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July 15, 2020 07:17
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import numpy as np | |
import torch | |
import trimesh | |
import pickpp | |
import contrib | |
np.random.seed(0) | |
models = pickpp.datasets.YCBVideoModelDataset() | |
env = contrib.RlightPickAndPlaceEnv(version="v1", headless=False) | |
obs = env.reset() | |
cads = torch.as_tensor(obs["cads"][None]) | |
objects = torch.as_tensor(obs["objects"][None]) | |
robot = torch.as_tensor(obs["robot"][None]) | |
B, O = objects.shape[:2] | |
world = False | |
translation = objects[:, :, 1:4].reshape(-1, 3) | |
quaternion = objects[:, :, 4:8].reshape(-1, 4) | |
T_cad2robot = pickpp.functions.transformation_matrix( | |
quaternion, translation | |
) | |
T_ee2robot = pickpp.functions.transformation_matrix( | |
quaternion=robot[:, 3:], translation=robot[:, :3], | |
) | |
if world: | |
pass | |
else: | |
T_ee2robot = ( | |
T_ee2robot[:, None] | |
.repeat_interleave(O, dim=1) | |
.reshape(-1, 4, 4) | |
) | |
T_robot2ee = torch.inverse(T_ee2robot) | |
T_cad2ee = T_robot2ee @ T_cad2robot | |
# translation = pickpp.functions.translation_from_matrix(T_cad2ee) | |
# quaternion = pickpp.functions.quaternion_from_matrix(T_cad2ee) | |
scene = trimesh.Scene() | |
# cad | |
for o in range(O): | |
cad_id = int(cads[0, o].item()) | |
if cad_id == 0: | |
continue | |
cad_file = models.get_cad_file_from_id(cad_id=cad_id) | |
cad = trimesh.load(cad_file) | |
cad.visual = cad.visual.to_color() | |
axis = trimesh.creation.axis(origin_size=0.01) | |
if world: | |
cad.apply_transform(T_cad2robot[o].numpy()) | |
scene.add_geometry(cad) | |
axis.apply_transform(T_cad2robot[o].numpy()) | |
scene.add_geometry(axis) | |
else: | |
cad.apply_transform(T_cad2ee[o].numpy()) | |
scene.add_geometry(cad) | |
axis.apply_transform(T_cad2ee[o].numpy()) | |
scene.add_geometry(axis) | |
# base | |
axis = trimesh.creation.axis(origin_size=0.01, origin_color=(0, 0, 0)) | |
scene.add_geometry(axis) | |
axis = trimesh.creation.axis(origin_size=0.01, origin_color=(0.5, 0.5, 0.5)) | |
if world: | |
axis.apply_transform(T_ee2robot[0].numpy()) | |
scene.add_geometry(axis) | |
else: | |
axis.apply_transform(T_robot2ee[0].numpy()) | |
scene.add_geometry(axis) | |
scene.show() |
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