wkentaro

#!/usr/bin/env python3

import sys

import numpy as np


arr = sys.stdin.read().split()
arr = np.array(arr)

wkentaro

import itertools
import random
import time

try:
    import numpy as np
    import pybullet as p
    import pybullet_data
except ImportError:
    print("Run `pip install numpy pybullet`")

wkentaro

import numpy as np
import open3d
import trimesh


def from_trimesh(trimesh_geometry):
    if isinstance(trimesh_geometry, trimesh.Trimesh):
        geometry = open3d.geometry.TriangleMesh()
        geometry.vertices = open3d.utility.Vector3dVector(
            trimesh_geometry.vertices

wkentaro

import numpy as np
import trimesh

import pickpp


scene = trimesh.Scene()

coord = pickpp.geometry.Coordinate()
axis = trimesh.creation.axis()

wkentaro

import trimesh
import numpy as np


voxel_size = 0.01  # 1cm
encoding = np.random.randint(0, 2, size=(32, 32, 32), dtype=bool)
colors = np.random.random((32, 32, 32, 3))
transform = trimesh.transformations.scale_and_translate(
    scale=voxel_size, translate=(0, 0, 0)
)

wkentaro

import numpy as np
import trimesh

import pickpp


models = pickpp.datasets.YCBVideoModelDataset()
# cad_ids = models.get_cad_ids(class_id=15)
cad_ids = models.get_cad_ids(class_id=20)
visual_file = models.get_cad_file_from_id(cad_ids[0])

wkentaro

import numpy as np
import torch
import trimesh

import pickpp

import contrib


np.random.seed(0)

wkentaro

#!/usr/bin/env python

import argparse
import os.path as osp
import sys

import imgviz

try:
    import pycocotools.coco

wkentaro

import contrib

import numpy as np
import pickpp


env = contrib.RlightPickAndPlaceEnv(
    version="v3", num_instances=1, train=False
).env
env.launch()

wkentaro

import contrib

import numpy as np
import pickpp
import trimesh


env = contrib.RlightPickAndPlaceEnv(version="v3", num_instances=1).env
obs = env.reset()