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hofee
2025-09-24 11:11:24 +08:00
parent 8b89b2e35b
commit 330d903047
16 changed files with 296 additions and 91 deletions
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3
data_gen_dependencies/action/grasp.py
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@@ -4,7 +4,7 @@ from data_gen_dependencies.action.base import StageTemplate, simple_check_comple
class PickStage(StageTemplate):
def __init__(self, active_obj_id, passive_obj_id, active_element, passive_element, grasp_pose, extra_params=None, **kwargs):
def __init__(self, active_obj_id, passive_obj_id, active_element, passive_element, grasp_pose, extra_params=None, active_obj=None, passive_obj=None, **kwargs):
super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
self.grasp_pose_canonical = grasp_pose
self.use_pre_grasp = False
@@ -104,6 +104,7 @@ class GraspStage(PickStage):
self.sub_stages.append([pre_grasp_pose, None, np.eye(4), motion_type])
# sub-stage-1 moveTo grasp pose
self.sub_stages.append([grasp_pose, 'close', np.eye(4), motion_type])