update

sim on omni_test
2024-12-20 15:28:39 +08:00 · 2024-12-04 16:07:44 +08:00
541 changed files with 16133 additions and 140 deletions
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -3,8 +3,7 @@ bt_sim:
  gripper_force: 100
  # scene: random
  # scene: manual
-  scene: $(find active_grasp)/cfg/sim/challenging_scene_1.yaml
-
+  scene: $(find active_grasp)/cfg/pkl_scene/scene_0
 hw:
  roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
  scene_file: $(find active_grasp)/cfg/hw/scene01.yaml
--- a/cfg/old_sim/challenging_scene_1.yaml
+++ b/cfg/old_sim/challenging_scene_1.yaml
@@ -0,0 +1,12 @@
+center: [0.45, 0.0, 0.0]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+
+- object_id: active_perception/omni_objects/blender_cabinet/blender_cabinet_003
+  xyz: [0.2, 0.0, 0.0]
+  rpy: [0, 0, 110]
+  scale: 1.0
+- object_id: active_perception/omni_objects/bowl/bowl_001
+  xyz: [0.1, -0.15, 0.2]
+  rpy: [0, 0, 0]
+  scale: 1.0
--- a/cfg/old_sim/challenging_scene_2.yaml
+++ b/cfg/old_sim/challenging_scene_2.yaml
--- a/cfg/old_sim/challenging_scene_3.yaml
+++ b/cfg/old_sim/challenging_scene_3.yaml
--- a/cfg/old_sim/challenging_scene_4.yaml
+++ b/cfg/old_sim/challenging_scene_4.yaml
--- a/cfg/old_sim/challenging_scene_5.yaml
+++ b/cfg/old_sim/challenging_scene_5.yaml
--- a/cfg/old_sim/challenging_scene_6.yaml
+++ b/cfg/old_sim/challenging_scene_6.yaml
--- a/cfg/old_sim/custom_scene_1.yaml
+++ b/cfg/old_sim/custom_scene_1.yaml
@@ -0,0 +1,12 @@
+center: [0.45, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [0.0, +0.1, 0.1]
+  rpy: [0, 0, 0]
+  scale: 0.8
+- object_id: active_perception/blender_cabinet
+  xyz: [-0.1, -0.2, 0.02]
+  rpy: [0, 0, 0]
+  scale: 1.0
+
--- a/cfg/old_sim/scene_0.yaml
+++ b/cfg/old_sim/scene_0.yaml
@@ -0,0 +1,44 @@
+
+center: [0.8, 0.0, 0.0]
+q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+
+- object_id: active_perception/omni_objects/chair/chair_028
+  xyz: [-0.0068908389657735825, 0.005315959919244051, 0.22069703042507172]
+  rpy: [1.7886940604406145, 1.01981032172009, 89.94713459186843]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/banana/banana_039
+  xyz: [0.7659764885902405, 0.13244639337062836, -0.04103884473443031]
+  rpy: [-159.92582804293914, -85.42660168404156, -103.58175651841792]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/biscuit/biscuit_114
+  xyz: [0.008980791084468365, 0.07558994740247726, 0.2308768779039383]
+  rpy: [11.011894411740208, 11.353458522097622, 152.3866433619816]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/biscuit/biscuit_115
+  xyz: [0.04214617237448692, 0.10601552575826645, 0.23250775039196014]
+  rpy: [83.20043939487029, -10.314548853298982, -177.60985707120096]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/biscuit/biscuit_120
+  xyz: [0.11285210400819778, -0.07488349825143814, 0.22921115159988403]
+  rpy: [-89.49948184622092, 4.498975090794982, -9.099756342937475]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/shrimp/shrimp_041
+  xyz: [0.15021200478076935, 0.09884239733219147, 0.23815606534481049]
+  rpy: [8.284258796440458, 79.99516936338651, 110.00644636249444]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/tomato/tomato_030
+  xyz: [-0.04284593090415001, 0.041140712797641754, 0.256274938583374]
+  rpy: [-9.592290990627584, -68.86805058250192, -125.56497138835732]
+  scale: 1.0
+
+- object_id: active_perception/omni_objects/apple/apple_060
+  xyz: [-0.008709152229130268, -0.022433513775467873, 0.23665982484817505]
+  rpy: [-53.995144869912664, -29.051497741486138, 168.64676150555815]
+  scale: 1.0
--- a/cfg/pkl_scene/scene_0/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_0/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_0/scene.pickle
+++ b/cfg/pkl_scene/scene_0/scene.pickle
--- a/cfg/pkl_scene/scene_1/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_1/fall_objects.pickle
--- a/cfg/pkl_scene/scene_1/scene.pickle
+++ b/cfg/pkl_scene/scene_1/scene.pickle
--- a/cfg/pkl_scene/scene_10/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_10/fall_objects.pickle
--- a/cfg/pkl_scene/scene_10/scene.pickle
+++ b/cfg/pkl_scene/scene_10/scene.pickle
