Created
July 1, 2020 18:33
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import contrib | |
import numpy as np | |
import pickpp | |
import trimesh | |
env = contrib.RlightPickAndPlaceEnv(version="v3", num_instances=1).env | |
obs = env.reset() | |
mask = obs["mask"] == obs["objects"][0, 0] | |
pcd = pickpp.geometry.pointcloud_from_depth(obs["depth"], *obs["intrinsic"]) | |
pcd_masked = pcd[mask] | |
pos, qua = obs["extrinsic"][:3], obs["extrinsic"][3:] | |
T_cam2world = pickpp.geometry.transformation_matrix(qua, pos) | |
pcd_masked = pickpp.geometry.transform_points(pcd_masked, T_cam2world) | |
pos, qua = obs["robot"][:3], obs["robot"][3:] | |
T_ee2world = pickpp.geometry.transformation_matrix(qua, pos) | |
pcd_masked = pickpp.geometry.transform_points( | |
pcd_masked, np.linalg.inv(T_ee2world) | |
) | |
normals = pickpp.geometry.normals_from_pointcloud(pcd_masked) | |
geom = trimesh.PointCloud(vertices=pcd_masked) | |
scene = trimesh.Scene() | |
scene.add_geometry(geom) | |
for point, normal in zip(pcd_masked, normals): | |
path = trimesh.load_path([point, point + normal * 0.02]) | |
scene.add_geometry(path) | |
del path, point, normal | |
for index in range(len(pcd_masked)): | |
if index % 10 != 0: | |
continue | |
position = pcd_masked[index] | |
normal = normals[index] | |
# ee coord | |
quaternion = pickpp.geometry.quaternion_from_vec2vec([0, 0, 1], normal) | |
coord = pickpp.geometry.Coordinate( | |
position=position, quaternion=quaternion | |
) | |
axis = trimesh.creation.axis( | |
origin_size=0, axis_length=0.01, axis_radius=0.001 | |
) | |
axis.apply_transform(coord.matrix) | |
scene.add_geometry(axis) | |
scene.show() |
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