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add articulation & robotiq_2f85 urdf

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hofee
2025-10-21 19:57:42 +08:00
parent 65a39a4994
commit 6f43878922
10 changed files with 572 additions and 8413 deletions
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data_gen_dependencies/action/pull_revolute.py
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@@ -62,7 +62,6 @@ class PullRevoluteStage(StageTemplate):
self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])
def generate_trajectory(self, gripper2passive_obj, init_vector_direction):
trajectory = []
total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
@@ -120,7 +119,7 @@ class PullRevoluteStage(StageTemplate):
gripper_trajectory = gripper_trajectory.reshape(-1, 4, 4)
gripper_pts_2_obj = (gripper_trajectory[:, :3, :3] @ gripper_pts[..., None]).squeeze(-1)+ gripper_trajectory[:, :3, 3]
np.savetxt(save_path, gripper_pts_2_obj, fmt="%.6f")
def axis_angle_to_matrix(self, axis, angle):
axis = axis / np.linalg.norm(axis)