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