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Add test scenes

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This commit is contained in:
Michel Breyer
2021-09-10 23:29:15 +02:00
parent 15f120f207
commit 6514872b74
12 changed files with 87 additions and 50 deletions
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33
active_grasp/baselines.py
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@@ -1,6 +1,4 @@
import numpy as np
import rospy
import scipy.interpolate
from .policy import SingleViewPolicy, MultiViewPolicy
from vgn.utils import look_at
@@ -16,7 +14,7 @@ class InitialView(SingleViewPolicy):
class TopView(SingleViewPolicy):
def activate(self, bbox):
super().activate(bbox)
eye = np.r_[self.center[:2], self.center[2] + 0.3]
eye = np.r_[self.center[:2], self.bbox.max[2] + self.min_z_dist]
up = np.r_[1.0, 0.0, 0.0]
self.x_d = look_at(eye, self.center, up)
@@ -24,7 +22,7 @@ class TopView(SingleViewPolicy):
class TopTrajectory(MultiViewPolicy):
def activate(self, bbox):
super().activate(bbox)
eye = np.r_[self.center[:2], self.center[2] + 0.3]
eye = np.r_[self.center[:2], self.bbox.max[2] + self.min_z_dist]
up = np.r_[1.0, 0.0, 0.0]
self.x_d = look_at(eye, self.center, up)
@@ -36,30 +34,3 @@ class TopTrajectory(MultiViewPolicy):
return np.zeros(6)
else:
return self.compute_velocity_cmd(linear, angular)
class CircularTrajectory(MultiViewPolicy):
def __init__(self, rate):
super().__init__(rate)
self.r = 0.08
self.h = 0.3
self.duration = 2.0 * np.pi * self.r / self.linear_vel
self.m = scipy.interpolate.interp1d([0.0, self.duration], [np.pi, 3.0 * np.pi])
def activate(self, bbox):
super().activate(bbox)
self.tic = rospy.Time.now()
def update(self, img, x):
self.integrate(img, x)
elapsed_time = (rospy.Time.now() - self.tic).to_sec()
if elapsed_time > self.duration:
self.done = True
return np.zeros(6)
else:
t = self.m(elapsed_time)
eye = self.center + np.r_[self.r * np.cos(t), self.r * np.sin(t), self.h]
up = np.r_[1.0, 0.0, 0.0]
x_d = look_at(eye, self.center, up)
linear, angular = self.compute_error(x_d, x)
return self.compute_velocity_cmd(linear, angular)