def reset(self):
self.terminated = 0
p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot, "plane.urdf"), [0, 0, -1])
p.loadURDF(os.path.join(self._urdfRoot, "table/table.urdf"), 0.5000000,
0.00000, -.820000, 0.000000, 0.000000, 0.0, 1.0)
xpos = 0.5 + 0.2 * random.random()
ypos = 0 + 0.25 * random.random()
ang = 3.1415925438 * random.random()
orn = p.getQuaternionFromEuler([0, 0, ang])
self.blockUid = p.loadURDF(os.path.join(self._urdfRoot,
"block.urdf"), xpos, ypos,
-0.1, orn[0], orn[1], orn[2], orn[3])
p.setGravity(0, 0, -10)
self._tm700 = tm700.tm700(urdfRootPath=self._urdfRoot,
timeStep=self._timeStep)
self._envStepCounter = 0
p.stepSimulation()
self._observation = self.getExtendedObservation()
return np.array(self._observation)
def reset(self):
"""Environment reset called at the beginning of an episode.
"""
# Set the camera settings.
look = [0.10, -0.20, 0.60]
self._cam_pos = look
distance = 0.1
pitch = -45
yaw = -75
roll = 120
self._view_matrix = p.computeViewMatrixFromYawPitchRoll(look, distance, yaw, pitch, roll, 2)
self.fov = 30.
'''
look = [0.90, -0.28, 0.43]
distance = 0.15
pitch = -45
yaw = 45 # -45
roll = 180
self._view_matrix = p.computeViewMatrixFromYawPitchRoll(look, distance, yaw, pitch, roll, 2)
self.fov = 40.
'''
self.focal_length_x = self._width / np.tan(np.radians(self.fov)/2.0)
self.focal_length_y = self._height / np.tan(np.radians(self.fov)/2.0)
aspect = self._width / self._height
self.d_near = 0.01
self.d_far = 1.5
self._proj_matrix = p.computeProjectionMatrixFOV(self.fov, aspect, self.d_near, self.d_far)
self._attempted_grasp = False
self._env_step = 0
self.terminated = 0
p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot, "plane.urdf"), [0, 0, -1])
self.table_pose = [0.5000000, 0.00000, -.640000, 0.000000, 0.000000, 0.0, 1.0]
self.tableUid = p.loadURDF(os.path.join(self._urdfRoot, "table/table.urdf"), *self.table_pose)
#p.setGravity(0, 0, -9.8)
p.setGravity(0, 0, 0)
self._tm700 = tm700(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
p.stepSimulation()
# Choose the objects in the bin.
ind = np.random.choice(len(self._urdfList), self._numObjects, replace=False)
self._current_urdfList = [self._urdfList[i] for i in ind]
self._current_objList = [self._objNameList[i] for i in ind]
self._objectUids = self._randomly_place_objects(self._current_urdfList)
self._observation = self._get_observation()
return np.array(self._observation)
def reset(self):
"""Environment reset called at the beginning of an episode.
"""
# Set the camera settings.
look = [
0.1, -0.3, 0.54
] #[0.4317558029454219, 0.1470448842904527, 0.2876218894185256]#[0.23, 0.2, 0.54] # from where the input is
distance = 0.5
pitch = -45 + self._cameraRandom * np.random.uniform(-3, 3)
yaw = -45 + self._cameraRandom * np.random.uniform(-3, 3)
roll = 180
self._view_matrix = p.computeViewMatrixFromYawPitchRoll(
look, distance, yaw, pitch, roll, 2)
fov = 20. + self._cameraRandom * np.random.uniform(-2, 2)
aspect = self._width / self._height
near = 0.01
far = 10
self._proj_matrix = p.computeProjectionMatrixFOV(
fov, aspect, near, far)
self._attempted_grasp = False
self._env_step = 0
self.terminated = 0
p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot, "plane.urdf"), [0, 0, -1])
self.tableUid = p.loadURDF(
os.path.join(self._urdfRoot, "table/table.urdf"), 0.5000000,
0.00000, -.640000, 0.000000, 0.000000, 0.0, 1.0)
p.setGravity(0, 0, -10)
self._tm700 = tm700(urdfRootPath=self._urdfRoot,
timeStep=self._timeStep)
self._envStepCounter = 0
p.stepSimulation()
# Choose the objects in the bin.
urdfList = self._get_random_object(self._numObjects, self._isTest)
# urdfList = self._get_block()
self._objectUids = self._randomly_place_objects(urdfList)
self._observation = self._get_observation()
return np.array(self._observation)
def setup(self):
"""Sets up the robot + tray + objects.
