training_helper.py 文件源码

def initial_setup():
    """ Prepares the Gazebo world for generating training data.

        In particular, this routine turns off gravity, so that the objects
        spawned in front of the RGBD camera will not fall. It also deletes
        the ground plane, so that the only depth points produce will
        correspond to the object of interest (eliminating the need for
        clustering and segmentation as part of the trianing process)

        Args: None

        Returns: None
    """
    rospy.wait_for_service('gazebo/get_model_state')
    rospy.wait_for_service('gazebo/set_model_state')
    rospy.wait_for_service('gazebo/get_physics_properties')
    rospy.wait_for_service('gazebo/set_physics_properties')
    rospy.wait_for_service('gazebo/spawn_sdf_model')

    get_physics_properties_prox = rospy.ServiceProxy('gazebo/get_physics_properties', GetPhysicsProperties)
    physics_properties = get_physics_properties_prox()

    physics_properties.gravity.z = 0

    set_physics_properties_prox = rospy.ServiceProxy('gazebo/set_physics_properties', SetPhysicsProperties)
    set_physics_properties_prox(physics_properties.time_step,
                                physics_properties.max_update_rate,
                                physics_properties.gravity,
                                physics_properties.ode_config)


    delete_model_prox = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)
    delete_model_prox('ground_plane')