solve dependencies problem

data_gen_dependencies/action/pull.py

@@ -0,0 +1,59 @@
+import numpy as np
+
+from data_gen_dependencies.action.base import StageTemplate
+
+
+class PullStage(StageTemplate):
+    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, **kwargs):
+        super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
+        self.pull_distance = passive_element['distance']
+        assert self.pull_distance > 0
+        self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.5)
+        assert self.joint_position_threshold >= 0 and self.joint_position_threshold <= 1 
+        self.joint_direction = passive_element.get('joint_direction', 1)
+        assert self.joint_direction in [-1, 1]
+        self.joint_velocity_threshold = passive_element.get('joint_velocity_threshold', 999)
+        vector_direction = passive_element['direction']
+
+        self.extra_params = {} if extra_params is None else extra_params
+        if 'pull_distance' in self.extra_params:
+            self.pull_distance = self.extra_params['pull_distance']
+        self.generate_substage(target_pose, vector_direction)
+
+    def generate_substage(self, target_pose, vector_direction):
+        vector_direction = vector_direction / np.linalg.norm(vector_direction)
+        # moveTo pre-place position
+        move_pose = target_pose.copy()
+        move_pose[:3,3] += vector_direction * self.pull_distance
+        self.sub_stages.append([move_pose, None, np.eye(4), 'Straight'])
+        self.sub_stages.append([None, "open", np.eye(4), 'Simple'])
+
+        free_delta_pose = np.eye(4)
+        free_delta_pose[2,3] = -0.03
+        self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])
+
+        
+
+
+    def check_completion(self, objects):
+        if self.__len__()==0:
+            return True
+        
+        if self.step_id >= 0:
+            joint_position = objects[self.passive_obj_id].joint_position
+            joint_velocity = objects[self.passive_obj_id].joint_velocity
+            lower_bound = objects[self.passive_obj_id].part_joint_limit['lower_bound']
+            upper_bound = objects[self.passive_obj_id].part_joint_limit['upper_bound']
+            if self.joint_direction == 1:
+                succ = joint_position > lower_bound + (upper_bound - lower_bound) * self.joint_position_threshold
+            else:
+                succ = joint_position < lower_bound + (upper_bound - lower_bound) * self.joint_position_threshold
+            succ = succ and joint_velocity < self.joint_velocity_threshold
+
+        if succ:
+            self.step_id += 1
+        # else:
+            # import ipdb;ipdb.set_trace()
+
+        return succ
+