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Pick and place logic

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Behron 2025-04-09 17:57:41 -06:00
parent 099a3433ee
commit b20342b808
92 changed files with 762 additions and 3664 deletions
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@ -37,9 +131,29 @@
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Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/CameraSensorHandler.cpp Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#include "AI/CameraSensorHandler.h"
// Add default functionality here for any ICameraSensorHandler functions that are not pure virtual.

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Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceManager.cpp Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#include "AI/PickAndPlaceManager.h"
#include "Components/StateTreeComponent.h"
// Sets default values
APickAndPlaceManager::APickAndPlaceManager()
{
// Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it.
PrimaryActorTick.bCanEverTick = false;
}
// Called when the game starts or when spawned
void APickAndPlaceManager::BeginPlay()
{
Super::BeginPlay();
}
// Called every frame
void APickAndPlaceManager::Tick(float DeltaTime)
{
Super::Tick(DeltaTime);
}
bool APickAndPlaceManager::SetNewTarget_Implementation(AActor* StateTreeOwner, AActor* TargetActor, AActor* PlaceArea)
{
if (IsValid(TargetActor) && IsValid(PlaceArea) && IsValid(StateTreeOwner))
{
if (UStateTreeComponent* STC = StateTreeOwner->FindComponentByClass<UStateTreeComponent>())
{
FStateTreeEvent Event;
Event.Origin = "PickAndPlaceStart";
Event.Tag = PickAndPlaceStartTag;
STC->SendStateTreeEvent(Event);
}
CurrentTargetActor = TargetActor;
CurrentPlaceArea = PlaceArea;
if (!CurrentTargetActor->Tags.Contains(PickAndPlaceTag))
{
CurrentTargetActor->Tags.Add(PickAndPlaceTag);
}
if (OnPickAndPlaceTargetsUpdated.IsBound())
{
OnPickAndPlaceTargetsUpdated.Broadcast(this);
}
return true;
}
return false;
}
bool APickAndPlaceManager::PickAndPlaceSuccess_Implementation(AActor* StateTreeOwner)
{
if (IsValid(StateTreeOwner))
{
if (UStateTreeComponent* STC = StateTreeOwner->FindComponentByClass<UStateTreeComponent>())
{
FStateTreeEvent Event;
Event.Origin = "PickAndPlaceSuccess";
Event.Tag = PickAndPlaceSuccessTag;
STC->SendStateTreeEvent(Event);
}
}
if (OnPickAndPlaceSuccess.IsBound())
{
OnPickAndPlaceSuccess.Broadcast(this);
}
return true;
}
AActor* APickAndPlaceManager::GetCurrentTargetActor() const
{
return CurrentTargetActor;
}
AActor* APickAndPlaceManager::GetCurrentPlaceArea() const
{
return CurrentPlaceArea;
}

7
Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceUser.cpp Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#include "AI/PickAndPlaceUser.h"
// Add default functionality here for any IPickAndPlaceUser functions that are not pure virtual.

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Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_PickAndPlace.cpp Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#include "AI/Tasks/STT_PickAndPlace.h"
#include "StateTreeExecutionContext.h"
#include "AI/PickAndPlaceUser.h"
#include "Lib/LuckyWorldFunctions.h"
EStateTreeRunStatus FSTT_PickAndPlace::EnterState(FStateTreeExecutionContext& Context, const FStateTreeTransitionResult& Transition) const
{
if (UObject* Ref = Context.GetOwner())
{
if (Ref->GetClass()->ImplementsInterface(UPickAndPlaceUser::StaticClass()))
{
if (APickAndPlaceManager* Manager = ULuckyWorldFunctions::GetPickAndPlaceManager(Ref))
{
IPickAndPlaceUser::Execute_SetPickAndPlaceTargets(Ref,Manager->GetCurrentTargetActor(),Manager->GetCurrentPlaceArea());
return EStateTreeRunStatus::Running;
}
}
}
return EStateTreeRunStatus::Failed;
}

