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finish data generate

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hofee
2025-09-05 19:18:37 +08:00
parent 21fbd5a323
commit 02440ceeb5
21 changed files with 17866 additions and 679 deletions
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4
data_gen_dependencies/action/place.py
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@@ -19,12 +19,12 @@ class PlaceStage(StageTemplate):
target_pose_canonical = target_pose
gripper_cmd = self.extra_params.get('gripper_state', 'open')
pre_place_direction = self.extra_params.get('pre_place_direction', 'z')
print(gripper_cmd)
#print(gripper_cmd)
num_against = self.extra_params.get('against', 0)
if self.use_pre_place:
# moveTo pre-place position
transform_up = np.eye(4)
print(transform_up)
#print(transform_up)
if pre_place_direction == "x":
transform_up[0,3] = self.pre_transform_up
transform_up[2,3] = 0.02

2
data_gen_dependencies/action/slide.py
View File

@@ -39,7 +39,7 @@ class SlideStage(StageTemplate):
current_obj_pose = objects[self.passive_obj_id].obj_pose
pos_diff, _ = pose_difference(current_obj_pose, target_obj_pose)
succ = pos_diff < 0.04
print(pos_diff, succ)
#print(pos_diff, succ)
if succ:
self.step_id += 1
return succ