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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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4
data_gen_dependencies/action/pull.py
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@@ -4,7 +4,7 @@ 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):
def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, active_obj=None, passive_obj=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
@@ -32,8 +32,6 @@ class PullStage(StageTemplate):
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: