experiments/grasp_stability/grasp_data_collection.py [31:60]:
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        roll = 0

        fov = 60
        nearPlane = 0.01
        farPlane = 100

        self.viewMatrix = pb.computeViewMatrixFromYawPitchRoll(
            camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex
        )

        aspect = cameraResolution[0] / cameraResolution[1]

        self.projectionMatrix = pb.computeProjectionMatrixFOV(
            fov, aspect, nearPlane, farPlane
        )

    def get_image(self):
        img_arr = pb.getCameraImage(
            self.cameraResolution[0],
            self.cameraResolution[1],
            self.viewMatrix,
            self.projectionMatrix,
            shadow=1,
            lightDirection=[1, 1, 1],
            renderer=pb.ER_BULLET_HARDWARE_OPENGL,
        )

        rgb = img_arr[2]  # color data RGB
        dep = img_arr[3]  # depth data
        return rgb, dep
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experiments/rolling/RollingEnv.py [26:55]:
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        roll = 0

        fov = 60
        nearPlane = 0.01
        farPlane = 100

        self.viewMatrix = pb.computeViewMatrixFromYawPitchRoll(
            camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex
        )

        aspect = cameraResolution[0] / cameraResolution[1]

        self.projectionMatrix = pb.computeProjectionMatrixFOV(
            fov, aspect, nearPlane, farPlane
        )

    def get_image(self):
        img_arr = pb.getCameraImage(
            self.cameraResolution[0],
            self.cameraResolution[1],
            self.viewMatrix,
            self.projectionMatrix,
            shadow=1,
            lightDirection=[1, 1, 1],
            renderer=pb.ER_BULLET_HARDWARE_OPENGL,
        )

        rgb = img_arr[2]  # color data RGB
        dep = img_arr[3]  # depth data
        return rgb, dep
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