def load_world(world_spec, world):
with HideOutput():
# robot = load_model(DRAKE_IIWA_URDF)
world.load_robot(world_spec['robot_urdf'])
for obj_spec in world_spec['objects']:
world.load_object(**obj_spec)
for shape_spec in world_spec['shapes']:
world.create_shape(**shape_spec)
# TODO: HIGH resolve placement chain
for placement in world_spec['placements']:
if placement[0] == 'set':
world.place(world.id(placement[1]), world.id(placement[2]), placement[3])
for placement in world_spec['placements']:
if placement[0] == 'on':
region = None
if len(placement) == 4:
region = placement[3]
world.random_place(world.id(placement[1]), world.id(placement[2]), region=region)
set_camera(180, -70, 1.2, Point())
return world
def sample_scene():
with HideOutput():
# robot = load_model(DRAKE_IIWA_URDF)
world = World(['table', 'stove', 'sink', 'plate', 'pot', 'cabbage'])
world.load_robot(URDFS['ph_gripper'])
world.load_object(URDFS['short_floor'],
'table',
fixed=True,
globalScaling=0.6)
world.load_object(URDFS['stove'],
'stove',
fixed=True,
globalScaling=0.8)
world.load_object(URDFS['sink'], 'sink', fixed=True)
world.load_object(URDFS['plate'], 'plate', fixed=False)
world.load_object(URDFS['pot'], 'pot', fixed=True)
world.load_object(URDFS['cabbage'], 'cabbage', fixed=False)
world.place(world.id('stove/0'), world.id('table/0'),
[[0.4, 0, 0], [0, 0, 0, 1]])
world.place(world.id('sink/0'), world.id('table/0'),
[[-0.2, -0.4, 0], [0, 0, 0, 1]])
# world.place(world.id('plate/0'), world.id('table/0'), [[-0.3, -0.3, 0], [0, 0, 0, 1]])
world.place(world.id('plate/0'), world.id('table/0'),
[[-0.4, 0, 0], [0, 0, 0, 1]])
# world.place(world.id('pot/0'), world.id('table/0'), [[0.3, -0.3, 0], [0, 0, 0, 1]])
world.random_place(world.id('pot/0'), world.id('table/0'))
# world.place(world.id('cabbage/0'), world.id('table/0'), [[0, 0, 0], [0, 0, 0, 1]])
world.random_place(world.id('cabbage/0'), world.id('table/0'),
np.array([[-0.3, -0.2], [0.3, 0.2]]))
set_camera(180, -60, 1, Point())
return world
def reload(self):
"""
Reload all objects (including robot)
"""
calls = self._calls
self.reset()
for c in calls:
f = c.pop('func')
c.pop('self')
if 'kwargs' in c:
c.update(c.pop('kwargs'))
with HideOutput():
f(**c)
def load_objects():
world = World()
with HideOutput():
# robot = load_model(DRAKE_IIWA_URDF)
world.load_robot(URDFS['ph_gripper'])
world.load_object(URDFS['short_floor'], 'floor', fixed=True)
world.create_shape('shape_box',
'block',
w=0.1,
h=0.1,
l=0.1,
n_copy=5,
randomly_place_on=world.id('floor'))
set_default_camera()
return world