def get_world_7(object_meshes):
block_z = np.min(object_meshes['block'].vertices[:, 2])
surfaces = [
Surface('table', get_table_pose(0, -TABLE_X, TABLE_Z),
get_rectangle(1.2, 0.6)),
Surface('table', get_table_pose(0, TABLE_X, TABLE_Z),
get_rectangle(1.2, 0.6))
]
items = [
Object('block', get_table_pose(0.3, -TABLE_X, TABLE_Z - block_z), None)
]
return World(None, surfaces, items), Task(left_items=['block'])
def get_problem_2_2(object_meshes):
block_z = np.min(object_meshes['block'].vertices[:, 2])
surfaces = [
Surface('table', get_table_pose(TABLE_X, 0, TABLE_Z),
get_rectangle(0.6, 1.2)),
Surface('dinner', get_table_pose(0, TABLE_X, TABLE_Z),
get_rectangle(1.2, 0.6))
]
items = [
Object('block', get_table_pose(TABLE_X, 0, TABLE_Z - block_z), True)
]
return Belief(None, surfaces,
items), Task(object_surfaces=[('block', 'dinner')])
def get_lis_world(object_meshes):
block_z = np.min(object_meshes['block'].vertices[:, 2])
surfaces = [
Surface('table', get_table_pose(1.5, 0.5, TABLE_Z),
get_rectangle(0.6, 1.2)),
Surface('table', get_table_pose(0, -1.5, TABLE_Z),
get_rectangle(1.2, 0.6)),
#Surface('table', get_table_pose(-1.5, 1.5, TABLE_Z, np.pi/4), get_rectangle(1.2, 0.6)),
]
items = [
Object('block', get_table_pose(1.25, 0.0, TABLE_Z - block_z), None)
]
return World(None, surfaces, items), Task(right_items=['block'])
def get_world_5(object_meshes):
block_z = np.min(object_meshes['block'].vertices[:, 2])
soup_z = np.min(object_meshes['soup'].vertices[:, 2])
surfaces = [
Surface('table', get_table_pose(TABLE_X, 0, TABLE_Z),
get_rectangle(0.6, 1.2)),
Surface('table', get_table_pose(0, TABLE_X, TABLE_Z),
get_rectangle(1.2, 0.6))
]
items = [
Object('block', get_table_pose(TABLE_X, 0.3, TABLE_Z - block_z), None),
Object('soup', get_table_pose(TABLE_X, -0.3, TABLE_Z - soup_z), None)
]
return World(None, surfaces, items), Task(holding='block')
def get_problem_5_3(object_meshes):
oil_z = np.min(object_meshes['oil'].vertices[:, 2])
block_z = np.min(object_meshes['block'].vertices[:, 2])
soup_z = np.min(object_meshes['soup'].vertices[:, 2])
surfaces = [
Surface('table', get_table_pose(2, 0, TABLE_Z),
get_rectangle(0.6, 1.2))
]
items = [
Object('oil', get_table_pose(TABLE_X, -0.25, TABLE_Z - oil_z), True),
Object('block', get_table_pose(TABLE_X, 0, TABLE_Z - block_z), True),
Object('soup', get_table_pose(TABLE_X, 0.25, TABLE_Z - soup_z), True)
]
return Belief(None, surfaces, items), Task(holding='block')
def get_problem_1_2(object_meshes):
surfaces = [
Surface('table', get_table_pose(TABLE_X, 0, TABLE_Z),
get_rectangle(0.6, 1.2))
]
items = [Object('block', None, False)]
return Belief(None, surfaces, items), Task(holding='block')