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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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6
task_gen_dependencies/object.py
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@@ -181,16 +181,14 @@ class OmniObject:
grasp_data['grasp_pose'][:, :3, 3] = translation
grasp_data['width'] = width
print(f"Grasp num of {obj.name} after NMS: {grasp_data['grasp_pose'].shape[0]}/{N_grasp}")
#print(f"Grasp num of {obj.name} after NMS: {grasp_data['grasp_pose'].shape[0]}/{N_grasp}")
# downsample
if grasp_data['grasp_pose'].shape[0]>max_grasps:
grasp_num = grasp_data['grasp_pose'].shape[0]
index = np.random.choice(grasp_num, max_grasps, replace=False)
grasp_data['grasp_pose'] = grasp_data['grasp_pose'][index]
grasp_data['width'] = grasp_data['width'][index]
print(f"Grasp num of {obj.name} after downsample: {grasp_data['grasp_pose'].shape[0]}/{N_grasp}")
else:
print(f"Grasp num of {obj.name}: {grasp_data['grasp_pose'].shape[0]}/{N_grasp}")
#print(f"Grasp num of {obj.name} after downsample: {grasp_data['grasp_pose'].shape[0]}/{N_grasp}")
action_info[grasp_part] = grasp_data