hofee/gen_data_agent
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

finish data generate

Browse Source
This commit is contained in:
hofee
2025-09-05 19:18:37 +08:00
parent 21fbd5a323
commit 02440ceeb5
21 changed files with 17866 additions and 679 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
data_gen_dependencies/omni_robot.py
View File

@@ -275,8 +275,8 @@ class IsaacSimRpcRobot(Robot):
target_rotation_matrix, target_position = target_matrix[:3, :3], target_matrix[:3, 3]
target_rotation = get_quaternion_from_euler(matrix_to_euler_angles(target_rotation_matrix), order="ZYX")
print(f"target_position is{target_position}")
print(f"target_rotation is{target_rotation}")
#print(f"target_position is{target_position}")
#print(f"target_rotation is{target_rotation}")
# import ipdb;ipdb.set_trace()
# inverse_local_orientation = [self.init_rotation[0], -1*self.init_rotation[1], -1*self.init_rotation[2], -1*self.init_rotation[3]]
# local_position = quat_multiplication(inverse_local_orientation,T-self.init_position)
@@ -291,7 +291,7 @@ class IsaacSimRpcRobot(Robot):
).errmsg
== "True"
)
print("move!", T, quat_wxyz, state)
#print("move!", T, quat_wxyz, state)
elif type == "quat":