"""
test = self._test
if not self._urdf_list: # Load from procedural random objects.
if not self._object_filenames:
self._object_filenames = self._get_random_objects(
num_objects=self._num_objects,
test=test,
replace=self._allow_duplicate_objects,
)
self._urdf_list = self._object_filenames
logging.info('urdf_list %s', self._urdf_list)
pybullet.resetSimulation(physicsClientId=self.cid)
pybullet.setPhysicsEngineParameter(
numSolverIterations=150, physicsClientId=self.cid)
pybullet.setTimeStep(self._time_step, physicsClientId=self.cid)
pybullet.setGravity(0, 0, -10, physicsClientId=self.cid)
plane_path = os.path.join(self._urdf_root, 'plane.urdf')
pybullet.loadURDF(plane_path, [0, 0, -1], physicsClientId=self.cid)
table_path = os.path.join(self._urdf_root, 'table/table.urdf')
pybullet.loadURDF(
table_path, [0.5, 0.0, -.82], [0., 0., 0., 1.],
physicsClientId=self.cid)
self._tm700 = tm700.tm700(
urdfRootPath=self._urdf_root)
self._block_uids = []
for urdf_name in self._urdf_list:
xpos = 0.4 + self._block_random * random.random()
ypos = self._block_random * (random.random() - .5)
angle = np.pi / 2 + self._block_random * np.pi * random.random()
ori = pybullet.getQuaternionFromEuler([0, 0, angle])
uid = pybullet.loadURDF(
urdf_name, [xpos, ypos, .15], [ori[0], ori[1], ori[2], ori[3]],
physicsClientId=self.cid)
self._block_uids.append(uid)
for _ in range(500):
pybullet.stepSimulation(physicsClientId=self.cid)
def reset(self):
"""Environment reset called at the beginning of an episode.
"""
look = [0.4, 0.1, 0.54]
distance = 1.5
pitch = -90
yaw = -90
roll = 180
pos_range = [0.45, 0.5, 0.0, 0.1]
self._view_matrix = p.computeViewMatrixFromYawPitchRoll(
look, distance, yaw, pitch, roll, 2)
fov = 20. + self._cameraRandom * np.random.uniform(-2, 2)
aspect = self._width / self._height
near = 0.01
far = 10
self._proj_matrix = p.computeProjectionMatrixFOV(
fov, aspect, near, far)
self._attempted_grasp = False
self._env_step = 0
self.terminated = 0
p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot, "plane.urdf"), [0, 0, -1])
self.tableUid = p.loadURDF(
os.path.join(self._urdfRoot, "table/table.urdf"), 0.5000000,
0.00000, -.640000, 0.000000, 0.000000, 0.0, 1.0)
p.setGravity(0, 0, -10)
self._tm700 = tm700(urdfRootPath=self._urdfRoot,
timeStep=self._timeStep)
self._envStepCounter = 0
p.stepSimulation()
# place objs
if TASK_SEEN:
if RESUME_NUM is not None:
self.model_paths = self.model_paths[RESUME_NUM * 3:]
self.img_save_cnt = RESUME_NUM
self.N_DATA_TO_GENERATE -= RESUME_NUM
for _ in tqdm(range(self.N_DATA_TO_GENERATE)):
urdfList = []
num_obj = random.randint(1, 3)
for i in range(num_obj):
if len(self.model_paths) == 0:
raise Exception('There is no data left!')
urdfList.append(self.model_paths.pop())
self._objectUids, self._objectClasses = self._randomly_place_objects(
urdfList, pos_range)
self._observation = self._get_observation()
self.img_save_cnt += 1
for uid in self._objectUids:
p.removeBody(uid)
# place unseen objs
if TASK_UNSEEN:
self.img_save_cnt = 0
for _ in tqdm(range(self.N_UNSEEN_DATA_TO_GENERATE)):
urdfList = []
num_obj = random.randint(1, 3)
for i in range(num_obj):
if len(self.unseen_model_paths) == 0:
raise Exception('There is no data left!')
urdfList.append(self.unseen_model_paths.pop())
self._objectUids, self._objectClasses = self._randomly_place_objects(
urdfList, pos_range)
self._observation = self._get_observation(unseen=True)
self.img_save_cnt += 1
for uid in self._objectUids:
p.removeBody(uid)
# terminate
sys.exit()
return np.array(self._observation)
