def make_live_cheezit_video_1():
scene = get_scene('live_cheezit')
trial = lookup_trial('YCB')
with WindowRecorder([
"live_shape_completion.rviz* - RViz",
"live_shape_completion.rviz - RViz"
],
frame_rate=30.0,
name_suffix="rviz",
save_dir=rviz_capture_path):
with CameraRecorder(filename=f'{rviz_capture_path}/live_cheezit.mp4'):
contact_shape_completer = ContactShapeCompleter(
scene, trial, store_request=False)
contact_shape_completer.get_visible_vg()
contact_shape_completer.compute_known_occ()
print("Up and running")
rospy.spin()
def make_aab_video_1():
# tf.random.set_seed(20210108) # Okay, but initial free space measurement does not affect any particles
tf.random.set_seed(20210111)
scene = get_scene('cheezit_01')
trial = lookup_trial('AAB')
with WindowRecorder([
"live_shape_completion.rviz* - RViz",
"live_shape_completion.rviz - RViz"
],
frame_rate=30.0,
name_suffix="rviz",
save_dir=rviz_capture_path):
contact_shape_completer = ContactShapeCompleter(scene,
trial,
store_request=False,
completion_density=1)
contact_shape_completer.get_visible_vg()
contact_shape_completer.compute_known_occ()
print("Up and running")
rospy.spin()
"""
default_dataset_params = default_params.get_default_params()
def parse_command_line_args():
parser = argparse.ArgumentParser(
description='Publish shape data to RViz for viewing')
parser.add_argument('--trial', required=True)
parser.add_argument('--scene', required=True)
parser.add_argument('--store', action='store_true')
return parser.parse_args()
if __name__ == "__main__":
ARGS = parse_command_line_args()
rospy.init_node('contact_shape_completer_service')
rospy.loginfo("Data Publisher")
scene = get_scene(ARGS.scene)
contact_shape_completer = ContactShapeCompleter(scene,
lookup_trial(ARGS.trial),
store_request=ARGS.store)
contact_shape_completer.get_visible_vg()
contact_shape_completer.compute_known_occ()
print("Up and running")
rospy.spin()