def test_shift_conversion(self):
conv = Converter(shift_z_offset=0.0, box=self.box)
image = OrthographicImage(
self.read_image(self.file_path / self.image_name), 2000.0, 0.22,
0.4, '', Config.default_image_pose)
action = Action()
action.type = 'shift'
action.pose = RobotPose()
action.pose.x = -0.02
action.pose.y = 0.105
action.pose.a = 1.52
action.pose.d = 0.078
action.index = 1
action.shift_motion = [0.03, 0.0]
draw_pose(image, action.pose, convert_to_rgb=True)
draw_around_box(image, box=self.box, draw_lines=True)
imageio.imwrite(str(self.file_path / 'gen-shift-draw-pose.png'),
image.mat)
self.assertTrue(conv.shift_check_safety(action, [image]))
conv.calculate_pose(action, [image])
self.assertLess(action.pose.z, 0.0)
def to_action(self, action: Action) -> None:
gripper_index = action.index // len(self.angles)
angle_index = action.index % len(self.angles)
aff = Affine(b=self.angles[angle_index][0], c=self.angles[angle_index][1]) * action.pose
action.pose.b = aff.b
action.pose.c = aff.c
action.pose.d = self.gripper_classes[gripper_index]
action.type = 'grasp'
def test_grasp_conversion(self):
conv = Converter(grasp_z_offset=0.0, box=self.box)
image = OrthographicImage(
self.read_image(self.file_path / self.image_name), 2000.0, 0.22,
0.4, '', Config.default_image_pose)
action = Action()
action.type = 'grasp'
action.pose.x = -0.06
action.pose.y = 0.099
action.pose.a = 0.523
action.pose.d = 0.078
action.index = 1
draw_pose(image, action.pose, convert_to_rgb=True)
draw_around_box(image, box=self.box, draw_lines=True)
imageio.imwrite(str(self.file_path / 'gen-grasp-draw-pose.png'),
image.mat)
self.assertTrue(conv.grasp_check_safety(action, [image]))
conv.calculate_pose(action, [image])
self.assertLess(action.pose.z, 0.0)
def to_action(self, action: Action) -> None:
action.direction = self.directions[action.index]
action.shift_motion = self.shift_motions[action.index]
action.pose.d = 0.0
action.type = 'shift'
def to_action(self, action: Action) -> None:
action.pose.d = self.gripper_classes[action.index]
action.type = 'grasp'
def to_action(self, action: Action) -> None:
gripper_index = action.index % len(self.gripper_classes)
action.pose.d = self.gripper_classes[gripper_index]
action.type = 'grasp'
