finshi press action

data_gen_dependencies/action/press.py

@@ -0,0 +1,34 @@
+import numpy as np
+
+from data_gen_dependencies.action.base import StageTemplate
+
+class PressPrismaticStage(StageTemplate):
+    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=None, vector_direction=None,active_obj=None, passive_obj=None, **kwargs):
+        super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
+        self.pre_distance = -0.03
+        
+        self.passive_obj = passive_obj
+        self.active_obj = active_obj
+        self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
+        self.joint_position_threshold = self.joint_position_threshold if self.joint_position_threshold is not None else 0.7
+        self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
+        correspond_joint_info = passive_obj.joints_info[self.correspond_joint_id]
+        self.joint_lower_limit = correspond_joint_info["lower_bound"]
+        self.joint_upper_limit = correspond_joint_info["upper_bound"]
+        self.move_distance = -0.005 + abs(self.joint_lower_limit - self.joint_upper_limit) * self.joint_position_threshold
+        self.joint_axis = correspond_joint_info["joint_axis"]
+        self.joint_type = correspond_joint_info["joint_type"]
+        assert self.joint_type == 'prismatic', "joint_type must be prismatic for press action"
+        correspond_joint_info = passive_obj.joints_info[self.correspond_joint_id]
+        self.generate_substage(target_pose, vector_direction)
+
+        
+    def generate_substage(self, target_pose, vector_direction):
+        vector_direction = vector_direction / np.linalg.norm(vector_direction)
+        pre_pose = target_pose.copy()
+        pre_pose[:3,3] += vector_direction * self.pre_distance
+        self.sub_stages.append([pre_pose, 'close', np.eye(4), 'AvoidObs'])
+        
+        move_pose = target_pose.copy()
+        move_pose[:3,3] += vector_direction * self.move_distance
+        self.sub_stages.append([move_pose, None, np.eye(4), 'Simple'])