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This commit is contained in:
mistyreed63849 2024-12-17 01:18:11 +08:00
parent dcfbd4348e
commit b25a1153e6
1 changed files with 7 additions and 7 deletions
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14
src/server/tasks/omnigibson/vab_omnigibson_src/env.py
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@ -31,7 +31,7 @@ class Env(object):
self.robot = self.env.robots[0]
self.grasped_obj = []
self.camera = self.robot.sensors['robot0:eyes_Camera_sensor']
self.camera.focal_length = 10.0
self.camera.focal_length = 4.8
self.prim_path_to_obj = {} # obj.prim_path -> obj
@ -525,10 +525,10 @@ class Env(object):
self.camera.set_orientation(self.camera_orientations[self.camera_orientation_id])
pos = self.robot.get_position()
obj_pos = obj.get_position()
while cal_dis(pos[:2], obj_pos[:2]) > 1.8:
while distance_to_cuboid(pos[:2], (obj.aabb[0][:2], obj.aabb[1][:2])) > 1.1:
pos = 0.7 * pos + 0.3 * obj_pos
pos[2] = 0.004
while cal_dis(pos[:2], obj_pos[:2]) < 0.3 or (pos[0] >= obj.aabb[0][0] and pos[0] <= obj.aabb[1][0] and pos[1] >= obj.aabb[0][1] and pos[1] <= obj.aabb[1][1]):
while cal_dis(pos[:2], obj_pos[:2]) < 0.7 or (pos[0] >= obj.aabb[0][0] and pos[0] <= obj.aabb[1][0] and pos[1] >= obj.aabb[0][1] and pos[1] <= obj.aabb[1][1]):
pos = obj_pos + np.random.uniform(1.2, 1.5) * (pos - obj_pos)
pos[2] = 0.004
return pos
@ -538,16 +538,16 @@ class Env(object):
closest_walls = sorted(walls, key=lambda x: distance_to_cuboid(obj_pos, x.aabb))[:2]
pos = (np.clip(obj_pos, *closest_walls[0].aabb) + np.clip(obj_pos, *closest_walls[1].aabb)) / 2
pos[2] = 0.004
if cal_dis(pos[:2], obj_pos[:2]) < 1:
if distance_to_cuboid(pos[:2], (obj.aabb[0][:2], obj.aabb[1][:2])) < 1:
pos = obj_pos - np.random.uniform(1.4, 1.7) * (pos - obj_pos)
pos[2] = 0.004
while cal_dis(pos[:2], obj_pos[:2]) < 1:
while distance_to_cuboid(pos[:2], (obj.aabb[0][:2], obj.aabb[1][:2])) < 1:
pos = obj_pos + np.random.uniform(1.4, 1.6) * (pos - obj_pos)
pos[2] = 0.004
while cal_dis(pos[:2], obj_pos[:2]) > 1.5:
while distance_to_cuboid(pos[:2], (obj.aabb[0][:2], obj.aabb[1][:2])) > 1.2:
pos = obj_pos + np.random.uniform(0.85, 0.9) * (pos - obj_pos)
pos[2] = 0.004
while distance_to_cuboid(pos, obj.aabb) < 0.3:
while distance_to_cuboid(pos[:2], (obj.aabb[0][:2], obj.aabb[1][:2])) < 0.7:
pos = obj_pos + np.random.uniform(1.2, 1.5) * (pos - obj_pos)
pos[2] = 0.004
return pos