import osfrom pathlib import Path
local_dir = Path("/mnt/data/notebook5/")  # 缓存目录print(f"下载数据和代码到: {local_dir}")
print("开始下载数据和代码...")package = "bin_picking_demo.tar"download_from_oss('aigc-data/isaac/nb5/', package, str(local_dir))print("下载完成")print("开始解压数据和代码...")zip_file = os.path.join(local_dir, package)print(zip_file)breakpoint()!tar -xvf {zip_file} -C {local_dir}!rm {zip_file}print("解压完成")

import osfrom pathlib import Path
local_dir = Path("/root/FoundationPose")  # 缓存目录print(f"下载预训练模型参数到: {local_dir}")
print("开始下载预训练模型参数...")package = "weights.tar"download_from_oss('aigc-data/isaac/nb5/', package, str(local_dir))print("下载完成")print("开始解压预训练模型参数...")zip_file = os.path.join(local_dir, package)print(zip_file)!tar -xvf {zip_file} -C {local_dir}!rm {zip_file}print("解压完成")

#安装python envapt updateapt install python3-venv
#启动vncserver/opt/TurboVNC/bin/vncserver :1 -geometry 3840x2160
#安装novnc/etc/dsw/runtime/bin/pai-dsw runtime plugin install novnc
#启动novnc/etc/dsw/runtime/bin/pai-dsw runtime plugin start-daemon novnc

http://localhost:9803

cd /root/bin_picking_demo/isaac-sim/python.sh sim_main.py --component "mustard_bottle"## 可以尝试更改--component "cracker_box"

if __name__ == "__main__":    # ------- parse configuration ------- #    opt = tyro.cli(SimulationConfig)        # Setup all configuration parameters    opt, camera_pameters, weights_path, standard_mask_path = setup_configuration(opt)
    # ------- create a separate process for FoundationPose Infer ------- #    ctx = mp.get_context('spawn')        data_queue = ctx.Queue() ## image/depth from SIM    hand_data_queue = ctx.Queue() ## image/depth from hand camera from SIM    detect_queue = ctx.Queue() ## detections from FoundationPose    hand_detect_queue = ctx.Queue() ## detections from FoundationPose
    debug = True    process = ctx.Process(target=inference, args=(data_queue, detect_queue, hand_data_queue, hand_detect_queue, camera_pameters, opt.mesh_file, standard_mask_path, weights_path, debug))    # Start the subprocess of FoundationPose Inference    process.start()    # Start main process of ISAAC Sim    main(opt, data_queue, detect_queue, hand_data_queue, hand_detect_queue)                 process.terminate()    process.join()    print('## Sub process is terminated.')

def inference(data_queue, detect_queue, hand_data_queue, hand_detect_queue, camera_pameters, mesh_file, standard_mask_path, weights_path, debug):    pose_estimator = FoundationPoseInfer(camera_pameters, mesh_file, standard_mask_path, weights_path, debug)    pose_tuner = ICPByHandCamera(camera_pameters, mesh_file, weights_path)
    print(f"*** inference *** Initialized !! ")     last_data_time = time.time()    timeout_duration = 300  # auto exit time: seconds
    while True:        if not data_queue.empty():            rgb_array, depth_array, failed_last, reset = data_queue.get()            if reset:                pose_estimator = FoundationPoseInfer(camera_pameters, mesh_file, standard_mask_path, weights_path, debug)                print("reset: re-init foundation pose")                continue            pose_in_cam, mask = pose_estimator.detect(rgb_array, depth_array, failed_last)            detect_queue.put([pose_in_cam, mask, pose_estimator.extent_bbox])            print(f"*** inference *** Detect target and add to detect_queue !! ")             last_data_time = time.time()
        if not hand_data_queue.empty():            rgb_array_hand, depth_array_hand, \                pose_in_world, orient_in_world, pose_matrix_in_world, \                    pose_matrix_in_hand_cam = hand_data_queue.get()            print(f"[perception] [inference] hand camera received, processing")
            # get world position from head camera             pose_in_cam, mask = pose_tuner.run(rgb_array_hand, depth_array_hand, pose_matrix_in_hand_cam)
            # TODO: update boxes, use flag: head_camera or hand_camera; update or new            print(f"[perception] [inference] hand camera processed, sending")            hand_detect_queue.put([pose_in_cam, mask, pose_estimator.extent_bbox])            last_data_time = time.time()        else:            if time.time() - last_data_time > timeout_duration:                print(f"*** inference *** No data received for {timeout_duration} seconds. Exiting... ")                break            # print(f"*** inference *** No RGBD data received !! ")         time.sleep(0.01)  # avoid high frequency empty polling, reduce CPU consumption

def main(opt, data_queue, detect_queue, hand_data_queue, hand_detect_queue):    ......    world = CortexWorld()    ......    robot = world.add_robot(CortexUr10LongSuction(name="robot", prim_path="{}/ur10_long_suction".format(env_path), robot_type=opt.robot_type))    ......    camera_prim1 = world.stage.DefinePrim("/World/Camera1", "Camera")    ......    world.add_task(BinPickingStackedTask(opt, mechanical_part_usd, usd_scale, opt.num_object, rp_head))        # Reset the world and task to add objects, surface gripper joints, and obstacles, etc.    world.reset()    world.add_decider_network(behavior.make_decider_network(data_queue, detect_queue, hand_data_queue, hand_detect_queue, robot, target_pose, opt, rp_head, rp_hand, camera_prim1, camera_prim_hand))
    world.run(simulation_app,render=True, loop_fast=False, play_on_entry=True)    print('## Simulation_app is closed. ##')