--- a/cfg/pkl_scene/scene_11/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_11/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_11/scene.pickle
+++ b/cfg/pkl_scene/scene_11/scene.pickle
--- a/cfg/pkl_scene/scene_12/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_12/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_12/scene.pickle
+++ b/cfg/pkl_scene/scene_12/scene.pickle
--- a/cfg/pkl_scene/scene_13/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_13/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_13/scene.pickle
+++ b/cfg/pkl_scene/scene_13/scene.pickle
--- a/cfg/pkl_scene/scene_14/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_14/fall_objects.pickle
--- a/cfg/pkl_scene/scene_14/scene.pickle
+++ b/cfg/pkl_scene/scene_14/scene.pickle
--- a/cfg/pkl_scene/scene_15/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_15/fall_objects.pickle
--- a/cfg/pkl_scene/scene_15/scene.pickle
+++ b/cfg/pkl_scene/scene_15/scene.pickle
--- a/cfg/pkl_scene/scene_16/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_16/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_16/scene.pickle
+++ b/cfg/pkl_scene/scene_16/scene.pickle
--- a/cfg/pkl_scene/scene_17/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_17/fall_objects.pickle
--- a/cfg/pkl_scene/scene_17/scene.pickle
+++ b/cfg/pkl_scene/scene_17/scene.pickle
--- a/cfg/pkl_scene/scene_2/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_2/fall_objects.pickle
--- a/cfg/pkl_scene/scene_2/scene.pickle
+++ b/cfg/pkl_scene/scene_2/scene.pickle
--- a/cfg/pkl_scene/scene_25/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_25/fall_objects.pickle
--- a/cfg/pkl_scene/scene_25/scene.pickle
+++ b/cfg/pkl_scene/scene_25/scene.pickle
--- a/cfg/pkl_scene/scene_26/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_26/fall_objects.pickle
--- a/cfg/pkl_scene/scene_26/scene.pickle
+++ b/cfg/pkl_scene/scene_26/scene.pickle
--- a/cfg/pkl_scene/scene_27/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_27/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_27/scene.pickle
+++ b/cfg/pkl_scene/scene_27/scene.pickle
--- a/cfg/pkl_scene/scene_28/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_28/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_28/scene.pickle
+++ b/cfg/pkl_scene/scene_28/scene.pickle
--- a/cfg/pkl_scene/scene_29/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_29/fall_objects.pickle
--- a/cfg/pkl_scene/scene_29/scene.pickle
+++ b/cfg/pkl_scene/scene_29/scene.pickle
--- a/cfg/pkl_scene/scene_3/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_3/fall_objects.pickle
--- a/cfg/pkl_scene/scene_3/scene.pickle
+++ b/cfg/pkl_scene/scene_3/scene.pickle
--- a/cfg/pkl_scene/scene_30/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_30/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_30/scene.pickle
+++ b/cfg/pkl_scene/scene_30/scene.pickle
--- a/cfg/pkl_scene/scene_31/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_31/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_31/scene.pickle
+++ b/cfg/pkl_scene/scene_31/scene.pickle
--- a/cfg/pkl_scene/scene_32/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_32/fall_objects.pickle
--- a/cfg/pkl_scene/scene_32/scene.pickle
+++ b/cfg/pkl_scene/scene_32/scene.pickle
--- a/cfg/pkl_scene/scene_33/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_33/fall_objects.pickle
--- a/cfg/pkl_scene/scene_33/scene.pickle
+++ b/cfg/pkl_scene/scene_33/scene.pickle
--- a/cfg/pkl_scene/scene_34/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_34/fall_objects.pickle
--- a/cfg/pkl_scene/scene_34/scene.pickle
+++ b/cfg/pkl_scene/scene_34/scene.pickle
--- a/cfg/pkl_scene/scene_35/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_35/fall_objects.pickle
--- a/cfg/pkl_scene/scene_35/scene.pickle
+++ b/cfg/pkl_scene/scene_35/scene.pickle
--- a/cfg/pkl_scene/scene_4/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_4/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_4/scene.pickle
+++ b/cfg/pkl_scene/scene_4/scene.pickle
--- a/cfg/pkl_scene/scene_43/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_43/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_43/scene.pickle
+++ b/cfg/pkl_scene/scene_43/scene.pickle
