def main():
'''Entrypoint to the program.'''
# PARAMETERS =====================================================================================
# system
randomSeed = 0
# environment
removeTable = True
# objects
objectHeight = [0.005, 0.020]
objectRadius = [0.040, 0.060]
nObjects = 1000
# view
viewCenter = array([0,0,0])
viewKeepout = 0.60
viewWorkspace = [(-1.0,1.0),(-1.0,1.0),(-1.0,1.0)]
voxelSize = 0.002
# visualization/saving
showViewer = False
showSteps = False
plotImages = False
# INITIALIZATION =================================================================================
params = locals()
seed(randomSeed)
rlEnv = RlEnvironment(params)
# RUN TEST =======================================================================================
for objIdx in xrange(nObjects):
# Generate mesh, save mesh, and get points.
objectName = "coaster-{}".format(objIdx)
obj = rlEnv.GenerateCylinderMesh(objectHeight, objectRadius, objectName)
cloud = rlEnv.GetFullCloud(viewCenter, viewKeepout, viewWorkspace,
add45DegViews=False, computeNormals=False, voxelSize=voxelSize)
# Compute object bounding box
workspace = array([[min(cloud[:, 0]), max(cloud[:, 0])],
[min(cloud[:, 1]), max(cloud[:, 1])],
[min(cloud[:, 2]), max(cloud[:, 2])]])
# Save metadata.
data = {"cloud":cloud, "workspace":workspace, "height":obj.height, "radius":obj.radius}
savemat(objectName + ".mat", data)
# Optional visualization for debugging.
rlEnv.PlotCloud(cloud)
if plotImages: point_cloud.Plot(cloud)
if showSteps: raw_input("Placed " + objectName + ".")
# Remove the object before loading the next one.
rlEnv.RemoveObjectSet([obj])
def main():
'''Entrypoint to the program.'''
# PARAMETERS =====================================================================================
# system
randomSeed = 0
# environment
removeTable = True
# objects
objectHeight = [0.01, 0.02]
objectRadius = [0.03, 0.06]
nObjects = 1000
# view
viewCenter = array([0, 0, 0])
viewKeepout = 0.60
viewWorkspace = [(-1.0, 1.0), (-1.0, 1.0), (-1.0, 1.0)]
voxelSize = 0.002
# visualization/saving
showViewer = False
showSteps = False
plotImages = False
# INITIALIZATION =================================================================================
params = locals()
seed(randomSeed)
rlEnv = RlEnvironmentPegsOnDisks(params)
# RUN TEST =======================================================================================
for objIdx in xrange(nObjects):
obj = rlEnv.GenerateCylinderMesh(objectHeight, objectRadius,
"disk-{}".format(objIdx))
cloud = rlEnv.GetFullCloud(viewCenter, viewKeepout, viewWorkspace,
False, voxelSize)
data = {"cloud": cloud, "height": obj.height, "radius": obj.radius}
savemat("disk-{}.mat".format(objIdx), data)
rlEnv.PlotCloud(cloud)
if plotImages: point_cloud.Plot(cloud)
if showSteps: raw_input("Placed disk-{}.".format(objIdx))
rlEnv.RemoveObjectSet([obj])
def main():
'''Entrypoint to the program.'''
# PARAMETERS =====================================================================================
# system
gpuId = 0
# objects
objectHeight = [0.007, 0.013]
objectRadius = [0.030, 0.045]
nObjects = 1000
# view
viewCenter = array([0, 0, 0])
viewKeepout = 0.60
viewWorkspace = [(-1.0, 1.0), (-1.0, 1.0), (-1.0, 1.0)]
# visualization/saving
showViewer = False
showSteps = False
plotImages = False
# INITIALIZATION =================================================================================
rlEnv = RlEnvironment(showViewer, removeTable=True)
rlAgent = RlAgent(rlEnv, gpuId)
# RUN TEST =======================================================================================
for objIdx in xrange(nObjects):
obj = rlEnv.PlaceCylinderAtOrigin(objectHeight, objectRadius,
"cylinder-{}".format(objIdx), True)
cloud, normals = rlAgent.GetFullCloudAndNormals(
viewCenter, viewKeepout, viewWorkspace)
point_cloud.SaveMat("cylinder-{}.mat".format(objIdx), cloud, normals)
rlAgent.PlotCloud(cloud)
if plotImages:
point_cloud.Plot(cloud, normals, 2)
if showSteps:
raw_input("Placed cylinder-{}.".format(objIdx))
rlEnv.RemoveObjectSet([obj])
def main():
'''Entrypoint to the program.'''
