# filter the objects which have been generated grasps
file_list = []
for file in file_list_tmp:
grasp_file_name = os.path.join(file, "grasps.pickle")
if not os.path.exists(grasp_file_name):
file_list.append(file)
if len(file_list) == 0: # all objects have generated grasps
print("[INFO] All objects have been generated grasps!")
exit(0)
object_numbers = len(file_list)
print("[file_list]:", file_list, "obj_num:", object_numbers, "\n")
sample_config = YamlConfig("./config/sample_config.yaml")
gripper = RobotGripper.load("./config/gripper_params.yaml")
fc_list = [
3.0, 2.0, 1.7, 1.4, 1.3, 1.2, 1.1, 1.0, 0.9, 0.8, 0.7, 0.6, 0.5, 0.4,
0.3
] # 15
# | | |
print("[fc_list]", fc_list, "len:", len(fc_list))
# test a worker
# good_grasp = []
# worker(1, 1, good_grasp)
# exit()
start_time = time.time()
job_list = np.arange(object_numbers)
from foxarm.common.keys import *
from foxarm.common.sdf_file import SdfFile
from foxarm.common.obj_file import ObjFile
from foxarm.common.database import Hdf5Database
def prn_obj(obj):
print('\n'.join(['*** %s ***\n%s\n' % item for item in obj.__dict__.items()]))
CONFIG = YamlConfig(TEST_CONFIG_NAME)
of = ObjFile(OBJ_FILENAME)
sf = SdfFile(SDF_FILENAME)
mesh = of.read()
sdf = sf.read()
obj = GraspableObject3D(sdf, mesh)
gripper = RobotGripper.load(GRIPPER_NAME, os.path.join(WORK_DIR, "foxarm/common"))
ags = AntipodalGraspSampler(gripper, CONFIG)
database = Hdf5Database(TEST_DB_NAME, access_level=READ_WRITE_ACCESS)
dataset = database.dataset(TEST_DS_NAME)
##### Generate Grasps #####
print('\n\n*****\tObject: %s\t*****' % dataset.object_keys[0])
unaligned_grasps = ags.generate_grasps(obj, target_num_grasps=100)
print('### Generated %d unaligned grasps! ###' % len(unaligned_grasps))
grasps = {}
stps = dataset.stable_poses(dataset.object_keys[0])
print('### Generated %d stable poses! ###' % len(stps))
for stp in stps:
