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This commit is contained in:
Michel Breyer 2021-11-06 15:06:28 +01:00
parent 3c268c7a5d
commit 6d7a9fc3e2
3 changed files with 3 additions and 6 deletions
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0
cfg/scenes/scene1.yaml → cfg/scenes/mustard.yaml
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6
scripts/reset.py
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@ -8,7 +8,5 @@ seed = rospy.ServiceProxy("seed", Seed)
reset = rospy.ServiceProxy("reset", Reset) reset = rospy.ServiceProxy("reset", Reset)
seed(SeedRequest(1)) seed(SeedRequest(1))
reset(ResetRequest())
while True: rospy.sleep(1.0)
reset(ResetRequest())
rospy.sleep(1.0)

3
src/active_grasp/simulation.py
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@ -1,7 +1,6 @@
from pathlib import Path from pathlib import Path
import pybullet as p import pybullet as p
import pybullet_data import pybullet_data
import yaml
import rospkg import rospkg
from active_grasp.bbox import AABBox from active_grasp.bbox import AABBox
@ -50,7 +49,7 @@ class Simulation:
self.camera = BtCamera(320, 240, 0.96, 0.01, 1.0, self.arm.uid, 11) self.camera = BtCamera(320, 240, 0.96, 0.01, 1.0, self.arm.uid, 11)
def reset(self): def reset(self):
self.set_arm_configuration([0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79]) self.set_arm_configuration([0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79])
self.scene.clear() self.scene.clear()
q = self.scene.generate(self.rng) q = self.scene.generate(self.rng)
self.set_arm_configuration(q) self.set_arm_configuration(q)