# PARAMETERS =====================================================================================
# system
gpuId = 0
# objects
objectScale = [0.09, 0.17]
nObjects = 1000
directory = "/home/mgualti/Data/3DNet/Cat200_ModelDatabase/plate/"
# view
viewCenter = array([0, 0, 0])
viewKeepout = 0.60
viewWorkspace = [(-1.0, 1.0), (-1.0, 1.0), (-1.0, 1.0)]
# visualization/saving
showViewer = False
showSteps = False
plotImages = False
# INITIALIZATION =================================================================================
rlEnv = RlEnvironment(showViewer, removeTable=True)
rlAgent = RlAgent(rlEnv, gpuId)
# RUN TEST =======================================================================================
for objIdx in xrange(nObjects):
obj = rlEnv.Place3DNetObjectAtOrigin(directory, objectScale,
"plate-{}".format(objIdx), True)
cloud, normals = rlAgent.GetFullCloudAndNormals(
viewCenter, viewKeepout, viewWorkspace, False)
point_cloud.SaveMat("plate-{}.mat".format(objIdx), cloud, normals)
rlAgent.PlotCloud(cloud)
if plotImages:
point_cloud.Plot(cloud, normals, 2)
if showSteps:
raw_input("Placed plate-{}.".format(objIdx))
rlEnv.RemoveObjectSet([obj])
def main():
'''Entrypoint to the program.'''
# PARAMETERS =====================================================================================
# system
randomSeed = 0
# environment
removeTable = True
# objects
objectDirectory = "/home/mgualti/Data/3DNet/Cat10_ModelDatabase/bottle"
objectsToSkip = ["8cf1cc180de4ecd0a826d25a0acb0476.ply"] # z-axis not up
objectsToSkip += ["b0652a09588f293c7e95755f464f6241.ply", \
"91a1f4e7a5eab4eab05e5be75e72ca3c.ply", "70e77c09aca88d4cf76fe74de9d44699.ply"] # difficult to grasp
objectScale = [0.10, 0.20]
nObjects = 1000
# view
viewCenter = array([0, 0, 0])
viewKeepout = 0.60
viewWorkspace = [(-1.0, 1.0), (-1.0, 1.0), (-1.0, 1.0)]
voxelSize = 0.002
# visualization/saving
showViewer = False
showSteps = False
plotImages = False
# INITIALIZATION =================================================================================
params = locals()
seed(randomSeed)
rlEnv = RlEnvironment(params)
# RUN TEST =======================================================================================
for objIdx in xrange(nObjects):
# Load mesh, save mesh, and get points and normals.
objectName = "bottle-{}".format(objIdx)
obj = rlEnv.GenerateMeshFromMesh(objectDirectory, objectScale,
objectsToSkip, objectName)
cloud, normals = rlEnv.GetFullCloud(viewCenter,
viewKeepout,
viewWorkspace,
add45DegViews=False,
computeNormals=True,
voxelSize=voxelSize)
# Occasionally, the normals calculation fails. Replace with the nearest normal.
if isnan(normals).any():
nanIdx = sum(isnan(normals), axis=1) > 0
notNanIdx = logical_not(nanIdx)
nanFreeTree = cKDTree(cloud[notNanIdx, :])
d, nearestIdx = nanFreeTree.query(cloud[nanIdx, :])
normals[nanIdx, :] = normals[nearestIdx, :]
# Compute object bounding box
workspace = array([[min(cloud[:, 0]),
max(cloud[:, 0])],
[min(cloud[:, 1]),
max(cloud[:, 1])],
[min(cloud[:, 2]),
max(cloud[:, 2])]])
# Save metadata.
data = {
"cloud": cloud,
"normals": normals,
"workspace": workspace,
"scale": obj.scale
}
savemat(objectName + ".mat", data)
# Optional visualization for debugging.
rlEnv.PlotCloud(cloud)
if plotImages: point_cloud.Plot(cloud, normals, 5)
if showSteps: raw_input("Placed " + objectName + ".")
# Remove the object before loading the next one.
rlEnv.RemoveObjectSet([obj])