def make_live_cheezit_video_1(): scene = get_scene('live_cheezit') trial = lookup_trial('YCB') with WindowRecorder([ "live_shape_completion.rviz* - RViz", "live_shape_completion.rviz - RViz" ], frame_rate=30.0, name_suffix="rviz", save_dir=rviz_capture_path): with CameraRecorder(filename=f'{rviz_capture_path}/live_cheezit.mp4'): contact_shape_completer = ContactShapeCompleter( scene, trial, store_request=False) contact_shape_completer.get_visible_vg() contact_shape_completer.compute_known_occ() print("Up and running") rospy.spin()
def make_aab_video_1(): # tf.random.set_seed(20210108) # Okay, but initial free space measurement does not affect any particles tf.random.set_seed(20210111) scene = get_scene('cheezit_01') trial = lookup_trial('AAB') with WindowRecorder([ "live_shape_completion.rviz* - RViz", "live_shape_completion.rviz - RViz" ], frame_rate=30.0, name_suffix="rviz", save_dir=rviz_capture_path): contact_shape_completer = ContactShapeCompleter(scene, trial, store_request=False, completion_density=1) contact_shape_completer.get_visible_vg() contact_shape_completer.compute_known_occ() print("Up and running") rospy.spin()
""" default_dataset_params = default_params.get_default_params() def parse_command_line_args(): parser = argparse.ArgumentParser( description='Publish shape data to RViz for viewing') parser.add_argument('--trial', required=True) parser.add_argument('--scene', required=True) parser.add_argument('--store', action='store_true') return parser.parse_args() if __name__ == "__main__": ARGS = parse_command_line_args() rospy.init_node('contact_shape_completer_service') rospy.loginfo("Data Publisher") scene = get_scene(ARGS.scene) contact_shape_completer = ContactShapeCompleter(scene, lookup_trial(ARGS.trial), store_request=ARGS.store) contact_shape_completer.get_visible_vg() contact_shape_completer.compute_known_occ() print("Up and running") rospy.spin()