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add articulate debug in load_task_solution at part_joint_limits keyerror problem

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hofee
2025-09-15 20:01:32 +08:00
parent 3cdeb975b7
commit 8b89b2e35b
3 changed files with 33 additions and 10 deletions
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9
data_gen_dependencies/object.py
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@@ -4,6 +4,7 @@ import pickle
import numpy as np
from grasp_nms import nms_grasp
from pyboot.utils.log import Log
from data_gen_dependencies.transforms import transform_coordinates_3d
@@ -122,22 +123,24 @@ class OmniObject:
}
if isinstance(grasp_files, str):
grasp_files = [grasp_files]
if isinstance(grasp_files, dict):
grasp_files = [grasp_files['grasp_pose_file']]
for grasp_file in grasp_files:
grasp_file = '%s/%s' % (obj_dir, grasp_file)
if not os.path.exists(grasp_file):
print('Grasp file %s not found' % grasp_file)
Log.warning('Grasp file %s not found' % grasp_file)
continue
_data = pickle.load(open(grasp_file, 'rb'))
_data['grasp_pose'] = np.array(_data['grasp_pose'])
_data['width'] = np.array(_data['width'])
if _data['grasp_pose'].shape[0] == 0:
print('Empty grasp pose in %s' % grasp_file)
Log.warning('Empty grasp pose in %s' % grasp_file)
continue
grasp_data['grasp_pose'].append(_data['grasp_pose'])
grasp_data['width'].append(_data['width'])
if len(grasp_data['grasp_pose']) == 0:
print('Empty grasp pose in %s' % grasp_file)
Log.warning('Empty grasp pose in %s' % grasp_file)
continue
grasp_data['grasp_pose'] = np.concatenate(grasp_data['grasp_pose'])