from typing import List
import probRobScene
import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
from probRobScene.core.object_types import show_3d
from probRobScene.core.plotUtil3d import draw_cube
from probRobScene.core.regions import AABB
from probRobScene.core.scenarios import Scene
scenario = probRobScene.scenario_from_file("scenarios/pointDepTest.prs")
max_generations = 30
rejections_per_scene = []
sample_scenes: List[Scene] = []
for i in range(max_generations):
print(f"Generation {i}")
ex_world, used_its = scenario.generate(verbosity=2)
rejections_per_scene.append(used_its)
sample_scenes.append(ex_world)
#
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
w_min_corner, w_max_corner = AABB(scenario.workspace)
w_dims = w_max_corner - w_min_corner
total_min, total_max = np.min(w_min_corner), np.max(w_max_corner)
ax.set_xlim(total_min, total_max)
def scenario_test(self, f_path: str):
scenario = scenario_from_file(f_path)
ex_world, used_its = scenario.generate(verbosity=2)
for o in ex_world.objects:
self.assertFalse(needs_sampling(o))
import probRobScene
import numpy as np
scenario = probRobScene.scenario_from_file("scenarios/tableCubeNaive.prs")
max_generations = 3
rejections_per_scene = []
for i in range(max_generations):
print(f"Generation {i}")
ex_world, used_its = scenario.generate(verbosity=2)
rejections_per_scene.append(used_its)
ex_world.show_3d()
#
avg_rejections = np.average(rejections_per_scene)
print(avg_rejections)
import probRobScene
from pyrep import PyRep
from pyrep.objects import Camera
import numpy as np
import sys
from probRobScene.wrappers.coppelia.prbCoppeliaWrapper import cop_from_prs
if len(sys.argv) != 2:
print("python3 coppeliaView.py <path-to-scenario-file>")
sys.exit(0)
scenario_file = sys.argv[1]
scenario = probRobScene.scenario_from_file(scenario_file)
pr = PyRep()
pr.launch("scenes/emptyVortex.ttt", headless=False, responsive_ui=True)
ex_world, used_its = scenario.generate()
c_objs = cop_from_prs(pr, ex_world)
pr.start()
pr.step()
pr.stop()
input("Simulation Finished. To Quit, Press Enter")
pr.shutdown()