Reload scene config
This commit is contained in:
Michel Breyer
parent
35bb9eaff0
commit
15f120f207
@ -78,8 +78,7 @@ class Policy:
|
||||
return grasps[indices], scores[indices]
|
||||
|
||||
def score_fn(self, grasp):
|
||||
# return grasp.quality
|
||||
return grasp.pose.translation[2]
|
||||
return grasp.quality
|
||||
|
||||
def update(self, img, pose):
|
||||
raise NotImplementedError
|
||||
|
||||
@ -40,7 +40,7 @@ class Simulation:
|
||||
self.arm = BtPandaArm(panda_urdf)
|
||||
self.gripper = BtPandaGripper(self.arm)
|
||||
self.model = Model(panda_urdf, self.arm.base_frame, self.arm.ee_frame)
|
||||
self.camera = BtCamera(320, 240, 1.047, 0.1, 1.0, self.arm.uid, 11)
|
||||
self.camera = BtCamera(320, 240, 0.96, 0.2, 1.0, self.arm.uid, 11)
|
||||
|
||||
def seed(self, seed):
|
||||
self.rng = np.random.default_rng(seed)
|
||||
@ -123,7 +123,6 @@ def find_urdfs(root):
|
||||
class RandomScene(Scene):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
# self.center = np.r_[0.5, 0.0, 0.2]
|
||||
self.center = np.r_[0.6, 0.0, 0.1]
|
||||
self.length = 0.3
|
||||
self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0]
|
||||
@ -161,19 +160,24 @@ class RandomScene(Scene):
|
||||
class CustomScene(Scene):
|
||||
def __init__(self, config_name):
|
||||
super().__init__()
|
||||
config_path = Path(rospack.get_path("active_grasp")) / "cfg" / config_name
|
||||
with config_path.open("r") as f:
|
||||
self.config_path = (
|
||||
Path(rospack.get_path("active_grasp")) / "cfg" / "scenes" / config_name
|
||||
)
|
||||
|
||||
def load_config(self):
|
||||
with self.config_path.open("r") as f:
|
||||
self.scene = yaml.load(f)
|
||||
self.center = np.asarray(self.scene["center"])
|
||||
self.length = 0.3
|
||||
self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0]
|
||||
|
||||
def load(self, rng):
|
||||
self.load_config()
|
||||
self.load_support(self.center)
|
||||
for object in self.scene["objects"]:
|
||||
self.load_object(
|
||||
self.get_ycb_urdf_path(object["object_id"]),
|
||||
Rotation.from_euler("xyz", object["rpy"]),
|
||||
Rotation.from_euler("xyz", object["rpy"], degrees=True),
|
||||
self.center + np.asarray(object["xyz"]),
|
||||
)
|
||||
|
||||
|
||||
@ -6,7 +6,7 @@ Panels:
|
||||
Expanded:
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 805
|
||||
Tree Height: 338
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
@ -25,7 +25,7 @@ Panels:
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: SceneCloud
|
||||
SyncSource: DepthImage
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
@ -51,6 +51,18 @@ Visualization Manager:
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Class: rviz/Image
|
||||
Enabled: false
|
||||
Image Topic: /camera/depth/image_rect_raw
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: DepthImage
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Unreliable: false
|
||||
Value: false
|
||||
- Alpha: 0.20000000298023224
|
||||
Autocompute Intensity Bounds: false
|
||||
Autocompute Value Bounds:
|
||||
@ -86,10 +98,7 @@ Visualization Manager:
|
||||
Marker Topic: visualization_marker_array
|
||||
Name: Markers
|
||||
Namespaces:
|
||||
bbox: true
|
||||
best_grasp: true
|
||||
grasps: true
|
||||
path: true
|
||||
{}
|
||||
Queue Size: 100
|
||||
Value: true
|
||||
- Acceleration_Scaling_Factor: 0.1
|
||||
@ -125,10 +134,6 @@ Visualization Manager:
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
camera_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
panda_hand:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
@ -211,7 +216,7 @@ Visualization Manager:
|
||||
Goal State Color: 250; 128; 0
|
||||
Interactive Marker Size: 0
|
||||
Joint Violation Color: 255; 0; 255
|
||||
Planning Group: panda_arm
|
||||
Planning Group: hand
|
||||
Query Goal State: true
|
||||
Query Start State: false
|
||||
Show Workspace: false
|
||||
@ -234,10 +239,6 @@ Visualization Manager:
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
camera_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
panda_hand:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
@ -324,74 +325,38 @@ Visualization Manager:
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
camera_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
panda_hand:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_leftfinger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link0:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link7:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_link8:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
panda_rightfinger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Robot Alpha: 1
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: false
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: PointCloud
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.0020000000949949026
|
||||
Style: Spheres
|
||||
Topic: /camera/depth/color/points
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: false
|
||||
Autocompute Value Bounds:
|
||||
@ -432,10 +397,6 @@ Visualization Manager:
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
camera_optical_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
panda_hand:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
@ -535,14 +496,18 @@ Visualization Manager:
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
camera_optical_frame:
|
||||
camera_depth_optical_frame:
|
||||
Value: true
|
||||
panda_EE:
|
||||
Value: true
|
||||
panda_K:
|
||||
Value: true
|
||||
panda_hand:
|
||||
Value: false
|
||||
panda_leftfinger:
|
||||
Value: false
|
||||
panda_link0:
|
||||
Value: false
|
||||
Value: true
|
||||
panda_link1:
|
||||
Value: false
|
||||
panda_link2:
|
||||
@ -561,8 +526,6 @@ Visualization Manager:
|
||||
Value: false
|
||||
panda_rightfinger:
|
||||
Value: false
|
||||
task:
|
||||
Value: true
|
||||
world:
|
||||
Value: false
|
||||
Marker Alpha: 1
|
||||
@ -582,17 +545,30 @@ Visualization Manager:
|
||||
panda_link6:
|
||||
panda_link7:
|
||||
panda_link8:
|
||||
panda_hand:
|
||||
camera_optical_frame:
|
||||
camera_depth_optical_frame:
|
||||
{}
|
||||
panda_EE:
|
||||
panda_K:
|
||||
{}
|
||||
panda_hand:
|
||||
panda_leftfinger:
|
||||
{}
|
||||
panda_rightfinger:
|
||||
{}
|
||||
task:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /camera/color/image_raw
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: ColorImage
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Unreliable: false
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
@ -621,7 +597,7 @@ Visualization Manager:
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.5005543231964111
|
||||
Distance: 1.8815758228302002
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
@ -629,29 +605,33 @@ Visualization Manager:
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: 0.3386422395706177
|
||||
Y: -0.016611307859420776
|
||||
Z: 0.429339200258255
|
||||
X: 0.4086047410964966
|
||||
Y: 0.23318199813365936
|
||||
Z: 0.28523021936416626
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.39479339122772217
|
||||
Pitch: 0.3297969102859497
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 5.172863483428955
|
||||
Yaw: 5.052877902984619
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
ColorImage:
|
||||
collapsed: false
|
||||
DepthImage:
|
||||
collapsed: false
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1019
|
||||
Height: 960
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
MotionPlanning:
|
||||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 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
|
||||
QMainWindow State: 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
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
@ -659,7 +639,7 @@ Window Geometry:
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1516
|
||||
X: 1039
|
||||
Y: 114
|
||||
collapsed: false
|
||||
Width: 1920
|
||||
X: 0
|
||||
Y: 27
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user