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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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20
data_gen_dependencies/action/push.py
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@@ -4,7 +4,7 @@ from data_gen_dependencies.action.base import StageTemplate, pose_difference
class PushStage(StageTemplate):
def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), vector_direction=None, extra_params=None, **kwargs):
def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), vector_direction=None, extra_params=None, active_obj=None, passive_obj=None, **kwargs):
super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
extra_params = {} if extra_params is None else extra_params
@@ -73,23 +73,5 @@ class PushStage(StageTemplate):
return succ
class ClickStage(StageTemplate):
def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=None, vector_direction=None, **kwargs):
super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
self.pre_distance = -0.03
self.move_distance = 0.00
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
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'])
# insert
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'])