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Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Lib/LuckyWorldFunctions.cpp Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#include "Lib/LuckyWorldFunctions.h"
#include "EngineUtils.h"
#include "IImageWrapperModule.h"
#include "IImageWrapper.h"
#include "Modules/ModuleManager.h"
#include "Engine/TextureRenderTarget2D.h"
#include "Modules/ModuleManager.h"
#include "Misc/FileHelper.h"
#include "Engine/Texture2D.h"
#include "RenderUtils.h"
APickAndPlaceManager* ULuckyWorldFunctions::GetPickAndPlaceManager(UObject* WorldContextObject)
{
if (IsValid(WorldContextObject))
{
for (TActorIterator<APickAndPlaceManager> Itr(WorldContextObject->GetWorld()); Itr; ++Itr)
{
return *Itr;
}
}
return nullptr;
}
bool ULuckyWorldFunctions::SaveRenderTargetToDisk(UTextureRenderTarget2D* RenderTarget, const FString& Filename, bool bAsPNG, bool bFlipVertically)
{
if (!IsValid(RenderTarget)) return false;
FRenderTarget* RenderTargetResource = RenderTarget->GameThread_GetRenderTargetResource();
TArray<FColor> Bitmap;
RenderTargetResource->ReadPixels(Bitmap);
if (Bitmap.Num() <= 0) return false;
if (bFlipVertically)
{
for (int32 Row = 0; Row < RenderTarget->SizeY / 2; Row++)
{
int32 IndexA = Row * RenderTarget->SizeX;
int32 IndexB = (RenderTarget->SizeY - Row - 1) * RenderTarget->SizeX;
for (int32 Col = 0; Col < RenderTarget->SizeX; Col++)
{
Bitmap.SwapMemory(IndexA + Col, IndexB + Col);
}
}
}
FString FullPath = FPaths::ProjectSavedDir() / TEXT("CapturedImages") / Filename;
FPaths::NormalizeFilename(FullPath);
IImageWrapperModule& ImageWrapperModule = FModuleManager::LoadModuleChecked<IImageWrapperModule>(FName("ImageWrapper"));
EImageFormat Format = bAsPNG ? EImageFormat::PNG : EImageFormat::JPEG;
TSharedPtr<IImageWrapper> ImageWrapper = ImageWrapperModule.CreateImageWrapper(Format);
ImageWrapper->SetRaw(Bitmap.GetData(), Bitmap.GetAllocatedSize(), RenderTarget->SizeX, RenderTarget->SizeY, ERGBFormat::BGRA, 8);
const TArray64<uint8>& ImageData = bAsPNG
? ImageWrapper->GetCompressed(100)
: ImageWrapper->GetCompressed(75);
return FFileHelper::SaveArrayToFile(ImageData, *FullPath);
}
bool ULuckyWorldFunctions::SaveTextureToDisk(UTexture2D* Texture, const FString& Filename, bool bAsPNG, bool bFlipVertically)
{
if (IsValid(Texture) || !Texture->GetPlatformData() || Texture->GetPlatformData()->Mips.Num() == 0)
{
return false;
}
FTexture2DMipMap& Mip = Texture->GetPlatformData()->Mips[0];
const void* Data = Mip.BulkData.LockReadOnly();
int32 Width = Mip.SizeX;
int32 Height = Mip.SizeY;
TArray<FColor> Pixels;
Pixels.AddUninitialized(Width * Height);
if (Texture->GetPlatformData()->PixelFormat == PF_B8G8R8A8)
{
FMemory::Memcpy(Pixels.GetData(), Data, Width * Height * sizeof(FColor));
}
else
{
Mip.BulkData.Unlock();
return false;
}
Mip.BulkData.Unlock();
if (bFlipVertically)
{
for (int32 Row = 0; Row < Height / 2; Row++)
{
int32 IndexA = Row * Width;
int32 IndexB = (Height - Row - 1) * Width;
for (int32 Col = 0; Col < Width; Col++)
{
Pixels.SwapMemory(IndexA + Col, IndexB + Col);
}
}
}
IImageWrapperModule& ImageWrapperModule = FModuleManager::LoadModuleChecked<IImageWrapperModule>(FName("ImageWrapper"));
EImageFormat Format = bAsPNG ? EImageFormat::PNG : EImageFormat::JPEG;
TSharedPtr<IImageWrapper> ImageWrapper = ImageWrapperModule.CreateImageWrapper(Format);
ImageWrapper->SetRaw(Pixels.GetData(), Pixels.GetAllocatedSize(), Width, Height, ERGBFormat::BGRA, 8);
const TArray64<uint8>& ImageData = bAsPNG
? ImageWrapper->GetCompressed(100)
: ImageWrapper->GetCompressed(75);
FString FullPath = FPaths::ProjectSavedDir() / TEXT("CapturedImages") / Filename;
FPaths::NormalizeFilename(FullPath);
return FFileHelper::SaveArrayToFile(ImageData, *FullPath);
}

