def seed(self, seed=None):
if seed is not None:
pin.seed(seed)
np_random, seed = seeding.np_random(seed)
self._np_random = np_random
self._seed = seed
return [seed]
def __init__(self,
urdf_ds='ycbv',
texture_ds='shapenet',
domain_randomization=True,
textures_on_objects=False,
n_objects_interval=(2, 5),
objects_xyz_interval=((0.0, -0.5, -0.15), (1.0, 0.5, 0.15)),
proba_falling=0.5,
resolution=(640, 480),
focal_interval=((515, 515), (515, 515)),
camera_distance_interval=(0.5, 1.5),
border_check=True,
gpu_renderer=True,
n_textures_cache=50,
seed=0):
# Objects
self.urdf_ds = make_urdf_dataset(urdf_ds)
self.n_objects_interval = n_objects_interval
self.objects_xyz_interval = objects_xyz_interval
self.n_objects_cache = len(self.urdf_ds)
assert self.n_objects_cache >= max(n_objects_interval)
self.away_transform = (0, 0, 1000), (0, 0, 0, 1)
self.proba_falling = proba_falling
# Domain randomization
self.texture_ds = make_texture_dataset(texture_ds)
self.n_textures_cache = min(n_textures_cache, len(self.texture_ds))
self.domain_randomization = domain_randomization
self.textures_on_objects = textures_on_objects
# Camera
self.resolution = resolution
self.focal_interval = np.array(focal_interval)
self.camera_distance_interval = camera_distance_interval
self.border_check = border_check
self.gpu_renderer = gpu_renderer
# Seeding
self.np_random = np.random.RandomState(seed)
pin.seed(seed)
self.seed = seed
import random
import time
# --- BASIS DEFINITIONS -------------------------------
# --- BASIS DEFINITIONS -------------------------------
# --- BASIS DEFINITIONS -------------------------------
from enum import Enum
import example_robot_data as robex
import hppfcl
import numpy as np
import pinocchio as pin
from numpy.linalg import det, eig, inv, norm, pinv, svd
from scipy.optimize import fmin_bfgs
pin.seed(int(time.time())) # change me :)
np.set_printoptions(precision=4, linewidth=200, suppress=True)
# --- Load robot model
robot = robex.loadTalos()
NQ = robot.model.nq
NV = robot.model.nv
# --- ENVIRONMENT DEFINITION ----------------------------------------
# --- ENVIRONMENT DEFINITION ----------------------------------------
# --- ENVIRONMENT DEFINITION ----------------------------------------
def debris(i, j, altitude, axis, angle):
"""
Minimal helper function: return the SE3 configuration of a stepstone, with some