add articulation & robotiq_2f85 urdf

2025-10-21 19:57:42 +08:00
parent 65a39a4994
commit 6f43878922
10 changed files with 572 additions and 8413 deletions
--- a/data_gen_dependencies/action/base.py
+++ b/data_gen_dependencies/action/base.py
@@ -82,7 +82,7 @@ class StageTemplate:
            delta_pose = gripper_pose_canonical
            gripper_pose = objects['gripper'].obj_pose
            target_gripper_pose = gripper_pose @ delta_pose
-            motion_type = 'Straight'
+            motion_type = 'Simple'
        else:

            if gripper_pose_canonical is None: