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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/twist.py
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@@ -39,7 +39,6 @@ class TwistStage(StageTemplate):
def generate_substage(self, target_pose, vector_direction):
vector_direction = vector_direction / np.linalg.norm(vector_direction)
delta_twist_pose = self.axis_angle_to_matrix(np.asarray([0,0,1]), self.twist_degree_range * self.joint_position_threshold * self.joint_direction)
import ipdb;ipdb.set_trace()
self.sub_stages.append([delta_twist_pose, None, np.eye(4), 'local_gripper'])
def axis_angle_to_matrix(self, axis, angle):