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This commit is contained in:
Michel Breyer 2021-11-04 20:07:57 +01:00
parent 29b3ba7759
commit 33d123e3ee
3 changed files with 11 additions and 8 deletions
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2
cfg/active_grasp.yaml
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@ -2,7 +2,7 @@ bt_sim:
gui: False gui: False
cam_noise: False cam_noise: False
gripper_force: 10 gripper_force: 10
scene: scene1.yaml scene: random
grasp_controller: grasp_controller:
base_frame_id: panda_link0 base_frame_id: panda_link0

7
scripts/reset.py
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@ -2,10 +2,13 @@ import rospy
from active_grasp.srv import * from active_grasp.srv import *
rospy.init_node("test") rospy.init_node("reset")
seed = rospy.ServiceProxy("seed", Seed) seed = rospy.ServiceProxy("seed", Seed)
reset = rospy.ServiceProxy("reset", Reset) reset = rospy.ServiceProxy("reset", Reset)
# seed(SeedRequest(1)) seed(SeedRequest(1))
while True:
reset(ResetRequest()) reset(ResetRequest())
rospy.sleep(1.0)

8
src/active_grasp/simulation.py
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@ -153,18 +153,18 @@ class RandomScene(Scene):
self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0] self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0]
self.object_urdfs = find_urdfs(assets_dir / "test") self.object_urdfs = find_urdfs(assets_dir / "test")
def generate(self, rng, attempts=10): def generate(self, rng, object_count=4, attempts=10):
self.add_support(self.center) self.add_support(self.center)
urdfs = rng.choice(self.object_urdfs, 4) urdfs = rng.choice(self.object_urdfs, object_count)
scale = 1.0
for urdf in urdfs: for urdf in urdfs:
scale = rng.uniform(0.8, 1.0)
uid = self.add_object(urdf, Rotation.identity(), np.zeros(3), scale) uid = self.add_object(urdf, Rotation.identity(), np.zeros(3), scale)
lower, upper = p.getAABB(uid) lower, upper = p.getAABB(uid)
z_offset = 0.5 * (upper[2] - lower[2]) + 0.002 z_offset = 0.5 * (upper[2] - lower[2]) + 0.002
state_id = p.saveState() state_id = p.saveState()
for _ in range(attempts): for _ in range(attempts):
# Try to place and check for collisions # Try to place and check for collisions
ori = Rotation.from_rotvec([0.0, 0.0, rng.uniform(0, 2 * np.pi)]) ori = Rotation.from_euler("z", rng.uniform(0, 2 * np.pi))
pos = np.r_[rng.uniform(0.2, 0.8, 2) * self.length, z_offset] pos = np.r_[rng.uniform(0.2, 0.8, 2) * self.length, z_offset]
p.resetBasePositionAndOrientation(uid, self.origin + pos, ori.as_quat()) p.resetBasePositionAndOrientation(uid, self.origin + pos, ori.as_quat())
p.stepSimulation() p.stepSimulation()