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 grid_arrangement(env): # (Dealing with Difficult Instances of Object Rearrangment) # env.Load(ENVIRONMENTS_DIR + 'empty.xml') env.Load(ENVIRONMENTS_DIR + 'regrasp_one_table.xml') # the environment for HBf pb, bb = place_body, box_body """ pb(env, bb(env, .3, .05, .3, name='obst1', color=GREY), (1.65, .075, 0), 'table1') pb(env, bb(env, .3, .05, .3, name='obst2', color=GREY), (1.65, .425, 0), 'table1') pb(env, bb(env, .05, .4, .3, name='obst3', color=GREY), (1.825, .25, 0), 'table1') """ pb(env, bb(env, .3, .05, .3, name='obst4', color=GREY), (1.65, -.125, 0), 'table1') pb(env, bb(env, .3, .05, .3, name='obst5', color=GREY), (1.65, -.375, 0), 'table1') pb(env, bb(env, .05, .3, .3, name='obst6', color=GREY), (1.825, -.25, 0), 'table1') obstacle_names = [str(body.GetName()) for body in env.GetBodies() if not body.IsRobot()] table_names = ['table1', 'table2'] """ pb(env, bb(env, .03, .1, .2, name='green', color=GREEN), (1.55, 0.25, 0), 'table1') pb(env, bb(env, .03, .1, .2, name='blue', color=BLUE), (1.5, 0.25, 0), 'table1') pb(env, bb(env, .05, .05, .1, name='red1', color=RED), (.1, -1.8, PI/16), 'table2') pb(env, bb(env, .15, .05, .15, name='red2', color=RED), (-.4, -1.95, PI/5), 'table2') pb(env, bb(env, .07, .07, .07, name='red3', color=RED), (.5, -1.9, PI/3), 'table2') pb(env, bb(env, .1, .1, .25, name='red4', color=RED), (1.9, -0.55, PI/7), 'table1') """ set_default_robot_config(env.GetRobots()[0]) #m, n = 2, 10 m, n = 2, 10 box_dims = (.12, .04, .08) #separation = (.08, .08) separation = (.12, .12) #separation = (.16, .16) 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) table = env.GetKinBody('table1') 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) # if i==0 and j==0: # color = np.array([1,0,0,0]) # box_dims = (.12, .06, .08) # else: color = row_color + float(j)/(n-1)*np.array([1, 0, 0, 0]) box_dims = (.12, .04, .1) 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] object_names.append('ObjToG') objects.append(env.GetKinBody('ObjToG')) for obj in randomize(objects): #randomly_place_body(env, obj, [get_name(table)]) randomly_place_body(env, obj, ['table1']) return ManipulationProblem(None, object_names=object_names, table_names=[get_name(table)], goal_poses=goal_poses)