {}
task_description = task_name_mapping.get(task_file, f"Demo for task {task_file}")
else:
task_description = ""
task_class = name_to_task_class(task_file, True)
task = task_class(pr, robot, task_file.replace('.py', ''))
try:
print(f"Loading {task_file}")
scene.load(task)
pr.start()
pr.step_ui()
record_demo(scene, task, task_file, task_description)
scene.reset()
scene.unload()
pr.stop()
pr.step_ui()
except Exception as e:
print("error while loading task")
print(e)
pr.step_ui()
pr.stop()
pr.shutdown()
def record_demo(scene, task, task_file, task_description):
cam_placeholder = Dummy('cam_cinematic_placeholder')
cam = VisionSensor.create([1920, 1200], background_color=[1.0, 1.0, 1.0])
cam.set_pose(cam_placeholder.get_pose())
cam.set_parent(cam_placeholder)
scene_background = ["Wall1", "Wall2", "Wall3", "Wall4", "Floor", "Roof", "ResizableFloor_5_25_visibleElement"]
for object_name in scene_background:
Shape(object_name).set_renderable(False)
cam_motion = CircleCameraMotion(cam, Dummy('cam_cinematic_base'), 0.005)
tr = TaskRecorder(None, cam_motion, fps=30)
try:
scene.get_demo(False, callable_each_step=tr.take_snap, randomly_place=False)
except (WaypointError, NoWaypointsError, DemoError, Exception) as e:
traceback.print_exc()
return
success, terminate = task.success()
task_result = "success" if success else "failed"
recording_output_path = f"/tmp/{task_result}/rlbench_video_{task_file}.mp4"
os.makedirs(os.path.dirname(recording_output_path), exist_ok=True)
tr.save(recording_output_path, task_description, None)
print(f"Saving video to {recording_output_path}")
for object_name in scene_background:
Shape(object_name).set_renderable(True)
if success:
print("Demo was a success!")
if __name__ == '__main__':
main()
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