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Change default visualizer camera settings

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Michel Breyer 2021-04-28 17:27:55 +02:00
parent 404a2cadc6
commit af955b40ed
2 changed files with 4 additions and 1 deletions
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3
bt_sim_node.py
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@ -47,7 +47,7 @@ class BtSimNode:
self.step_cnt = 0 self.step_cnt = 0
self.reset_requested = False self.reset_requested = False
self.move_server.start() self.move_server.start()
T_base_task = Transform(Rotation.identity(), np.r_[0.2, -0.1, 0.1]) T_base_task = Transform(Rotation.identity(), np.r_[0.2, -0.15, 0.1])
self.tf_tree.broadcast_static(T_base_task, "panda_link0", "task") self.tf_tree.broadcast_static(T_base_task, "panda_link0", "task")
def reset(self, req): def reset(self, req):
@ -97,6 +97,7 @@ class BtSimNode:
def publish_cam_imgs(self): def publish_cam_imgs(self):
_, depth = self.sim.camera.update() _, depth = self.sim.camera.update()
depth_msg = self.cv_bridge.cv2_to_imgmsg(depth) depth_msg = self.cv_bridge.cv2_to_imgmsg(depth)
depth_msg.header.stamp = rospy.Time.now()
self.depth_pub.publish(depth_msg) self.depth_pub.publish(depth_msg)
def move(self, goal): def move(self, goal):

2
simulation.py
View File

@ -7,6 +7,8 @@ from robot_utils.spatial import Rotation, Transform
class BtPandaEnv(BtBaseEnv): class BtPandaEnv(BtBaseEnv):
def __init__(self, gui=True, sleep=True): def __init__(self, gui=True, sleep=True):
super().__init__(gui, sleep) super().__init__(gui, sleep)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
p.resetDebugVisualizerCamera(1.4, 50, -35, [0.0, 0.0, 0.6])
self.arm = BtPandaArm() self.arm = BtPandaArm()
self.gripper = BtPandaGripper(self.arm) self.gripper = BtPandaGripper(self.arm)
self.camera = BtCamera( self.camera = BtCamera(