def srivastava_table(env):
env.Load(ENVIRONMENTS_DIR + '../srivastava/good_cluttered.dae')
camera_trans = camera_look_at((1., -3., 4), look_point=(2, 1, 0))
body_names = [str(body.GetName()) for body in env.GetBodies() if not body.IsRobot()]
dx = .5
for body_name in body_names:
body = env.GetKinBody(body_name)
point = get_point(body)
point[0] += dx
set_point(body, point)
table_names = [body_name for body_name in body_names if 'table' in body_name]
object_names = [body_name for body_name in body_names if body_name not in table_names]
for object_name in object_names:
body = env.GetKinBody(object_name)
point = get_point(body)
point[2] += BODY_PLACEMENT_Z_OFFSET
set_point(body, point)
goal_holding = 'object1'
goal_config = 'initial' # None
return ManipulationProblem(function_name(inspect.stack()), camera_trans=camera_trans,
object_names=object_names, table_names=table_names,
goal_config=goal_config, goal_holding=goal_holding)
def shelf_arrangement(env): # (Dealing with Difficult Instances of Object Rearrangment)
env.Load(ENVIRONMENTS_DIR + 'empty.xml')
#m, n = 2, 10
m, n = 2, 4
box_dims = (.07, .07, .2)
#separation = (.08, .08)
separation = (.15, .15)
length = m*(box_dims[0] + separation[0])
width = n*(box_dims[1] + separation[1])
height = .7
table = box_body(env, length, width, height, name='table', color=get_color('tan1'))
set_point(table, (1.75, 0, 0))
env.Add(table)
# TODO - place walls and/or a roof to make more similar to pebble graph people
objects = []
goal_poses = {}
z = get_point(table)[2] + height + BODY_PLACEMENT_Z_OFFSET
for i in range(m):
x = get_point(table)[0] - length/2 + (i+.5)*(box_dims[0] + separation[0])
row_color = np.zeros(4)
row_color[2-i] = 1.
for j in range(n):
y = get_point(table)[1] - width/2 + (j+.5)*(box_dims[1] + separation[1])
name = 'block%d-%d'%(i, j)
color = row_color + float(j)/(n-1)*np.array([1, 0, 0, 0])
goal_poses[name] = Pose(pose_from_quat_point(unit_quat(), np.array([x, y, z])))
objects.append(box_body(env, *box_dims, name=name, color=color))
object_names = [get_name(body) for body in objects]
print object_names
for obj in randomize(objects):
randomly_place_body(env, obj, [get_name(table)])
return ManipulationProblem(None,
object_names=object_names, table_names=[get_name(table)],
goal_poses=goal_poses)
def srivastava_table(env, n=INF):
env.Load(ENVIRONMENTS_DIR + '../srivastava/good_cluttered.dae')
set_default_robot_config(env.GetRobots()[0])
body_names = [get_name(body) for body in env.GetBodies() if not body.IsRobot()]
table_names = [body_name for body_name in body_names if 'table' in body_name]
dx = .5
for body_name in body_names:
body = env.GetKinBody(body_name)
set_point(body, get_point(body) + np.array([dx, 0, 0]))
objects = [env.GetKinBody(body_name) for body_name in body_names if body_name not in table_names]
for obj in objects: env.Remove(obj)
object_names = []
for obj in take(objects, n):
randomly_place_body(env, obj, table_names)
object_names.append(get_name(obj))
goal_holding = 'object1'
goal_config = 'initial' # None
return ManipulationProblem(None,
object_names=object_names, table_names=table_names,
goal_config=goal_config, goal_holding=goal_holding)