--- a/cfg/pkl_scene/scene_44/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_44/fall_objects.pickle
--- a/cfg/pkl_scene/scene_44/scene.pickle
+++ b/cfg/pkl_scene/scene_44/scene.pickle
--- a/cfg/pkl_scene/scene_45/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_45/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_45/scene.pickle
+++ b/cfg/pkl_scene/scene_45/scene.pickle
--- a/cfg/pkl_scene/scene_46/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_46/fall_objects.pickle
--- a/cfg/pkl_scene/scene_46/scene.pickle
+++ b/cfg/pkl_scene/scene_46/scene.pickle
--- a/cfg/pkl_scene/scene_47/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_47/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_47/scene.pickle
+++ b/cfg/pkl_scene/scene_47/scene.pickle
--- a/cfg/pkl_scene/scene_48/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_48/fall_objects.pickle
--- a/cfg/pkl_scene/scene_48/scene.pickle
+++ b/cfg/pkl_scene/scene_48/scene.pickle
--- a/cfg/pkl_scene/scene_49/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_49/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_49/scene.pickle
+++ b/cfg/pkl_scene/scene_49/scene.pickle
--- a/cfg/pkl_scene/scene_5/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_5/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_5/scene.pickle
+++ b/cfg/pkl_scene/scene_5/scene.pickle
--- a/cfg/pkl_scene/scene_50/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_50/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_50/scene.pickle
+++ b/cfg/pkl_scene/scene_50/scene.pickle
--- a/cfg/pkl_scene/scene_51/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_51/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_51/scene.pickle
+++ b/cfg/pkl_scene/scene_51/scene.pickle
--- a/cfg/pkl_scene/scene_52/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_52/fall_objects.pickle
--- a/cfg/pkl_scene/scene_52/scene.pickle
+++ b/cfg/pkl_scene/scene_52/scene.pickle
--- a/cfg/pkl_scene/scene_53/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_53/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_53/scene.pickle
+++ b/cfg/pkl_scene/scene_53/scene.pickle
--- a/cfg/pkl_scene/scene_6/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_6/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_6/scene.pickle
+++ b/cfg/pkl_scene/scene_6/scene.pickle
--- a/cfg/pkl_scene/scene_61/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_61/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_61/scene.pickle
+++ b/cfg/pkl_scene/scene_61/scene.pickle
--- a/cfg/pkl_scene/scene_62/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_62/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_62/scene.pickle
+++ b/cfg/pkl_scene/scene_62/scene.pickle
--- a/cfg/pkl_scene/scene_63/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_63/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_63/scene.pickle
+++ b/cfg/pkl_scene/scene_63/scene.pickle
--- a/cfg/pkl_scene/scene_64/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_64/fall_objects.pickle
--- a/cfg/pkl_scene/scene_64/scene.pickle
+++ b/cfg/pkl_scene/scene_64/scene.pickle
--- a/cfg/pkl_scene/scene_65/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_65/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_65/scene.pickle
+++ b/cfg/pkl_scene/scene_65/scene.pickle
--- a/cfg/pkl_scene/scene_66/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_66/fall_objects.pickle
--- a/cfg/pkl_scene/scene_66/scene.pickle
+++ b/cfg/pkl_scene/scene_66/scene.pickle
--- a/cfg/pkl_scene/scene_67/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_67/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/cfg/pkl_scene/scene_67/scene.pickle
+++ b/cfg/pkl_scene/scene_67/scene.pickle
--- a/cfg/pkl_scene/scene_68/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_68/fall_objects.pickle
--- a/cfg/pkl_scene/scene_68/scene.pickle
+++ b/cfg/pkl_scene/scene_68/scene.pickle
--- a/cfg/pkl_scene/scene_69/fall_objects.pickle
+++ b/cfg/pkl_scene/scene_69/fall_objects.pickle
@@ -0,0 +1 @@
+<EFBFBD>]<5D>.
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
hofee	722c319ed3	update	2024-12-20 15:28:39 +08:00
hofee	384d8a0ca6	sim on omni_test	2024-12-04 16:07:44 +08:00