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Reload scene config

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This commit is contained in:
Michel Breyer
2021-09-09 21:19:30 +02:00
parent 35bb9eaff0
commit 15f120f207
4 changed files with 93 additions and 110 deletions
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3
active_grasp/policy.py
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@@ -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

14
active_grasp/simulation.py
View File

@@ -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"]),
)