def create_meshes(ty, draw=False, visualize=False):
assert not (visualize and draw) # Incompatible?
suffix = SUFFIX_TEMPLATE.format(ty)
models_path = os.path.join(get_models_path(), MODELS_TEMPLATE.format(ty))
ensure_dir(models_path)
for prefix, properties in OBJECT_PROPERTIES[ty].items():
color = normalize_rgb(properties.color)
side = approximate_bowl(properties, d=2) # 1 doesn't seem to really work
name = prefix + suffix
print(name, color)
print(side)
if draw:
draw_curvature(side, name=name)
chunks = make_revolute_chunks(side, n_theta=60, n_chunks=10,
in_off=properties.thickness/4.,
scale=SCALE)
obj_path = os.path.join(models_path, OBJ_TEMPLATE.format(name))
write_obj(chunks, obj_path)
if visualize:
body = create_obj(obj_path, color=color)
_, dims = approximate_as_cylinder(body)
print(dims)
wait_for_user()
remove_body(body)
pcd_path = os.path.join(models_path, PCD_TEMPLATE.format(name))
pcd_from_mesh(obj_path, pcd_path)
def __init__(self, task, use_robot=True, visualize=False, **kwargs):
self.task = task
self.real_world = None
self.visualize = visualize
self.client_saver = None
self.client = connect(use_gui=visualize, **kwargs)
print('Planner connected to client {}.'.format(self.client))
self.robot = None
with ClientSaver(self.client):
with HideOutput():
if use_robot:
self.robot = load_pybullet(os.path.join(
get_models_path(), PR2_URDF),
fixed_base=True)
#dump_body(self.robot)
#compute_joint_weights(self.robot)
self.world_name = 'world'
self.world_pose = Pose(unit_pose())
self.bodies = {}
self.fixed = []
self.surfaces = []
self.items = []
#self.holding_liquid = []
self.initial_config = None
self.initial_poses = {}
self.body_mapping = {}
def get_body_obj(name, visual=False):
regex = r'mesh filename="(\w+.obj)"'
obj_filenames = re.findall(regex, read(get_body_urdf(name)))
assert obj_filenames
visual_filename = obj_filenames[0]
collision_filename = obj_filenames[-1]
filename = visual_filename if visual else collision_filename
return os.path.join(get_models_path(), filename)
def _create_robot(self):
with ClientSaver(self.client):
with HideOutput():
pr2_path = os.path.join(get_models_path(), PR2_URDF)
self.pr2 = load_pybullet(pr2_path, fixed_base=True)
# Base link is the origin
base_pose = get_link_pose(self.robot,
link_from_name(self.robot, BASE_FRAME))
set_pose(self.robot, invert(base_pose))
return self.pr2
def load_cup_bowl_obj(bowl):
for ty in OBJECT_PROPERTIES:
if not bowl.endswith(SUFFIX_TEMPLATE.format(ty)):
continue
obj_path = os.path.join(get_models_path(), MODELS_TEMPLATE.format(ty),
OBJ_TEMPLATE.format(bowl))
properties = get_properties(bowl)
assert properties is not None
color = normalize_rgb(properties.color)
return obj_path, color
return None, None