Python tf2 예제들

예제 #1

def op_stack(scene, config, op):
    (act,obj,dst) = op
    nop = tm.op_nop(scene,config)
    g_tf_d = tm.op_tf_abs(nop,dst)
    d_tf_o = aa.tf2(1, [0,0, place_height(scene,obj) + place_height(scene,dst) + EPSILON])
    g_tf_o = aa.mul(g_tf_d, d_tf_o)
    return place_tf(nop, obj, dst, g_tf_o)

예제 #2

파일: linear-blocksworld.py 프로젝트: yangshuo11/tmkit

def stack(op, obj, dst ):
    scene = op.final_scene
    config = op.final_config
    g_tf_d = tm.op_tf_abs(op,dst)
    d_tf_o = aa.tf2(1, [0,0, place_height(scene,obj) + place_height(scene,dst) + EPSILON])
    g_tf_o = aa.mul(g_tf_d, d_tf_o)
    return place_tf(op, obj, dst, g_tf_o)

예제 #3

파일: linear-blocksworld.py 프로젝트: yangshuo11/tmkit

def place(op, obj, dst, i, j):
    scene = op.final_scene
    x = i*RESOLUTION
    y = j*RESOLUTION
    z = place_height(scene,obj) + place_height(scene,dst) + EPSILON
    d_tf_o = aa.tf2( 1, [x,y,z] )
    g_tf_d = tm.op_tf_abs(op,dst)
    g_tf_o = aa.mul(g_tf_d, d_tf_o );
    return place_tf(op, obj, dst, g_tf_o)

예제 #4

def op_put_down(scene, config, op):
    (a, obj, dst, i, j) = op
    nop = tm.op_nop(scene,config)
    x = i*RESOLUTION
    y = j*RESOLUTION
    z = place_height(scene,obj) + place_height(scene,dst) + EPSILON
    d_tf_o = aa.tf2( 1, [x,y,z] )
    g_tf_d = tm.op_tf_abs(nop,dst)
    g_tf_o = aa.mul(g_tf_d, d_tf_o );
    return place_tf(nop, obj, dst, g_tf_o)

예제 #5

파일: baxter-view.py 프로젝트: golems/amino

#!/usr/bin/env aarxpy


import aminopy as aa
import CL

s = aa.scene(
    aa.load_scene( 'package://baxter_description/urdf/baxter.urdf' ),
    aa.frame_fixed( "", "block", aa.tf2(1, [1,0,0]) )
)

s = s.add_geom("block",
               aa.geom_box({'color': [1,0,0]},
                           [.25, .25, .25]))

aa.win_set_scene(s)
aa.win_view_collision()
aa.win_run_sync()

예제 #6

#!/usr/bin/env aarxpy

import aminopy as aa
import CL

s = aa.scene(aa.load_scene('package://baxter_description/urdf/baxter.urdf'),
             aa.frame_fixed("", "block", aa.tf2(1, [1, 0, 0])))

s = s.add_geom("block", aa.geom_box({'color': [1, 0, 0]}, [.25, .25, .25]))

aa.win_set_scene(s)
aa.win_view_collision()
aa.win_run_sync()