61
Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/CameraSensorHandler.h Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#pragma once
#include "CoreMinimal.h"
#include "UObject/Interface.h"
#include "CameraSensorHandler.generated.h"
// This class does not need to be modified.
UINTERFACE(MinimalAPI)
class UCameraSensorHandler : public UInterface
{
GENERATED_BODY()
};
/**
*
*/
class LUCKYMUJOCO_API ICameraSensorHandler
{
GENERATED_BODY()
// Add interface functions to this class. This is the class that will be inherited to implement this interface.
public:
/**
* @return - The array of camera sensors.
*/
UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras")
TArray<UChildActorComponent*> GetCameraSensors();
/**
* Spawn a camera sensor child actor component.
* NOTE::You will need to make sure you set the class in the AddChildActorComponent function or this will return a nullptr.
* @param Transform - The new transform to spawn the camera at.
* @param Value - The return index for the new camera in the array.
* @return - The spawned camera component.
*/
UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras")
UChildActorComponent* AddCameraSensor(const FTransform& Transform, int32& Value);
/**
* Move a camera to a new world transform at the given index.
* @param Transform - The new camera transform.
* @param Index - The index for the camera in the array.
* @return - True if valid index.
*/
UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras")
bool UpdateCameraSensorTransform(const FTransform& Transform, int32 Index);
/**
* Reset the camera to its original position.
* NOTE::The camera indexes need to be cached in the actor or it will fail.
* @param Index - The camera index.
* @return - True if valid index.
*/
UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras")
bool ResetCameraSensorTransform(int32 Index);
};

98
Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceManager.h Normal file
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@ -0,0 +1,98 @@
// Fill out your copyright notice in the Description page of Project Settings.
#pragma once
#include "CoreMinimal.h"
#include "GameplayTagContainer.h"
#include "GameFramework/Actor.h"
#include "PickAndPlaceManager.generated.h"
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnPickAndPlaceTargetsUpdated, APickAndPlaceManager*, Manager);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnPickAndPlaceSuccess, APickAndPlaceManager*, Manager);
UCLASS()
class LUCKYMUJOCO_API APickAndPlaceManager : public AActor
{
GENERATED_BODY()
public:
// Sets default values for this actor's properties
APickAndPlaceManager();
/**
* Notify pick and place has started.
*/
UPROPERTY(BlueprintAssignable,Category = "PickAndPlace")
FOnPickAndPlaceTargetsUpdated OnPickAndPlaceTargetsUpdated;
/**
* Notify pick and place has succeeded.
*/
UPROPERTY(BlueprintAssignable,Category = "PickAndPlace")
FOnPickAndPlaceSuccess OnPickAndPlaceSuccess;
/**
* The gameplay tag to send to the state tree to start pick and place.
*/
UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace")
FGameplayTag PickAndPlaceStartTag;
/**
* The gameplay tag to send to the state tree to stop pick and place.
*/
UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace")
FGameplayTag PickAndPlaceSuccessTag;
/**
* The actor tag that is required to consider an object entering the "box" to be a valid pick and place object.
*/
UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace")
FName PickAndPlaceTag;
protected:
// Called when the game starts or when spawned
virtual void BeginPlay() override;
public:
// Called every frame
virtual void Tick(float DeltaTime) override;
/**
* Initialize the pick and place logic.
* @param StateTreeOwner - The owner of the state tree so we can send an event to the state tree to continue.
* @param TargetActor - The target to pick and place.
* @param PlaceArea - The area to place the target actor.
* @return - True if both target actor and place area are valid.
*/
UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "PickAndPlace")
bool SetNewTarget(AActor* StateTreeOwner, AActor* TargetActor, AActor* PlaceArea);
/**
* For now, this just broadcasts the event and sends a gameplay tag to the owner of the state tree, but more can be done here if needed.
* @param StateTreeOwner - The owner of the state tree so we can send an event to the state tree to continue.
* @return - Dummy value.
*/
UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "PickAndPlace")
bool PickAndPlaceSuccess(AActor* StateTreeOwner);
/**
* @return - CurrentTargetActor.
*/
UFUNCTION(BlueprintPure,Category = "PickAndPlace")
AActor* GetCurrentTargetActor() const;
/**
* @return - CurrentPlaceArea.
*/
UFUNCTION(BlueprintPure,Category = "PickAndPlace")
AActor* GetCurrentPlaceArea() const;
private:
UPROPERTY()
AActor* CurrentTargetActor;
UPROPERTY()
AActor* CurrentPlaceArea;
};

