def __init__(self): super().__init__() self.name = "multiobject2" self.dataset_supervisor = dataset_loader.get_dataset_supervisor( 'ycb_all') params = default_params.get_noiseless_params() params['apply_depth_sensor_noise'] = True self.elems = [ self.dataset_supervisor.get_element('019_pitcher_base-90_000_000', params=params).load(), self.dataset_supervisor.get_element('035_power_drill-90_000_000', params=params).load(), self.dataset_supervisor.get_element('003_cracker_box-90_000_000', params=params).load(), ] self.scale = 0.007 self.depth_camera_listener_scale = self.scale self.origins = [ get_origin_in_voxel_coordinates((1.2, 1.9, 1.2), self.scale), get_origin_in_voxel_coordinates((1.2, 1.6, 1.2), self.scale), get_origin_in_voxel_coordinates((1.2, 2.3, 1.2), self.scale) ] self.goal_generator = MultiObjectPitcherGoalGenerator(x_bound=(-0.01, 0.01))
def __init__(self): super().__init__() self.name = "Cheezit_deep" self.dataset_supervisor = dataset_loader.get_dataset_supervisor( 'ycb_all') params = default_params.get_noiseless_params() params['apply_depth_sensor_noise'] = True self.elem = self.dataset_supervisor.get_element( '003_cracker_box-90_000_000', params=params).load() gt = self.elem['gt_occ'][0, :, :, :, :] for _ in range(3): gt = shift_voxelgrid(gt, 4, 0, 0, pad_value=0, max_x=4, max_y=0, max_z=0) self.elem['gt_occ'] = np.clip(self.elem['gt_occ'] + gt, 0.0, 1.0) self.scale = 0.01 self.depth_camera_listener_scale = 0.007 self.origin = get_origin_in_voxel_coordinates((1.0, 1.6, 1.2), self.scale) self.goal_generator = CheezeitGoalGenerator() self.forward_shift_for_voxelgrid = 0.2
def __init__(self): super().__init__() self.name = "pitcher" self.dataset_supervisor = dataset_loader.get_dataset_supervisor( 'ycb_all') params = default_params.get_noiseless_params() params['apply_depth_sensor_noise'] = True self.elem = self.dataset_supervisor.get_element( '019_pitcher_base-90_000_000', params=params).load() self.scale = 0.007 self.depth_camera_listener_scale = self.scale self.origin = get_origin_in_voxel_coordinates((1.2, 2.0, 1.2), self.scale) self.goal_generator = PitcherGoalGenerator(x_bound=(-0.01, 0.01))
def __init__(self): super().__init__() self.name = "Cheezit_01" self.dataset_supervisor = dataset_loader.get_dataset_supervisor( 'ycb_all') params = default_params.get_noiseless_params() params['apply_depth_sensor_noise'] = True self.elem = self.dataset_supervisor.get_element( '003_cracker_box-90_000_000', params=params).load() self.scale = 0.01 self.depth_camera_listener_scale = 0.007 self.origin = get_origin_in_voxel_coordinates((1.2, 1.6, 1.2), self.scale) self.goal_generator = CheezeitGoalGenerator()
def __init__(self): super().__init__() self.name = "mug" self.dataset_supervisor = dataset_loader.get_dataset_supervisor( 'shapenet_mugs') params = default_params.get_noiseless_params() params['apply_depth_sensor_noise'] = True self.elem = self.dataset_supervisor.get_element( '10c2b3eac377b9084b3c42e318f3affc000_260_000', params=params).load() self.scale = 0.007 self.depth_camera_listener_scale = self.scale self.origin = get_origin_in_voxel_coordinates((1.2, 2.0, 1.2), self.scale) self.goal_generator = PitcherGoalGenerator(x_bound=(-0.01, 0.01))
def __init__(self): super().__init__() self.name = "live_pitcher" self.dataset_supervisor = dataset_loader.get_dataset_supervisor( 'ycb_all') params = default_params.get_noiseless_params() params['apply_depth_sensor_noise'] = True self.elem = self.dataset_supervisor.get_element( '019_pitcher_base-90_000_330', params=params).load() self.scale = 0.0065 self.depth_camera_listener_scale = self.scale self.origin = get_origin_in_voxel_coordinates((1.3, 1.67, 1.33), self.scale) self.goal_generator = LivePitcherGoalGenerator(x_bound=(-0.01, 0.01)) self.segmented_object_categories = [[11]] self.num_objects = 1
def __init__(self): super().__init__() self.name = "live_multiobject" self.dataset_supervisor = dataset_loader.get_dataset_supervisor( 'ycb_all') params = default_params.get_noiseless_params() params['apply_depth_sensor_noise'] = True self.elem = self.dataset_supervisor.get_element( '019_pitcher_base-90_000_330', params=params).load() self.scale = 0.0055 self.depth_camera_listener_scale = self.scale # self.origin = self.goal_generator = LiveMultiObjectGoalGenerator(x_bound=(-0.01, 0.01)) self.segmented_object_categories = [[1, 2], [11]] self.num_objects = 2