43
Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceUser.h Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#pragma once
#include "CoreMinimal.h"
#include "UObject/Interface.h"
#include "PickAndPlaceUser.generated.h"
// This class does not need to be modified.
UINTERFACE(MinimalAPI)
class UPickAndPlaceUser : public UInterface
{
GENERATED_BODY()
};
/**
*
*/
class LUCKYMUJOCO_API IPickAndPlaceUser
{
GENERATED_BODY()
// Add interface functions to this class. This is the class that will be inherited to implement this interface.
public:
/**
* Set pick and place targets.
* @param PickAndPlaceTarget - The target to pick up.
* @param PickAndPlaceArea - The area to drop the location at.
* @return - True if both targets are valid.
*/
UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category="PickAndPlaceUser")
bool SetPickAndPlaceTargets(AActor* PickAndPlaceTarget, AActor* PickAndPlaceArea);
/**
* Tell the robot to place the target at the desired location.
* @return - True if both targets are valid.
*/
UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category="PickAndPlaceUser")
bool PlaceTarget();
};

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Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_PickAndPlace.h Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#pragma once
#include "CoreMinimal.h"
#include "StateTreeTaskBase.h"
#include "StateTreeExecutionContext.h"
#include "Components/LuckyCustomMovementComponent.h"
#include "STT_PickAndPlace.generated.h"
USTRUCT(BlueprintType)
struct FSTT_PickAndPlaceInstanceData
{
GENERATED_BODY()
UPROPERTY()
bool Dummy = false;
};
/**
* Basic pick and place.
*/
USTRUCT(BlueprintType, meta = (DisplayName = "Lucky Pick And Place"))
struct LUCKYMUJOCO_API FSTT_PickAndPlace : public FStateTreeTaskCommonBase
{
GENERATED_BODY()
public:
using FInstanceData = FSTT_PickAndPlaceInstanceData;
virtual const UStruct* GetInstanceDataType() const override {return FInstanceData::StaticStruct();}
virtual EStateTreeRunStatus EnterState(FStateTreeExecutionContext& Context, const FStateTreeTransitionResult& Transition) const override;
};

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Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Lib/LuckyWorldFunctions.h Normal file
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// Fill out your copyright notice in the Description page of Project Settings.
#pragma once
#include "CoreMinimal.h"
#include "AI/PickAndPlaceManager.h"
#include "Kismet/BlueprintFunctionLibrary.h"
#include "LuckyWorldFunctions.generated.h"
/**
*
*/
UCLASS()
class LUCKYMUJOCO_API ULuckyWorldFunctions : public UBlueprintFunctionLibrary
{
GENERATED_BODY()
public:
/**
* Get the pick and place manager.
* @param WorldContextObject - The world context owner.
* @return - The first pick and place manager.
*/
UFUNCTION(BlueprintCallable,Category = "LuckyWorld|PickAndPlace", meta = (WorldContext = "WorldContextObject"))
static APickAndPlaceManager* GetPickAndPlaceManager(UObject* WorldContextObject);
/**
* Save a render target (texture target from scene capture component 2D) to disk.
* @param RenderTarget - The render target to save to disk.
* @param Filename - The path for the file.
* @param bAsPNG - If true, we write as a png.
* @param bFlipVertically - If true, we will flip the pixels.
* @return - True if saved.
*/
UFUNCTION(BlueprintCallable,Category = "LuckyWorld|Utils|Images")
static bool SaveRenderTargetToDisk(UTextureRenderTarget2D* RenderTarget, const FString& Filename, bool bAsPNG = true, bool bFlipVertically = false);
/**
* Save a texture to disk.
* @param Texture - The texure to save to disk.
* @param Filename - The path for the file.
* @param bAsPNG - If true, we write as a png.
* @param bFlipVertically - If true, we will flip the pixels.
* @return - True if saved.
*/
UFUNCTION(BlueprintCallable,Category = "LuckyWorld|Utils|Images")
static bool SaveTextureToDisk(UTexture2D* Texture, const FString& Filename, bool bAsPNG = true, bool bFlipVertically = true);
};

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